navlie.lib.datasets.SimulatedPoseRangingDataset¶

class navlie.lib.datasets.SimulatedPoseRangingDataset(x0: SE3State | None = None, Q: ndarray | None = None, R: float = 0.01, input_freq: int = 100, meas_freq: int = 10, t_start: int = 0, t_end: int = 30, noise_active: bool = True)¶

Bases: Dataset

Simulated dataset of a simple rigid robot moving in 3D space with range measurements to anchors. The robot has two ranging tags mounted on the robot, and measures its own velocity resolved in its body frame.

Parameters:

x0 (SE3State, optional) – Initial state, by default set to identity.
Q (np.ndarray with shape (6,6), optional) – Covariance associated with angular velocity and translational velocity measurements (in that order), by default None
R (float, optional) – covariance of the range measurements, by default 0.01
input_freq (int, optional) – frequency of the velocity measurements, by default 100
meas_freq (int, optional) – frequency of the range measurements, by default 10
t_start (int, optional) – start time of the simulation, by default 0
t_end (int, optional) – end time of the simulation, by default 30
noise_active (bool, optional) – If true, generated measurements will be noisy, by default True

get_ground_truth() → List[SE3State]¶: Returns a list of groundtruth states.

get_input_data() → List[Input]¶: Retruns a list of inputs.

get_measurement_data() → List[Measurement]¶: Returns a list of measurements.

navlie.lib.datasets.SimulatedInertialLandmarkDataset

navlie.lib.imu