navigation_metrics package

Submodules

• navigation_metrics.analyze_bag module
  • compute_metrics()
  • main()
• navigation_metrics.flexible_bag module
  • BagMessage
    • BagMessage.msg
    • BagMessage.t
  • FlexibleBag
    • FlexibleBag.conversion_functions
    • FlexibleBag.get_single_topic()
    • FlexibleBag.get_topics_by_type()
    • FlexibleBag.read_multiple_topics()
    • FlexibleBag.read_remaining_topics()
    • FlexibleBag.save()
  • MissingTopicException
  • flexible_bag_converter_function()
  • get_message_name()
• navigation_metrics.metric module
  • find_downstream_dependencies()
  • get_metrics()
  • global_metric_search()
  • nav_metric()
• navigation_metrics.util module
  • average()
  • default_getter()
  • metric_final()
  • metric_max()
  • metric_min()
  • min_max_total_avg()
  • point_distance()
  • pose2d_distance()
  • pose_distance()
  • pose_stamped_distance()
  • stamp_to_float()

Module contents

class navigation_metrics.BagMessage(t, msg)

Bases: tuple

msg

Alias for field number 1

t

Alias for field number 0

class navigation_metrics.FlexibleBag(path, storage_id='sqlite3', serialization_format='cdr', write_mods=True, initial_cache=False)

Bases: object

A flexible bag container that allows for a variety of data access modes

bag[topic_string] - Results in a list of BagMessage objects for the topic bag[topic1, topic2] - Results in a list of BagMessage tuples, where timestamps are as close as possible

You can also add new data with bag[topic] = list of BagMessages Added data will be stored to disk on exit if write_mods=True

conversion_functions = {'/actual_acceleration': <function velocity_to_acceleration>, '/actual_jerk': <function acceleration_to_jerk>, '/actual_velocity': <function poses_to_velocity>, '/distance_to_goal': <function pose_to_goal_distance>, '/navigation_result': <function find_endpoint>, '/obstacle_clearance': <function calculate_obstacle_clearance>, '/optimal_path': <function shortest_path_calculation>, '/path': <function tf_to_pose>, '/path2d': <function convert_pose_to_pose2d>, '/trial_goal_pose': <function convert_to_trial>, '/trial_goal_pose_2d': <function convert_goal_pose_to_pose2d>}

get_single_topic(topic)

Returns a list of BagMessage objects with the given topic

get_topics_by_type(msg_type_s)

Returns a list of topics whose type matches the string passed in

read_multiple_topics(topics, allow_reuse=False)

Uses a greedy algorithm to match up messages from multiple topics to their closest neighbors

Does NOT necessarily return all data from the topics.

read_remaining_topics()

save(output_path)

Save results to file

exception navigation_metrics.MissingTopicException(topic)

Bases: RuntimeError

navigation_metrics.get_metrics()

navigation_metrics.global_metric_search()

Load all the navigation_metrics, including those from downstream packages.

This call looks for packages that depend on this package, and then imports them, in order to populate the metrics and conversion functions datastructures.