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import numpy as np
class CanBus:
"""Wrapper class to convert lidar_can_bus to numpy array"""
def __init__(self, lidar_pc):
self.x = lidar_pc.ego_pose.x
self.y = lidar_pc.ego_pose.y
self.z = lidar_pc.ego_pose.z
self.qw = lidar_pc.ego_pose.qw
self.qx = lidar_pc.ego_pose.qx
self.qy = lidar_pc.ego_pose.qy
self.qz = lidar_pc.ego_pose.qz
self.acceleration_x = lidar_pc.ego_pose.acceleration_x
self.acceleration_y = lidar_pc.ego_pose.acceleration_y
self.acceleration_z = lidar_pc.ego_pose.acceleration_z
self.vx = lidar_pc.ego_pose.vx
self.vy = lidar_pc.ego_pose.vy
self.vz = lidar_pc.ego_pose.vz
self.angular_rate_x = lidar_pc.ego_pose.angular_rate_x
self.angular_rate_y = lidar_pc.ego_pose.angular_rate_y
self.angular_rate_z = lidar_pc.ego_pose.angular_rate_z
self.tensor = np.array(
[
self.x,
self.y,
self.z,
self.qw,
self.qx,
self.qy,
self.qz,
self.acceleration_x,
self.acceleration_y,
self.acceleration_z,
self.vx,
self.vy,
self.vz,
self.angular_rate_x,
self.angular_rate_y,
self.angular_rate_z,
0.0,
0.0,
]
)
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