Ego Vehicle State¶

Ego State in SE(2)¶

class py123d.datatypes.EgoStateSE2[source]¶

The EgoStateSE2 represents the state of the ego vehicle in SE2 (2D space).

The IMU pose is the primary internal representation. Rear axle and center poses are computed on demand via the ego metadata.

Public Data Attributes:

`imu_se2`	The `PoseSE2` of the IMU in SE2.
`rear_axle_se2`	The `PoseSE2` of the rear axle in SE2.
`metadata`	The `EgoStateSE3Metadata` of the vehicle.
`timestamp`	The `Timestamp` of the ego state
`dynamic_state_se2`	The `DynamicStateSE2` of the vehicle.
`tire_steering_angle`	The tire steering angle of the ego state, if available.
`center_se2`	The `PoseSE2` of the center in SE2.
`bounding_box_se2`	The `BoundingBoxSE2` of the ego vehicle.
`box_detection_se2`	The `BoxDetectionSE2` projection of the ego vehicle.

Public Methods:

`from_imu`(imu_se2, metadata, timestamp[, ...])	Create an `EgoStateSE2` from the IMU pose.
`from_rear_axle`(rear_axle_se2, metadata, ...)	Create an `EgoStateSE2` from the rear axle pose.
`from_center`(center_se2, metadata, timestamp)	Create an `EgoStateSE2` from the center pose.

classmethod from_imu(imu_se2, metadata, timestamp, dynamic_state_se2=None, tire_steering_angle=0.0)[source]¶

Create an EgoStateSE2 from the IMU pose.

This is the canonical factory method. The IMU pose is stored directly.

Parameters:

imu_se2 (PoseSE2) – The pose of the IMU in the global frame (SE2).
metadata (EgoStateSE3Metadata) – The ego metadata of the vehicle.
timestamp (Timestamp) – The timestamp of the state.
dynamic_state_se2 (Optional[DynamicStateSE2]) – The dynamic state of the vehicle in SE2, defaults to None.
tire_steering_angle (float) – The tire steering angle, defaults to 0.0.

Return type:

EgoStateSE2

Returns:

An instance of EgoStateSE2.

classmethod from_rear_axle(rear_axle_se2, metadata, timestamp, dynamic_state_se2=None, tire_steering_angle=0.0)[source]¶

Create an EgoStateSE2 from the rear axle pose.

Converts the rear axle pose to the IMU pose using the vehicle’s rear_axle_to_imu_se3 extrinsic calibration.

Parameters:

rear_axle_se2 (PoseSE2) – The pose of the rear axle in SE2.
metadata (EgoStateSE3Metadata) – The ego metadata of the vehicle.
timestamp (Timestamp) – The timestamp of the state.
dynamic_state_se2 (Optional[DynamicStateSE2]) – The dynamic state of the vehicle in SE2, defaults to None.
tire_steering_angle (float) – The tire steering angle, defaults to 0.0.

Return type:

EgoStateSE2

Returns:

An instance of EgoStateSE2.

classmethod from_center(center_se2, metadata, timestamp, dynamic_state_se2=None, tire_steering_angle=0.0)[source]¶

Create an EgoStateSE2 from the center pose.

Converts the center pose to the IMU pose using the vehicle’s center_to_imu_se3 extrinsic calibration.

Parameters:

center_se2 (PoseSE2) – The pose of the center in SE2.
metadata (EgoStateSE3Metadata) – The ego metadata of the vehicle.
timestamp (Timestamp) – The timestamp of the state.
dynamic_state_se2 (Optional[DynamicStateSE2]) – The dynamic state of the vehicle in SE2, defaults to None.
tire_steering_angle (float) – The tire steering angle, defaults to 0.0.

Return type:

EgoStateSE2

Returns:

An instance of EgoStateSE2.

property imu_se2: PoseSE2¶: The PoseSE2 of the IMU in SE2.

property rear_axle_se2: PoseSE2¶: The PoseSE2 of the rear axle in SE2.

property metadata: EgoStateSE3Metadata¶: The EgoStateSE3Metadata of the vehicle.

property timestamp: Timestamp¶: The Timestamp of the ego state

property dynamic_state_se2: DynamicStateSE2 | None¶: The DynamicStateSE2 of the vehicle.

property tire_steering_angle: float | None¶: The tire steering angle of the ego state, if available.

property center_se2: PoseSE2¶: The PoseSE2 of the center in SE2.

property bounding_box_se2: BoundingBoxSE2¶: The BoundingBoxSE2 of the ego vehicle.

property box_detection_se2: BoxDetectionSE2¶: The BoxDetectionSE2 projection of the ego vehicle.

Ego State in SE(3)¶

class py123d.datatypes.EgoStateSE3[source]¶

The EgoStateSE3 represents the state of the ego vehicle in SE3 (3D space).

The IMU pose is the primary internal representation. Rear axle, center, and SE2 poses are computed on demand via the ego metadata.

Public Data Attributes:

`imu_se3`	The `PoseSE3` of the IMU in SE3.
`imu_se2`	The `PoseSE2` of the IMU in SE2.
`rear_axle_se3`	The `PoseSE3` of the rear axle in SE3.
`rear_axle_se2`	The `PoseSE2` of the rear axle in SE2.
`metadata`	The `EgoStateSE3Metadata` of the vehicle.
`dynamic_state_se3`	The `DynamicStateSE3` of the vehicle.
`timestamp`	The `Timestamp` of the ego state.
`tire_steering_angle`	The tire steering angle of the ego state, if available.
`center_se3`	The `PoseSE3` of the vehicle center in SE3.
`center_se2`	The `PoseSE2` of the vehicle center in SE2.
`bounding_box_se3`	The `BoundingBoxSE3` of the ego vehicle.
`bounding_box_se2`	The `BoundingBoxSE2` of the ego vehicle.
`box_detection_se3`	The `BoxDetectionSE3` projection of the ego vehicle.
`box_detection_se2`	The `BoxDetectionSE2` projection of the ego vehicle.
`ego_state_se2`	The `EgoStateSE2` projection of this SE3 ego state.

Inherited from BaseModality

`timestamp`	Returns the timestamp associated with this modality data, if available.
`metadata`	Returns the metadata associated with this modality data.
`modality_type`	Convenience property to access the modality type directly from the modality data.
`modality_id`	Convenience property to access the modality id directly from the modality data.
`modality_key`	Convenience property to access the modality key directly from the modality data.

Public Methods:

`from_imu`(imu_se3, metadata, timestamp[, ...])	Create an `EgoStateSE3` from the IMU pose.
`from_rear_axle`(rear_axle_se3, metadata, ...)	Create an `EgoStateSE3` from the rear axle pose.
`from_center`(center_se3, metadata, timestamp)	Create an `EgoStateSE3` from the center pose.

classmethod from_imu(imu_se3, metadata, timestamp, dynamic_state_se3=None, tire_steering_angle=0.0)[source]¶

Create an EgoStateSE3 from the IMU pose.

This is the canonical factory method. The IMU pose is stored directly.

Parameters:

imu_se3 (PoseSE3) – The pose of the IMU in the global frame.
metadata (EgoStateSE3Metadata) – The ego metadata of the vehicle.
timestamp (Timestamp) – The timestamp of the state.
dynamic_state_se3 (Optional[DynamicStateSE3]) – The dynamic state of the vehicle, defaults to None.
tire_steering_angle (float) – The tire steering angle, defaults to 0.0.

Return type:

EgoStateSE3

Returns:

An EgoStateSE3 instance.

classmethod from_rear_axle(rear_axle_se3, metadata, timestamp, dynamic_state_se3=None, tire_steering_angle=0.0)[source]¶

Create an EgoStateSE3 from the rear axle pose.

Converts the rear axle pose to the IMU pose using the vehicle’s rear_axle_to_imu_se3 extrinsic calibration.

Parameters:

rear_axle_se3 (PoseSE3) – The pose of the rear axle in SE3.
metadata (EgoStateSE3Metadata) – The ego metadata of the vehicle.
timestamp (Timestamp) – The timestamp of the state
dynamic_state_se3 (Optional[DynamicStateSE3]) – The dynamic state of the vehicle in ego frame, defaults to None.
tire_steering_angle (float) – The tire steering angle, defaults to 0.0.

Return type:

EgoStateSE3

Returns:

An EgoStateSE3 instance.

classmethod from_center(center_se3, metadata, timestamp, dynamic_state_se3=None, tire_steering_angle=0.0)[source]¶

Create an EgoStateSE3 from the center pose.

Converts the center pose to the IMU pose using the vehicle’s center_to_imu_se3 extrinsic calibration.

Parameters:

center_se3 (PoseSE3) – The center pose in SE3.
metadata (EgoStateSE3Metadata) – The ego metadata of the vehicle.
timestamp (Timestamp) – The timestamp of the state.
dynamic_state_se3 (Optional[DynamicStateSE3]) – The dynamic state of the vehicle in ego frame, defaults to None.
tire_steering_angle (float) – The tire steering angle, defaults to 0.0.

Return type:

EgoStateSE3

Returns:

An EgoStateSE3 instance.

property imu_se3: PoseSE3¶: The PoseSE3 of the IMU in SE3.

property imu_se2: PoseSE2¶: The PoseSE2 of the IMU in SE2.

property rear_axle_se3: PoseSE3¶: The PoseSE3 of the rear axle in SE3.

property rear_axle_se2: PoseSE2¶: The PoseSE2 of the rear axle in SE2.

property metadata: EgoStateSE3Metadata¶: The EgoStateSE3Metadata of the vehicle.

property dynamic_state_se3: DynamicStateSE3 | None¶: The DynamicStateSE3 of the vehicle.

property timestamp: Timestamp¶: The Timestamp of the ego state.

property tire_steering_angle: float | None¶: The tire steering angle of the ego state, if available.

property center_se3: PoseSE3¶: The PoseSE3 of the vehicle center in SE3.

property center_se2: PoseSE2¶: The PoseSE2 of the vehicle center in SE2.

property bounding_box_se3: BoundingBoxSE3¶: The BoundingBoxSE3 of the ego vehicle.

property bounding_box_se2: BoundingBoxSE2¶: The BoundingBoxSE2 of the ego vehicle.

property box_detection_se3: BoxDetectionSE3¶: The BoxDetectionSE3 projection of the ego vehicle.

property box_detection_se2: BoxDetectionSE2¶: The BoxDetectionSE2 projection of the ego vehicle.

property ego_state_se2: EgoStateSE2¶: The EgoStateSE2 projection of this SE3 ego state.

property modality_id: str | SerialIntEnum | None¶: Convenience property to access the modality id directly from the modality data.

property modality_key: str¶: Convenience property to access the modality key directly from the modality data.

property modality_type: ModalityType¶: Convenience property to access the modality type directly from the modality data.