Sensors
- class stonesoup.sensor.base.PlatformMountable(rotation_offset: StateVector = None, mounting_offset: StateVector = None, movement_controller: Movable = None)[source]
Bases:
stonesoup.base.Base
,abc.ABC
Base class for any object that can be mounted on a platform.
All PlatformMountables must be mounted on a platform to calculate their position and orientation. To make this easier, if the sensor has a position and/or orientation specified in the constructor, and no
platform_system
, then the default is to create an internally held “private” platform for the Sensor. This allows the Sensor to control (and set) its own position and orientation.- Parameters
rotation_offset (
StateVector
, optional) – A StateVector containing the sensor rotation offsets from the platform’s primary axis (defined as the direction of motion). Defaults to a zero vector with the same length as the Platform’svelocity_mapping
mounting_offset (
StateVector
, optional) – A StateVector containing the sensor translation offsets from the platform’s reference point. Defaults to a zero vector with length 3movement_controller (
Movable
, optional) – The`Movable
object that controls the movement of this sensor. Will be set by the platform if the sensor is assigned to a platform.
- rotation_offset: stonesoup.types.array.StateVector
A StateVector containing the sensor rotation offsets from the platform’s primary axis (defined as the direction of motion). Defaults to a zero vector with the same length as the Platform’s
velocity_mapping
- mounting_offset: stonesoup.types.array.StateVector
A StateVector containing the sensor translation offsets from the platform’s reference point. Defaults to a zero vector with length 3
- movement_controller: stonesoup.movable.movable.Movable
The
`Movable
object that controls the movement of this sensor. Will be set by the platform if the sensor is assigned to a platform.
- property position: Optional[stonesoup.types.array.StateVector]
The sensor position on a 3D Cartesian plane, expressed as a 3x1
StateVector
of Cartesian coordinates in the order \(x,y,z\).Note
This property delegates the actual calculation of position to the Sensor’s
movement_controller
It is settable if, and only if, the sensor holds its own internal movement_controller.
- property orientation: Optional[stonesoup.types.array.StateVector]
A 3x1 StateVector of angles (rad), specifying the sensor orientation in terms of the counter-clockwise rotation around each Cartesian axis in the order \(x,y,z\). The rotation angles are positive if the rotation is in the counter-clockwise direction when viewed by an observer looking along the respective rotation axis, towards the origin.
Note
This property delegates the actual calculation of orientation to the Sensor’s
movement_controller
It is settable if, and only if, the sensor holds its own internal movement_controller.
- property velocity: Optional[stonesoup.types.array.StateVector]
The sensor velocity on a 3D Cartesian plane, expressed as a 3x1
StateVector
of Cartesian coordinates in the order \(x,y,z\).Note
This property delegates the actual calculation of velocity to the Sensor’s
movement_controller
It is settable if, and only if, the sensor holds its own internal movement_controller which is a
MovingMovable
.
- class stonesoup.sensor.sensor.Sensor(rotation_offset: StateVector = None, mounting_offset: StateVector = None, movement_controller: Movable = None)[source]
Bases:
stonesoup.sensor.base.PlatformMountable
,abc.ABC
Sensor Base class for general use.
Most properties and methods are inherited from
PlatformMountable
.Sensors must have a measure function.
- Parameters
rotation_offset (
StateVector
, optional) – A StateVector containing the sensor rotation offsets from the platform’s primary axis (defined as the direction of motion). Defaults to a zero vector with the same length as the Platform’svelocity_mapping
mounting_offset (
StateVector
, optional) – A StateVector containing the sensor translation offsets from the platform’s reference point. Defaults to a zero vector with length 3movement_controller (
Movable
, optional) – The`Movable
object that controls the movement of this sensor. Will be set by the platform if the sensor is assigned to a platform.
- abstract measure(ground_truths: Set[GroundTruthState], noise: Union[numpy.ndarray, bool] = True, **kwargs) Set[stonesoup.types.detection.TrueDetection] [source]
Generate a measurement for a given state
- Parameters
ground_truths (Set[
GroundTruthState
]) – A set ofGroundTruthState
noise (
numpy.ndarray
or bool) – An externally generated random process noise sample (the default is True, in which caservs()
is used; if False, no noise will be added)
- Returns
A set of measurements generated from the given states. The timestamps of the measurements are set equal to that of the corresponding states that they were calculated from. Each measurement stores the ground truth path that it was produced from.
- Return type
Set[
TrueDetection
]
Passive
- class stonesoup.sensor.passive.PassiveElevationBearing(ndim_state: int, mapping: numpy.ndarray, noise_covar: CovarianceMatrix, rotation_offset: StateVector = None, mounting_offset: StateVector = None, movement_controller: Movable = None)[source]
Bases:
stonesoup.sensor.sensor.Sensor
A simple passive sensor that generates measurements of targets, using a
CartesianToElevationBearing
model, relative to its position.Note
The current implementation of this class assumes a 3D Cartesian plane.
- Parameters
ndim_state (
int
) – Number of state dimensions. This is utilised by (and follows in format) the underlyingCartesianToElevationBearing
modelmapping (
numpy.ndarray
) – Mapping between the targets state space and the sensors measurement capabilitynoise_covar (
CovarianceMatrix
) – The sensor noise covariance matrix. This is utilised by (and follow in format) the underlyingCartesianToElevationBearing
modelrotation_offset (
StateVector
, optional) – A StateVector containing the sensor rotation offsets from the platform’s primary axis (defined as the direction of motion). Defaults to a zero vector with the same length as the Platform’svelocity_mapping
mounting_offset (
StateVector
, optional) – A StateVector containing the sensor translation offsets from the platform’s reference point. Defaults to a zero vector with length 3movement_controller (
Movable
, optional) – The`Movable
object that controls the movement of this sensor. Will be set by the platform if the sensor is assigned to a platform.
- ndim_state: int
Number of state dimensions. This is utilised by (and follows in format) the underlying
CartesianToElevationBearing
model
- mapping: numpy.ndarray
Mapping between the targets state space and the sensors measurement capability
- noise_covar: stonesoup.types.array.CovarianceMatrix
The sensor noise covariance matrix. This is utilised by (and follow in format) the underlying
CartesianToElevationBearing
model
- measure(ground_truths: Set[GroundTruthState], noise: Union[numpy.ndarray, bool] = True, **kwargs) Set[stonesoup.types.detection.TrueDetection] [source]
Generate a measurement for a given state
- Parameters
ground_truths (Set[
GroundTruthState
]) – A set ofGroundTruthState
noise (
numpy.ndarray
or bool) – An externally generated random process noise sample (the default is True, in which caservs()
is used; if False, no noise will be added)
- Returns
A set of measurements generated from the given states. The timestamps of the measurements are set equal to that of the corresponding states that they were calculated from. Each measurement stores the ground truth path that it was produced from.
- Return type
Set[
TrueDetection
]