common/transformations/coordinates.py

from openpilot.common.transformations.orientation import numpy_wrap
from openpilot.common.transformations.transformations import (ecef2geodetic_single,
                                                    geodetic2ecef_single)
from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single


class LocalCoord(LocalCoord_single):
  ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,))
  ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,))
  geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,))
  ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,))


geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,))
ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,))

geodetic_from_ecef = ecef2geodetic
ecef_from_geodetic = geodetic2ecef
add openpilot prefix to imports (#29498) * add openpilot prefix to imports * more * more * fix docs * fix linter * bump submodules * fix patched tests * update dynamic imports * debug * Revert "debug" This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b. * fix pm test old-commit-hash: a9626f95b69af19306143fc4def02fb5769405d2 2023-08-20 20:49:55 -07:00			`from openpilot.common.transformations.orientation import numpy_wrap`
			`from openpilot.common.transformations.transformations import (ecef2geodetic_single,`
Write orientation & transform in C++ (#1637) * locationd at 20hz * update ref * bump cereal * dont modify global state * add scons files * ecef2geodetic and geodetic2ecef * Finish local coords class * Add header file * Add orientation.cc * cleanup * Add functions to header file * Add cython wrapper * y u no work? * This passes the tests * test rot2quat and quat2rot * Teste euler2rot and rot2euler * rot_matrix * test ecef_euler_from_ned and ned_euler_from_ecef * add benchmark * Add test * Consistent newlines * no more radians supported in geodetic * test localcoord single * test localcoord single * all tests pass * Unused import * Add alternate namings * Add source for formulas * no explicit tests needed * remove benchmark * Add release files * Typo * Remove print statement * no access to raw transform matrix * temporarily add tolerance * handcode quat2euler * update ref old-commit-hash: c18e7da3c25c59a19efda8ec3a1b716c2571cc2f 2020-06-09 16:44:26 -07:00			`geodetic2ecef_single)`
add openpilot prefix to imports (#29498) * add openpilot prefix to imports * more * more * fix docs * fix linter * bump submodules * fix patched tests * update dynamic imports * debug * Revert "debug" This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b. * fix pm test old-commit-hash: a9626f95b69af19306143fc4def02fb5769405d2 2023-08-20 20:49:55 -07:00			`from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single`
common folder old-commit-hash: e8d888c45b5cb84bf38bdb96cae579a10f7ae281 2020-01-17 10:28:44 -08:00

Write orientation & transform in C++ (#1637) * locationd at 20hz * update ref * bump cereal * dont modify global state * add scons files * ecef2geodetic and geodetic2ecef * Finish local coords class * Add header file * Add orientation.cc * cleanup * Add functions to header file * Add cython wrapper * y u no work? * This passes the tests * test rot2quat and quat2rot * Teste euler2rot and rot2euler * rot_matrix * test ecef_euler_from_ned and ned_euler_from_ecef * add benchmark * Add test * Consistent newlines * no more radians supported in geodetic * test localcoord single * test localcoord single * all tests pass * Unused import * Add alternate namings * Add source for formulas * no explicit tests needed * remove benchmark * Add release files * Typo * Remove print statement * no access to raw transform matrix * temporarily add tolerance * handcode quat2euler * update ref old-commit-hash: c18e7da3c25c59a19efda8ec3a1b716c2571cc2f 2020-06-09 16:44:26 -07:00			`class LocalCoord(LocalCoord_single):`
			`ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,))`
			`ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,))`
			`geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,))`
			`ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,))`
common folder old-commit-hash: e8d888c45b5cb84bf38bdb96cae579a10f7ae281 2020-01-17 10:28:44 -08:00

Write orientation & transform in C++ (#1637) * locationd at 20hz * update ref * bump cereal * dont modify global state * add scons files * ecef2geodetic and geodetic2ecef * Finish local coords class * Add header file * Add orientation.cc * cleanup * Add functions to header file * Add cython wrapper * y u no work? * This passes the tests * test rot2quat and quat2rot * Teste euler2rot and rot2euler * rot_matrix * test ecef_euler_from_ned and ned_euler_from_ecef * add benchmark * Add test * Consistent newlines * no more radians supported in geodetic * test localcoord single * test localcoord single * all tests pass * Unused import * Add alternate namings * Add source for formulas * no explicit tests needed * remove benchmark * Add release files * Typo * Remove print statement * no access to raw transform matrix * temporarily add tolerance * handcode quat2euler * update ref old-commit-hash: c18e7da3c25c59a19efda8ec3a1b716c2571cc2f 2020-06-09 16:44:26 -07:00			`geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,))`
			`ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,))`
better name old-commit-hash: 56e155d41cc84f480f3b72c68476fddbf786c6e2 2020-06-01 12:09:00 -07:00
			`geodetic_from_ecef = ecef2geodetic`
			`ecef_from_geodetic = geodetic2ecef`