Metadata-Version: 2.1
Name: onavdata
Version: 0.1.0
Summary: Quickly import reference data sets for navigation system design and testing.
Home-page: UNKNOWN
Author: Organic Navigation
Author-email: hamid@organicnavigation.com
License: UNKNOWN
Description: # Organic Navigation Reference Data
        
        The purpose of the `onvadata` module is to make reference data sets easily accessible for the design, development, and testing of navigation algorithms.  The defining characteristic of reference data sets are that they are well understood, documented, and purged of data logging artifacts.
        
        ## Quick Start
        
        ### List Data Available
        All data sets are referenced using their shortname.
        ```python
        >> import onavdata
        >> onavdata.print_shortnames()
        	 2011 UMN-UAV GPSFASER1
        	 2012 UMN-UAV FASER5
        	 2012 UMN-UAV GPSFASER3
        	 2012 UMN-UAV THOR79
        	 2012 UMN-UAV THOR77
        	 2012 UMN-UAV THOR75
        	 2012 UMN-UAV THOR60
        	 SIM-PERFECT-CAR NORTH VARY-SPEED FIXED-HEADING
        	 SIM-MEASURED-CAR NORTH VARY-SPEED FIXED-HEADING
        	 SIM-PERFECT-CAR NORTH VARY-SPEED VARY-HEADING
        	 SIM-MEASURED-CAR NORTH VARY-SPEED VARY-HEADING
        	 SIM-PERFECT-CAR NORTH FIXED-SPEED VARY-HEADING
        	 SIM-MEASURED-CAR NORTH FIXED-SPEED VARY-HEADING
        	 SIM-PERFECT-CAR NORTH FIXED-SPEED FIXED-HEADING
        	 SIM-MEASURED-CAR NORTH FIXED-SPEED FIXED-HEADING
        ```
        
        ### Load a Reference Data Set
        An abitrary data set can be loaded if no shortname is specified.  In this case the data from `2014 UMN-UAV THOR77` was returned.
        ```python
        >> import onavdata
        >> df = onavdata.get_data()
        	get_data(): No shortname specified so choice will be arbitrary.  Returning: 2014 UMN-UAV THOR77
        >> df.head()
        		           AccelX (m/s^2)  AccelY (m/s^2)  AccelZ (m/s^2)       ...         AngleHeading (rad)  AnglePitch (rad)  AngleRoll (rad)
        	TimeFromStart (s)                                                       ...
        	0.00                     1.862795       -0.392167       -9.673463       ...                   1.004700          0.192806         0.006130
        	0.02                     1.895476       -0.424848       -9.640783       ...                   1.004225          0.192856         0.006130
        	0.04                     1.895476       -0.359487       -9.706145       ...                   1.003786          0.192888         0.006259
        	0.06                     1.895476       -0.392167       -9.640783       ...                   1.003258          0.192990         0.006354
        	0.08                     1.895476       -0.392167       -9.640783       ...                   1.002907          0.193056         0.006482
        
        	[5 rows x 12 columns]
        ```
        
        This module manages easy access to multiple navigation-sensor data sets.
        
        ## Meta Data Supported
        
        ### Sampling Time
        
        TODO
        
        ### Rename Data Columns
        
        TODO
        
        ### Transformation from sensor-frame to body-frame
        
        Transformation matrices can be defined under the table heading `[Rsensor2body]`.  The subsequent key/value pairs will define the prefix of the sensor column followed by the rotation matrix.  Since the transformation is applied AFTER any column renaming (see above), the renamed column entires must be used.
        
        #### Example
        ![docs/map-chip-to-body.png](docs/map-chip-to-body.png)
        The above transformation can be defined for the accelerometer columns.  Assuming our accelerometer columns are:
        
        	['AccelX (m/s^2)', 'AccelY (m/s^2)', 'AccelZ (m/s^2)']
        
        We define the following associated meta data entry:
        ```
        [Rsensor2body]
        Accel = [[ 0, -1,  0], 
                 [-1,  0,  0],
                 [ 0,  0, -1]]
        ```
        The module will automatically find the associated columns with the `Accel` prefix and apply the defined rotation matrix.
        
Platform: UNKNOWN
Description-Content-Type: text/markdown
