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