class TestPlatform(Platform):
def __init__(self, simulation=None, trajectory=None):
self.radio = IdealRadio(self)
self.packetsReceived = []
self.radio.setReceiveHandler(self.handlePacket)
Platform.__init__(self, simulation, trajectory)
def handlePacket(self, packet):
self.packetsReceived.append(packet)
def sendPacket(self, packet):
self.radio.transmit(packet)
@property
def components(self):
return [self.radio]
class TestPlatform(Platform):
def __init__(self, simulation=None, trajectory=None):
self.radio = IdealRadio(self)
self.packetsReceived = []
self.radio.setReceiveHandler(self.handlePacket)
Platform.__init__(self, simulation, trajectory)
def handlePacket(self, packet):
self.packetsReceived.append(packet)
def sendPacket(self, packet):
self.radio.transmit(packet)
@property
def components(self):
return [self.radio]
def __init__(self,
acc_bias,
acc_noise,
gyro_bias,
gyro_noise,
simulation=None,
trajectory=None):
identity = np.eye(3, dtype='double')
# To handle the noise free case we need to choose different sensor subclasses
# (Otherwise the call that creates random data raises an Exception due to zero scale)
if isinstance(acc_noise, Number) and acc_noise <= 0:
self.accelerometer = TransformedAccelerometer(
self, identity, acc_bias)
else:
self.accelerometer = NoisyTransformedAccelerometer(
self, acc_noise, identity, acc_bias)
if isinstance(gyro_noise, Number) and gyro_noise <= 0:
self.gyroscope = TransformedGyroscope(self, identity, gyro_bias)
else:
self.gyroscope = NoisyTransformedGyroscope(self, gyro_noise,
identity, gyro_bias)
self.magnetometer = IdealMagnetometer(self)
self.adc = IdealADC(self)
self.radio = IdealRadio(self)
self.timer = IdealTimer(self)
StandardIMU.__init__(self, simulation, trajectory)
def __init__(self, simulation=None, trajectory=None):
self.accelerometer = IdealAccelerometer(self)
self.magnetometer = IdealMagnetometer(self)
self.gyroscope = IdealGyroscope(self)
self.adc = IdealADC(self)
self.timer = IdealTimer(self)
self.radio = IdealRadio(self)
StandardIMU.__init__(self, simulation, trajectory)
def __init__(self,
positionOffset=vector(0, 0, 0),
rotationOffset=Quaternion(1, 0, 0, 0),
simulation=None,
trajectory=None):
self.accelerometer = IdealAccelerometer(self,
positionOffset=positionOffset,
rotationOffset=rotationOffset)
self.magnetometer = IdealMagnetometer(self,
positionOffset=positionOffset,
rotationOffset=rotationOffset)
self.gyroscope = IdealGyroscope(self,
positionOffset=positionOffset,
rotationOffset=rotationOffset)
self.adc = IdealADC(self)
self.timer = IdealTimer(self)
self.radio = IdealRadio(self)
StandardIMU.__init__(self, simulation, trajectory)
def __init__(self, simulation=None, trajectory=None, rng=None):
"""
@param rng: L{np.random.RandomState} from which to draw imperfections.
"""
self.adc = QuantisingADC(self, bits=12, vref=1.65)
adc_lsb = 3.3 / 2**self.adc._bits
self.timer = ParametricTimer(self,
frequency=32768,
freqError=30,
rng=rng)
self.accelerometer = MMA7260Q(self,
sensitivity='6g',
noiseStdDev=15.3 * adc_lsb,
rng=rng)
self.magnetometer = HMC105x(self, noiseStdDev=8.1 * adc_lsb, rng=rng)
self.gyroscope = ADXRS300(self,
sensitivity='1200deg/s',
noiseStdDev=1 * adc_lsb,
rng=rng)
self.radio = IdealRadio(self)
StandardIMU.__init__(self, simulation, trajectory)
def __init__(self, simulation=None, trajectory=None):
self.timer = IdealTimer(self)
self.radio = IdealRadio(self)
Platform.__init__(self, simulation, trajectory)
def __init__(self, simulation=None, trajectory=None):
self.radio = IdealRadio(self)
self.packetsReceived = []
self.radio.setReceiveHandler(self.handlePacket)
Platform.__init__(self, simulation, trajectory)
def __init__(self, simulation=None, trajectory=None):
self.radio = IdealRadio(self)
self.packetsReceived = []
self.radio.setReceiveHandler(self.handlePacket)
Platform.__init__(self, simulation, trajectory)
