36 lines
1.2 KiB
Python
36 lines
1.2 KiB
Python
import gtsam
|
|
import math
|
|
import numpy as np
|
|
from math import pi
|
|
|
|
|
|
def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'):
|
|
"""
|
|
circlePose3 generates a set of poses in a circle. This function
|
|
returns those poses inside a gtsam.Values object, with sequential
|
|
keys starting from 0. An optional character may be provided, which
|
|
will be stored in the msb of each key (i.e. gtsam.Symbol).
|
|
|
|
We use aerospace/navlab convention, X forward, Y right, Z down
|
|
First pose will be at (R,0,0)
|
|
^y ^ X
|
|
| |
|
|
z-->xZ--> Y (z pointing towards viewer, Z pointing away from viewer)
|
|
Vehicle at p0 is looking towards y axis (X-axis points towards world y)
|
|
"""
|
|
|
|
values = gtsam.Values()
|
|
theta = 0.0
|
|
dtheta = 2 * pi / numPoses
|
|
gRo = gtsam.Rot3(
|
|
np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F'))
|
|
for i in range(numPoses):
|
|
key = gtsam.symbol(symbolChar, i)
|
|
gti = gtsam.Point3(radius * math.cos(theta), radius * math.sin(theta), 0)
|
|
oRi = gtsam.Rot3.Yaw(
|
|
-theta) # negative yaw goes counterclockwise, with Z down !
|
|
gTi = gtsam.Pose3(gRo.compose(oRi), gti)
|
|
values.insert(key, gTi)
|
|
theta = theta + dtheta
|
|
return values
|