Bases: morse.modifiers.ned.NEDModifier
Convert the angles from NED to ENU.
Bases: morse.modifiers.ned.NEDModifier
Convert the angles from ENU to NED.
Bases: morse.modifiers.ned.NEDModifier
Convert the coordinates from NED to ENU.
Bases: morse.modifiers.ned.NEDModifier
Convert the coordinates from ENU to NED.
Bases: morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates generated by the MORSE simulator to change to the North, East, Down (NED) coordinate system, instead of the East, North, Up (ENU) system normally used by Blender.
This is achieved by switching the direction of the X and Y axis, as well as inverting the sense of the Z axis.
This modifier attempts to alter data x, y and z for position, and yaw, pitch and roll for orientation.
The NED modifier provides as modifiers:
Bases: morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate two common issues when calculating odometry :
The modifier only accumulate errors for a 2D odometry sensor. It modifies so the following variables :
Bases: morse.modifiers.abstract_modifier.AbstractModifier
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:
Bases: morse.modifiers.pose_noise.NoiseModifier
Add a gaussian noise to an orientation
Bases: morse.modifiers.pose_noise.PositionNoiseModifier, morse.modifiers.pose_noise.OrientationNoiseModifier
Add a gaussian noise to both position and orientation
Bases: morse.modifiers.pose_noise.NoiseModifier
Add a gaussian noise to a position
Bases: morse.modifiers.utm.UTMModifier
Converts from UTM coordinates to Blender coordinates.
Bases: morse.modifiers.utm.UTMModifier
Converts from Blender coordinates to UTM coordinates.
Bases: morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates generated by the MORSE simulator to use UTM global coordinates. This is achieved by setting the offset of the Blender origin with respect to the UTM reference. The offset can be either given in the modifier parameters, or globally defined as three properties of the Scene_Script_Holder object of the scene: UTMXOffset, UTMYOffset and UTMZOffset.
Note
Due to limitation in Blender, to pass offset outside of range [-10000.0, 10000.0] as global scene properties, you need to pass the offset value as a string.
This modifier attempts to alter data x, y and z of modified components.
The UTM modifier provides as modifiers: