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MessageType

Message type for grid to enable message passing and consistency

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MessageType

MessageType()

Generic class for any message type.

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Returns

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Position

Inherits from: MessageType

A class to represent the position of the robot

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Position

Position(x_val: float, y_val: float, z_val: float)

A class to represent the position of the robot

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Arguments
​
x_val (float)
required

x-coordinate value (meters)

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y_val (float)
required

y-coordinate value (meters)

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z_val (float)
required

z-coordinate value (meters)

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Returns

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Orientation

Inherits from: MessageType

A class to represent the orientation as a quaternion

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Orientation

Orientation(x: float, y: float, z: float, w: float)

Initialize orientation as a unit quaternion

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Arguments
​
x (float)
required

x component of quaternion

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y (float)
required

y component of quaternion

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z (float)
required

z component of quaternion

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w (float)
required

w component of quaternion (scalar)

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Returns

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from_euler

Orientation.from_euler(cls, roll: float, pitch: float, yaw: float)

Create orientation from Euler angles (roll, pitch, yaw)

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Arguments
​
roll (float)
required

roll angle around x-axis (radians)

​
pitch (float)
required

pitch angle around y-axis (radians)

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yaw (float)
required

yaw angle around z-axis (radians)

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Returns

Orientation

quaternion representation of the orientation

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Examples


    >>> orientation = Orientation.from_euler(0, 0, 0)

​
to_euler

Orientation.to_euler(axes)

Convert quaternion to Euler angles (roll, pitch, yaw)

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Returns

Euler angles in radians in (x, y, z) order

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to_list

Orientation.to_list()

Convert orientation to a list of floats

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Returns

List of floats representing the orientation

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Pose

Inherits from: MessageType

A class to represent the pose of the robot (Position and Orientation)

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Pose

Pose(position: Position, orientation: Orientation)

A class to represent the pose of the robot (Position and Orientation)

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Arguments
​
position (Position)
required

Position

The x, y, z position of the robot

​
orientation (Orientation)
required

Orientation

The orientation as a quaternion

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Returns

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Velocity

Inherits from: MessageType

A class to represent the velocity of the robot in NED frame

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Velocity

Velocity(x_vel: float, y_vel: float, z_vel: float)

A class to represent the velocity of the robot in NED frame

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Arguments
​
x_vel (float)
required

x-axis velocity (m/s)

​
y_vel (float)
required

y-axis velocity (m/s)

​
z_vel (float)
required

z-axis velocity (m/s)

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Returns

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Image

Inherits from: MessageType

A class to represent an image

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Image

Image(data, capture_params: dict, img_type: str)

A class to represent an image

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Arguments
​
data
required

image data

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capture_params (dict), optional

the parameters of image capture

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img_type (str)
required

type of the image (‘rgb’, ‘depth’, ‘segmentation’)

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Returns

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Twist

Inherits from: MessageType

A class to represent angular and linear velocity in 3D space.

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Twist

Twist(linear: Position, angular: Position)

Initialize a Twist message

​
Arguments
​
linear (Position)
required

Position

The linear velocity in x, y, z

​
angular (Position)
required

Position

The angular velocity in x, y, z

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Returns

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to_dict

Twist.to_dict()

Convert to ROS message dictionary format

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Returns

Dictionary matching ROS message format

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PointCloud

Inherits from: MessageType

A class to represent a point cloud

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PointCloud

PointCloud(points: np.ndarray, fields: list)

Initialize a point cloud object

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Arguments
​
points (np.ndarray)
required

Array of points with shape (N, 3+)

​
fields (list), optional

List of field names. Defaults to [‘x’, ‘y’, ‘z’]

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Returns

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HeightMap

Inherits from: MessageType

A class to represent a height map from LiDAR data

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HeightMap

HeightMap(data: np.ndarray, resolution: float, origin: Position)

Initialize the height map

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Arguments
​
data (np.ndarray)
required

2D array of height values

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resolution (float)
required

meters per cell

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origin (Position)
required

Position

position of the height map origin in world coordinates

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process

HeightMap.process()

Process the height map to return coordinates accounting for resolution and origin

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Returns

Tuple containing: np.ndarray: X coordinates grid np.ndarray: Y coordinates grid np.ndarray: Height values

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