The cnspy_trajectory Package
A Trajectory object consists of a matrix of positions, orientations (Quaternions) and associated timestamps.
The object can be created by passing the these three matrices or by passing a Pandas DataFrame object containing them.
The DataFrame will be converted using the class TUMCSV2DataFrame.
A trajectory object offers some conversions, load/store methods, plot, spatial transformations, etc.
A TrajectoryEstimated is a specialization of a Trajectory, holding a covariances of the position and orientation to the timestamps, which can be loaded form a DataFrame too.
The TrajectoryPlotter offers methods to visualize a (or multiple) Trajectory objects.
Installation
Install the current code base from GitHub and pip install a link to that cloned copy
git clone https://github.com/aau-cns/cnspy_trajectory.git
cd cnspy_trajectory
pip install -e .
or the official package via
pip install cnspy-trajectory
Dependencies
It is part of the cnspy eco-system of the cns-github group.
- numpy
- matplotlib
- pandas
- scipy
- cnspy_numpy_utils
- cnspy_csv2dataframe
- cnspy_spatial_csv_formats
- cnspy_trajectory
- matplotlib.pyplot
Examples
Please refer to the unit-tests Trajectory_Test and TrajectoryEstimated_Test in Trajectory/TrajectoryEstimated.py.
For plotting options to the unit-test TrajectoryPlotter_Test.
Pose plot
Pose plot 3D
Mutli pose plot 3D
License
Software License Agreement (GNU GPLv3 License), refer to the LICENSE file.
Sharing is caring! - Roland Jung