def position(self, t):
if len(self.positionKeyFrames) == 0:
if np.ndim(t) == 0:
return vectors.nan()
else:
return vectors.nan(len(t))
else:
return self.positionKeyFrames(t)
def __init__(self, initialTime, initialRotation, k, joint, offset,
**kwargs):
"""
@param joint: The L{Joint} the IMU is attached to.
@param offset: The offset of the IMU in the joint's co-ordinate frame
(3x1 L{np.ndarray})
"""
OrientationFilter.__init__(self, initialTime, initialRotation)
self.rotation.add(initialTime, initialRotation)
self.qHat = initialRotation.copy()
self.k = k
self.joint = joint
self.offset = offset
self._vectorObservation = vector_observation.GramSchmidt()
self.qMeas = Quaternion.nan()
self.jointAccel = vectors.nan()
self.gyroFIFO = collections.deque([], maxlen=3)
self.accelFIFO = collections.deque([], maxlen=2)
self.magFIFO = collections.deque([], maxlen=2)
self.isRoot = not joint.hasParent
self.children = joint.childJoints
self.vectorObservation = TimeSeries()
self.jointAcceleration = TimeSeries()
def __init__(self, initialTime, initialRotation, k, joint, offset,
**kwargs):
"""
@param joint: The L{Joint} the IMU is attached to.
@param offset: The offset of the IMU in the joint's co-ordinate frame
(3x1 L{np.ndarray})
"""
OrientationFilter.__init__(self, initialTime, initialRotation)
self.rotation.add(initialTime, initialRotation)
self.qHat = initialRotation.copy()
self.k = k
self.joint = joint
self.offset = offset
self._vectorObservation = vector_observation.GramSchmidt()
self.qMeas = Quaternion.nan()
self.jointAccel = vectors.nan()
self.gyroFIFO = collections.deque([], maxlen=3)
self.accelFIFO = collections.deque([], maxlen=2)
self.magFIFO = collections.deque([], maxlen=2)
self.isRoot = not joint.hasParent
self.children = joint.childJoints
self.vectorObservation = TimeSeries()
self.jointAcceleration = TimeSeries()
