/
helpers.py
42 lines (28 loc) · 1.33 KB
/
helpers.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
"""
Common helper functions and classes for tests.
Author: Michael Grupp
This file is part of evo (github.com/MichaelGrupp/evo).
evo is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
evo is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with evo. If not, see <http://www.gnu.org/licenses/>.
"""
import numpy as np
from evo.core import lie_algebra as lie
from evo.core.trajectory import PosePath3D, PoseTrajectory3D
def random_se3_list(length):
return [lie.random_se3() for _ in range(length)]
def fake_timestamps(length, distance, start_time=0.):
return np.array([start_time + (distance * i) for i in range(length)])
def fake_path(length):
return PosePath3D(poses_se3=random_se3_list(length))
def fake_trajectory(length, timestamp_distance, start_time=0.):
return PoseTrajectory3D(
poses_se3=random_se3_list(length), timestamps=fake_timestamps(
length, timestamp_distance, start_time))