Add multichannel lookup for environment sensors. #1814
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Some data such as ocean currents or wind speed take on vector values. This PR adds support for such types of data. Signed-off-by: Arjo Chakravarty <[email protected]>
Often when sensing we may be interested in vector quantities. This PR extends the environmental_sensor to support vector quantities. Some additional work was required handle transformations. In particular if the data is something like Ocean Currents or Wind then the data has to be transformed to the robot's local coordinate frame and the robot's velocity also has to be accounted for. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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@@ Coverage Diff @@
## gz-sim7 #1814 +/- ##
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+ Coverage 64.37% 64.64% +0.26%
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Files 341 342 +1
Lines 27132 27383 +251
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+ Hits 17467 17701 +234
- Misses 9665 9682 +17
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Signed-off-by: Arjo Chakravarty <[email protected]>
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Signed-off-by: Arjo Chakravarty <[email protected]>
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Dec 15, 2022
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| break; | ||
| default: | ||
| result = (_reading + offset); | ||
| } |
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@arjo129 meta: it would almost seem like local/global is orthogonal to whether velocity should be computed relative some observer or the world? Would it make sense to split them?
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Thats true, but in the interest of time we can check this in.
| // Create a vehicle rotated 90 degrees in the yaw axis | ||
| math::Pose3d pose(math::Vector3d(0, 0, 0), math::Quaterniond(0, 0, GZ_PI_2)); | ||
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| // Vehicle should moving at 1m/s along x-axis (In global frame) |
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@arjo129 nit:
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| // Vehicle should moving at 1m/s along x-axis (In global frame) | |
| // Vehicle should be moving at 1m/s along x-axis (In global frame) |
| // Vehicle should moving at 1m/s along x-axis (In global frame) | ||
| math::Vector3d velocity(1, 0, 0); | ||
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| // Imagine a current moving against the vehicle |
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@arjo129 imagine is an interesting choice of words.
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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Summary
Often when sensing we may be interested in vector quantities. This PR extends the environmental_sensor to support vector quantities. Some additional work was required handle transformations. In particular if the data is something like Ocean Currents or Wind then the data has to be transformed to the robot's local coordinate frame and the robot's velocity also has to be accounted for.
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