remove solution in localization task

ika-rwth-aachen · Oct 16, 2023 · 368a7e8 · 368a7e8
1 parent 52d0b3a
commit 368a7e8
Showing 1 changed file with 2 additions and 34 deletions.
diff --git a/section_2_sensor_data_processing/8_localization.ipynb b/section_2_sensor_data_processing/8_localization.ipynb
@@ -106,8 +106,6 @@
     "bag_path = '../bag'\n",
     "### START CODE HERE ###\n",
     "bag_folder_name = None\n",
-    "### Solution:\n",
-    "bag_folder_name = 'localization_evaluation'\n",
     "### END CODE HERE ###\n",
     "bag_path += '/'+bag_folder_name"
    ]
@@ -157,23 +155,13 @@
     "                \n",
     "                # append the TrajectoryPoint2D-object to trajectory\n",
     "                \n",
-    "                ### Solution:\n",
-    "                # set all members of the TrajectoryPoint2D-object based on a nav_msgs::msg::Odometry\n",
-    "                point.from_odometry(msg)\n",
-    "                # append the TrajectoryPoint2D-object to trajectory\n",
-    "                trj.append(point)\n",
     "                ### END CODE HERE ###\n",
     "            elif connection.msgtype=='geometry_msgs/msg/PoseStamped':\n",
     "                ### START CODE HERE ###\n",
     "                # set all members of the TrajectoryPoint2D-object based on a geometry_msgs::msg::PoseStamped\n",
     "                \n",
     "                # append the TrajectoryPoint2D-object to trajectory\n",
     "                \n",
-    "                ### Solution:\n",
-    "                # set all members of the TrajectoryPoint2D-object based on a geometry_msgs::msg::PoseStamped\n",
-    "                point.from_pose(msg)\n",
-    "                # append the TrajectoryPoint2D-object to trajectory\n",
-    "                trj.append(point)\n",
     "                ### END CODE HERE ###\n",
     "            else:\n",
     "                # print message if topic contains a message of unsupported type\n",
@@ -200,9 +188,6 @@
     "### START CODE HERE ###\n",
     "\n",
     "\n",
-    "### Solution:\n",
-    "gt_trj=read_trajectory(bag_path, '/ground_truth/pose')\n",
-    "est_trj=read_trajectory(bag_path, '/localization/predicted_pose')\n",
     "### END CODE HERE ###"
    ]
   },
@@ -229,14 +214,9 @@
    "source": [
     "### START CODE HERE ###\n",
     "# Ground-Truth-Trajectory-Data-Frame\n",
-    "#df_gt = pd.DataFrame({'t': [point.t for point in None], 'x': [point.x for point in None], 'y': [point.y for point in None], 'psi': [point.psi for point in None]})\n",
-    "# Estimated-Trajectory-Data-Frame\n",
-    "#df_est = pd.DataFrame({'t': [point.t for point in None], 'x': [point.x for point in None], 'y': [point.y for point in None], 'psi': [point.psi for point in None]})\n",
-    "### Solution:\n",
-    "# Ground-Truth-Trajectory-Data-Frame\n",
-    "df_gt = pd.DataFrame({'t': [point.t for point in gt_trj], 'x': [point.x for point in gt_trj], 'y': [point.y for point in gt_trj], 'psi': [point.psi for point in gt_trj]})\n",
+    "df_gt = pd.DataFrame({'t': [point.t for point in None], 'x': [point.x for point in None], 'y': [point.y for point in None], 'psi': [point.psi for point in None]})\n",
     "# Estimated-Trajectory-Data-Frame\n",
-    "df_est = pd.DataFrame({'t': [point.t for point in est_trj], 'x': [point.x for point in est_trj], 'y': [point.y for point in est_trj], 'psi': [point.psi for point in est_trj]})\n",
+    "df_est = pd.DataFrame({'t': [point.t for point in None], 'x': [point.x for point in None], 'y': [point.y for point in None], 'psi': [point.psi for point in None]})\n",
     "### END CODE HERE ###"
    ]
   },
@@ -259,8 +239,6 @@
    "source": [
     "### START CODE HERE ###\n",
     "df = pd.merge_asof(df_est, df_gt, on='t', tolerance=None, direction='nearest', suffixes=['_estimate', '_ground_truth'])\n",
-    "### Solution:\n",
-    "df = pd.merge_asof(df_est, df_gt, on='t', tolerance=0.025, direction='nearest', suffixes=['_estimate', '_ground_truth'])\n",
     "### END CODE HERE ###"
    ]
   },
@@ -347,9 +325,6 @@
     "### START CODE HERE ###\n",
     "\n",
     "\n",
-    "### Solution\n",
-    "df.plot(x='t', y='psi_ground_truth', ax=ax)\n",
-    "df.plot(x='t', y='psi_estimate', ax=ax)\n",
     "### END CODE HERE ###\n",
     "# Set legend labels\n",
     "ax.legend(['Ground Truth Trajectory', 'Estimated Trajectory'])\n",
@@ -397,10 +372,6 @@
     "\n",
     "\n",
     "\n",
-    "### Solution\n",
-    "df['dx'] = df['x_ground_truth'] - df['x_estimate']\n",
-    "df['dy'] = df['y_ground_truth'] - df['y_estimate']\n",
-    "df['dpsi'] = df['psi_ground_truth'] - df['psi_estimate']\n",
     "### END CODE HERE ###"
    ]
   },
@@ -477,9 +448,6 @@
     "\n",
     "\n",
     "\n",
-    "### Solution\n",
-    "df['dlon'] = df['dx']*np.cos(df['psi_ground_truth']*np.pi/180.0) + df['dy']*np.sin(df['psi_ground_truth']*np.pi/180.0)\n",
-    "df['dlat'] = -df['dx']*np.sin(df['psi_ground_truth']*np.pi/180.0) + df['dy']*np.cos(df['psi_ground_truth']*np.pi/180.0)\n",
     "### END CODE HERE ###"
    ]
   },