Motion Models

Rigid body dynamics — constant velocity, acceleration, turn-rate, Singer, helical

class UKFModel

Constructors

UKFModel.__init__
__init__(self, /, *args, **kwargs)

class SystemModel(UKFModel)

Constructors

SystemModel.__init__
__init__(self, /, *args, **kwargs)

Methods

SystemModel.process
process(unknown)

process(self, state: numpy.ndarray[dtype=float64, shape=(*), order='C'], control: numpy.ndarray[dtype=float64, shape=(*), order='C'], dt: float) -> numpy.ndarray[dtype=float64, shape=(*), order='C']

SystemModel.measurement
measurement(unknown)

measurement(self, state: numpy.ndarray[dtype=float64, shape=(*), order='C']) -> numpy.ndarray[dtype=float64, shape=(*), order='C']

class RigidBodyCVModel(SystemModel)

Constructors

RigidBodyCVModel.__init__
__init__(unknown)

__init__(self) -> None

class RigidBodyCAModel(SystemModel)

Constructors

RigidBodyCAModel.__init__
__init__(unknown)

__init__(self) -> None

class RigidBodyCTRVModel(SystemModel)

Constructors

RigidBodyCTRVModel.__init__
__init__(unknown)

__init__(self) -> None

class RigidBodySingerModel(SystemModel)

Constructors

RigidBodySingerModel.__init__
__init__(unknown)

__init__(self, tau: float = 2.0) -> None

Methods

RigidBodySingerModel.get_tau
get_tau(unknown)

get_tau(self) -> float

RigidBodySingerModel.set_tau
set_tau(unknown)

set_tau(self, tau: float) -> None

class RigidBodyHelicalModel(SystemModel)

Constructors

RigidBodyHelicalModel.__init__
__init__(unknown)

__init__(self) -> None

class ProjectiveBBoxModel(SystemModel)

Constructors

ProjectiveBBoxModel.__init__
__init__(unknown)

__init__(self, dynamics_model: quak._core.SystemModel, camera_params: quak._core.CameraParams) -> None

Methods

ProjectiveBBoxModel.set_camera_extrinsics
set_camera_extrinsics(unknown)

set_camera_extrinsics(self, R_cw: numpy.ndarray[dtype=float64, shape=(3, 3), order='F'], t_cw: numpy.ndarray[dtype=float64, shape=(3), order='C']) -> None

ProjectiveBBoxModel.set_object_dimensions
set_object_dimensions(unknown)

set_object_dimensions(self, dims: numpy.ndarray[dtype=float64, shape=(3), order='C']) -> None