xviz/docs/api-reference/trajectory-helpers.md

XVIZ Trajectory Helpers (experimental)

Note: These utilities are experimental. They may be changed between minor releases.

Provide helper functions to generate trajectory for pose and objects.

Functions

getRelativeCoordinates(vertices : Array, basePose : Object) : Array

import {_getRelativeCoordinates as getRelativeCoordinates} from '@xviz/builder';

Given vertices and a base pose, transform the vertices to basePose relative coordinates

• vertices (Array), array of [x, y, z]
• basePose (Object), {x, y, z, longitude, latitude, altitude, roll, pitch, yaw}

getPoseTrajectory(input: object) : Array

import {_getPoseTrajectory as getPoseTrajectory} from '@xviz/builder';

Generate trajectory for list of poses with given start frame and end frame

• input object should contain the following properties
  • poses (Array), array of Pose entries
    • each pose should have x, y, z, longitude, latitude, altitude, roll, pitch, yaw
  • startFrame (Number), start frame number of trajectory
  • endFrame (Number), end frame number of trajectory

getObjectTrajectory(input: object) : Array

import {_getObjectTrajectory as getObjectTrajectory} from '@xviz/builder';

Generate object trajectory in pose relative coordinates

• input (Object) should contain the following properties
  • targetObject (Object), the object to generate trajectory
    • object should have id, x, y, z
  • objectFrames (Array:Object), all the frames with objects
    • each object should have id, x, y, z
  • poseFrames (Array:Object), all the frames with base poses
    • each pose should have x, y, z, longitude, latitude, altitude, roll, pitch, yaw
  • startFrame (Number), start frame number of trajectory
  • endFrame (Number), end frame number of trajectory