Classes
LighthouseSystemAligner
LighthouseSystemAligner()
This class is used to align a lighthouse system to a few sampled positions
Static methods
def align(origin: npt.ArrayLike, x_axis: list[npt.ArrayLike], xy_plane: list[npt.ArrayLike], bs_poses: dict[int, Pose]) ‑> tuple[dict[int, cflib.localization.lighthouse_types.Pose], cflib.localization.lighthouse_types.Pose]
Align a coordinate system with the physical world. Finds the transform from the current reference frame to one that is aligned with measured positions, and transforms base station poses to the new coordinate system.
Parameters
| Name | Description |
|---|---|
| origin | The position of the desired origin in the current reference frame |
| x_axis | One or more positions on the desired positive X-axis (X>0, Y=Z=0) in the current reference frame |
| x_axis | One or more positions in the desired XY-plane (Z=0) in the current reference frame |
| bs_poses | a dictionary with the base station poses in the current reference frame:return: a dictionary with the base station poses in the desired reference frame and the transformation |