def __init__(self, date=None):
from morse.sensors._magnetometer import Magnetometer as Mag
self._mag = Mag(os.path.join(MORSE_COMPONENTS, 'WMM.COF'))
self._coord_conv = CoordinateConverter.instance()
if date:
self._date = date
else:
self._date = _decimal_date(datetime.date.today())
def __init__(self, date = None):
from morse.sensors._magnetometer import Magnetometer as Mag
self._mag = Mag(os.path.join(MORSE_COMPONENTS, 'WMM.COF'))
self._coord_conv = CoordinateConverter.instance()
if date:
self._date = date
else:
self._date = _decimal_date(datetime.date.today())
class MagnetoDriver(object):
def __init__(self, date=None):
from morse.sensors._magnetometer import Magnetometer as Mag
self._mag = Mag(os.path.join(MORSE_COMPONENTS, 'WMM.COF'))
self._coord_conv = CoordinateConverter.instance()
if date:
self._date = date
else:
self._date = _decimal_date(datetime.date.today())
def compute(self, pose):
pos = numpy.matrix(pose.translation)
pos_lla = self._coord_conv.ltp_to_geodetic(pos)
(decl, incl, f, h, x, y,
z) = self._mag.compute(degrees(pos_lla[0, 0]), degrees(pos_lla[0, 1]),
pos_lla[0, 2] / 1000.0, self._date)
mag_field = mathutils.Vector((x, y, z))
return mag_field * pose.rotation_matrix
class MagnetoDriver(object):
def __init__(self, date=None):
from morse.sensors._magnetometer import Magnetometer as Mag
self._mag = Mag(os.path.join(MORSE_COMPONENTS, "WMM.COF"))
self._coord_conv = CoordinateConverter.instance()
if date:
self._date = date
else:
self._date = _decimal_date(datetime.date.today())
def compute(self, pose):
pos = pose.translation
pos_lla = self._coord_conv.ltp_to_geodetic(pos)
(decl, incl, f, h, x, y, z) = self._mag.compute(
degrees(pos_lla[0]), degrees(pos_lla[1]), pos_lla[2] / 1000.0, self._date
)
mag_field = mathutils.Vector((x, y, z))
return mag_field * pose.rotation_matrix
