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:
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.)