h0uter / sensor_director

GIven an actor pose and a target, return a rotation to look at the target.

sensor_director

Package for calculating quaternions to point sensors at targets.

Quickstart

import sensor_director as sd

# calc the rotation necesary to look at a target from a source pose

source_pose = AgentPose(Position(x=5, y=5, z=5), Quaternion(w=0, i=0, j=0, k=0))

target_point = TargetPoint(Position(x=8, y=0, z=0))


rotation = sd.calc_rotation_to_look_at_target(source_pose, target_point)

reference quaternions double check

Dev

It important to maintain the up direction while directing the sensor. So we need to translate between two frames, not just two vectors

Up Next

• write some tests for basic cases
• derive the view vetor from point and agent
• calculate the rotation between current pose and view vector
• vizualise the result