lighthouse_initial_estimator

Classes

BsPairIds

BsPairIds(bs1: ForwardRef('int'), bs2: ForwardRef('int'))

A type representing the ids of a pair of base stations

Ancestors (in MRO)

• builtins.tuple

Instance variables

bs1: int

Alias for field number 0

bs2: int

Alias for field number 1

BsPairPoses

BsPairPoses(bs1: ForwardRef('Pose'), bs2: ForwardRef('Pose'))

A type representing the poses of a pair of base stations

Ancestors (in MRO)

• builtins.tuple

Instance variables

bs1: cflib.localization.lighthouse_types.Pose

Alias for field number 0

bs2: cflib.localization.lighthouse_types.Pose

Alias for field number 1

LighthouseInitialEstimator

LighthouseInitialEstimator()

Make initial estimates of base station and CF poses using IPPE (analytical solution). The estimates are not good enough to use for flight but is a starting point for further calculations.

Class variables

OUTLIER_DETECTION_ERROR

Static methods

def estimate(matched_samples: list[LhCfPoseSample], sensor_positions: ArrayFloat) ‑> tuple[cflib.localization.lighthouse_types.LhBsCfPoses, list[cflib.localization.lighthouse_types.LhCfPoseSample]]

Make a rough estimate of the poses of all base stations and CF poses found in the samples.

The pose of the Crazyflie in the first sample is used as a reference and will define the global reference frame.

Parameters