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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/common/transformations/transformations.pxd

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add Cython static analysis (#31491) * Adding pre-commit hook for cython static analysis * Adding changes to cython files to pass static analysis * Revert "Adding changes to cython files to pass static analysis" This reverts commit 9a0eb733199abd9eef1eac3d024ef2760348d67c. * Adding ignore rule for indentation of 4 spaces (E111) * Fixes for cython-lint static analysis * Revert "Fixes for cython-lint static analysis" This reverts commit 972741735b2bdc73460d65a4d7ea167dfc0f4644. * Adding two new rules into ignore list (2 new lines after difinition of class) * Adding fixes for cython static analysis old-commit-hash: 69fb3c2ed5b41858545461466004339325e413a1
2 years ago
# cython: language_level=3
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
5 years ago
from libcpp cimport bool
cdef extern from "orientation.cc":
pass
cdef extern from "orientation.hpp":
cdef cppclass Quaternion "Eigen::Quaterniond":
Quaternion()
Quaternion(double, double, double, double)
double w()
double x()
double y()
double z()
cdef cppclass Vector3 "Eigen::Vector3d":
Vector3()
Vector3(double, double, double)
double operator()(int)
cdef cppclass Matrix3 "Eigen::Matrix3d":
Matrix3()
Matrix3(double*)
double operator()(int, int)
Quaternion euler2quat(Vector3)
Vector3 quat2euler(Quaternion)
Matrix3 quat2rot(Quaternion)
Quaternion rot2quat(Matrix3)
Vector3 rot2euler(Matrix3)
Matrix3 euler2rot(Vector3)
Matrix3 rot_matrix(double, double, double)
Vector3 ecef_euler_from_ned(ECEF, Vector3)
Vector3 ned_euler_from_ecef(ECEF, Vector3)
cdef extern from "coordinates.cc":
cdef struct ECEF:
double x
double y
double z
cdef struct NED:
double n
double e
double d
cdef struct Geodetic:
double lat
double lon
double alt
bool radians
ECEF geodetic2ecef(Geodetic)
Geodetic ecef2geodetic(ECEF)
cdef cppclass LocalCoord_c "LocalCoord":
add getter for LocalCoord transformation matrices old-commit-hash: 29262db5d63f0e5d65c2f00d4929991fb2e0d848
5 years ago
Matrix3 ned2ecef_matrix
Matrix3 ecef2ned_matrix
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
5 years ago
LocalCoord_c(Geodetic, ECEF)
LocalCoord_c(Geodetic)
LocalCoord_c(ECEF)
NED ecef2ned(ECEF)
ECEF ned2ecef(NED)
NED geodetic2ned(Geodetic)
Geodetic ned2geodetic(NED)
cdef extern from "coordinates.hpp":
pass