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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
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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
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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
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roll (float)
required
roll angle around x-axis (radians)
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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
Orientationquaternion representation of the orientation

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Examples


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

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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
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position (Position)
required
PositionThe x, y, z position of the robot
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orientation (Orientation)
required
OrientationThe 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
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x_vel (float)
required
x-axis velocity (m/s)
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y_vel (float)
required
y-axis velocity (m/s)
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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
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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
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Arguments
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linear (Position)
required
PositionThe linear velocity in x, y, z
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angular (Position)
required
PositionThe 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
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points (np.ndarray)
required
Array of points with shape (N, 3+)
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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
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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
Positionposition 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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Force

Inherits from: MessageType Represents a force in 3D cartesian space (Newtons).

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Force

Force(x: float, y: float, z: float)
Initialize a force vector.
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Arguments
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x (float)
required
x-component of force (Newtons)
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y (float)
required
y-component of force (Newtons)
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z (float)
required
z-component of force (Newtons)

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Torque

Inherits from: MessageType Represents a torque in 3D cartesian space (Newton-meters).

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Torque

Torque(x: float, y: float, z: float)
Initialize a torque vector.
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Arguments
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x (float)
required
x-component of torque (Newton-meters)
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y (float)
required
y-component of torque (Newton-meters)
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z (float)
required
z-component of torque (Newton-meters)