coraplex.testing#
Attributes#
Functions#
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Generates a set of 3D poses following a sine wave pattern for scanning purposes. |
Module Contents#
- coraplex.testing.logger#
- coraplex.testing.setup_world() semantic_digital_twin.world.World#
- coraplex.testing._make_sine_scan_poses(anchor: semantic_digital_twin.spatial_types.spatial_types.Pose, lanes: int = 6, lane_spacing: float = 0.03, y_span: float = 0.18, amplitude: float = 0.005, wiggles: float = 1.0, points_per_lane: int = 16, lane_axis: str = 'z') list[semantic_digital_twin.spatial_types.spatial_types.Pose]#
Generates a set of 3D poses following a sine wave pattern for scanning purposes.
This function creates a series of 3D positions and orientations based on a sine wave pattern. The generated poses are arranged into multiple parallel lanes, with configurable parameters such as lane spacing, sine wave amplitude, number of waves (wiggles), and number of points per lane. The lanes can be aligned along either the x-axis or z-axis, and the scanning pattern is centered around the anchor pose provided.
- Parameters:
anchor – The starting pose that defines the reference frame, initial position, and orientation for the generated poses.
lanes – The number of parallel lanes to generate in the scanning pattern. Default is 6.
lane_spacing – The spacing between adjacent lanes. Default is 0.03.
y_span – The range of y-coordinates over which the sine wave pattern is distributed in each lane. Default is 0.18.
amplitude – The amplitude of the sine wave defining the deviation from the lane center. Default is 0.005.
wiggles – The number of complete sine wave oscillations in each lane. Default is 1.0.
points_per_lane – The number of discrete poses generated per lane. Default is 16.
lane_axis – The axis along which the lanes are arranged. Accepted values are “x” or “z”. Default is “z”.
- Returns:
A list of PoseStamped objects, where each object defines a 3D pose in the generated scanning pattern.