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3cd43ae3af
* Fix Protobuf writer to add PBE1 prefix to file * Update protobuf & fix directory writer * Fix FutureInstance builder and add tests
51 lines
1.4 KiB
Python
51 lines
1.4 KiB
Python
from xviz_avs.builder.base_builder import XVIZBaseBuilder, CATEGORY
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from xviz_avs.v2.core_pb2 import Pose, MapOrigin
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class XVIZPoseBuilder(XVIZBaseBuilder):
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"""
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# Reference
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[@xviz/builder/xviz-pose-builder]/(https://github.com/uber/xviz/blob/master/modules/builder/src/builders/xviz-pose-builder.js)
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"""
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def __init__(self, metadata, logger=None):
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super().__init__(CATEGORY.POSE, metadata, logger)
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self._poses = None
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self.reset()
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def reset(self):
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super().reset()
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self._category = CATEGORY.POSE
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self._temp_pose = Pose()
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def map_origin(self, longitude, latitude, altitude):
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self._temp_pose.map_origin.longitude = longitude
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self._temp_pose.map_origin.latitude = latitude
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self._temp_pose.map_origin.altitude = altitude
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return self
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def position(self, x, y, z):
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self._temp_pose.position.extend([x, y, z])
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return self
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def orientation(self, roll, pitch, yaw):
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self._temp_pose.orientation.extend([roll, pitch, yaw])
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return self
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def timestamp(self, timestamp):
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self._temp_pose.timestamp = timestamp
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return self
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def _flush(self):
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if not self._poses:
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self._poses = {}
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self._poses[self._stream_id] = self._temp_pose
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self._temp_pose = Pose()
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def get_data(self):
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if self._stream_id:
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self._flush()
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return self._poses
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