PoseNoise¶
This modifier allows to simulate Gaussian noise for pose measurements.
If the variable orientation
exists, it is taken to be a unit quaternion
and noise added to it. Otherwise rotational noise will be added to the roll,
pitch and yaw variables.
This modifier attempts to alter data x
, y
and z
for position,
and either orientation
or yaw
, pitch
and roll
for orientation.
The PoseNoise modifier provides as modifiers:
morse.modifiers.pose_noise.PositionNoiseModifier
morse.modifiers.pose_noise.OrientationNoiseModifier
morse.modifiers.pose_noise.PoseNoiseModifier
Configuration parameters for PoseNoise¶
You can set these parameters in your scripts with <component>.alter('PoseNoise', <property1>=..., <property2>=...)
.
pos_std
(dict, default:{'x': 0.05, 'y': 0.05, 'z': 0.05}
)- Standard deviation for position noise as dictionary with x,y,z as floats
rot_std
(dict, default:{'roll': 0.08726646259971647, 'pitch': 0.08726646259971647, 'yaw': 0.08726646259971647}
)- Standard deviation for rotation noise of roll,pitch,yaw axes as floats in radians
_2D
(bool, default:False
)- If True, noise is only applied to 2D pose attributes (i.e., x, y and yaw)
Sources of examples¶
(This page has been auto-generated from MORSE module morse.modifiers.pose_noise.)