Odometry

class OdometryStateEstimation

A sensor that add normal error to the true twist and integrates it.

Registered properties:

• longitudinal_speed_std_dev (float, longitudinal_speed_std_dev)

• longitudinal_speed_bias (float, longitudinal_speed_bias)

• transversal_speed_std_dev (float, transversal_speed_std_dev)

• transversal_speed_bias (float, transversal_speed_bias)

• angular_speed_std_dev (float, angular_speed_std_dev)

• angular_speed_bias (float, angular_speed_bias)

• update_ego_state (bool, update_ego_state)

• update_sensig_state (bool, update_sensing_state)

__init__(longitudinal_speed_bias: float = 0, longitudinal_speed_std_dev: float = 0, transversal_speed_bias: float = 0, transversal_speed_std_dev: float = 0, angular_speed_bias: float = 0, angular_speed_std_dev: float = 0, update_sensing_state: bool = True, update_ego_state: bool = False, name: str = '') → None

Constructs a new instance.

Parameters:

• longitudinal_speed_bias – The longitudinal speed bias

• longitudinal_speed_std_dev – The longitudinal speed standard deviation

• transversal_speed_bias – The longitudinal speed bias

• transversal_speed_std_dev – The transversal speed standard deviation

• angular_speed_bias – The longitudinal speed bias

• angular_speed_std_dev – The angular speed standard deviation

• update_sensing_state – Whether to update the behavior environment state

• update_ego_state – Whether to update the behavior ego state

• name – The name to use as a prefix

read_pose(state: navground.core.SensingState) → navground.core.Pose2 | None

Reads an (odometry) pose from a SensingState

Calls read_pose_with_name, passing Sensor.name.

Parameters:

state – The state

Returns:

A pose or null if none was found.

static read_pose_with_name(state: navground.core.SensingState, name: str) → navground.core.Pose2 | None

Reads an (odometry) pose from a SensingState

Parameters:

• state – The state

• name – The namespace of the odometry

Returns:

A pose or null if none was found.

property angular_speed_bias

Type:

float

The angular speed relative bias. rangings.

property angular_speed_std_dev

Type:

float

The angular speed relative standard deviation. rangings.

property longitudinal_speed_bias

Type:

float

The longitudinal speed relative bias. rangings.

property longitudinal_speed_std_dev

Type:

float

The longitudinal speed relative standard deviation. rangings.

property pose

Type:

navground.core.Pose2

The current pose.

property transversal_speed_bias

Type:

float

The transversal speed relative bias. rangings.

property transversal_speed_std_dev

Type:

float

The transversal speed relative standard deviation. rangings.

property twist

Type:

navground.core.Twist2

The current twist.

property update_ego_state

Type:

bool

Whether to update the behavior ego state.

property update_sensing_state

Type:

bool

Whether to update the behavior environment state.