intermediate commit on localization notebook

.gitignore

@@ -1,6 +1,7 @@
 venv
 my_venv
 __pycache__
+.db3
 .ipynb_checkpoints
 .idea
 section_2_sensor_data_processing/tensorflow_datasets

docker/requirements.txt

@@ -18,3 +18,5 @@ papermill
 jupyterlab-tour
 nodejs
 jupyterlab
+rosbags
+squaternion

index.ipynb

@@ -48,6 +48,7 @@
     "| 5  | Object Detection                     | Required  |[Exercise](section_2_sensor_data_processing/5_object_detection.ipynb)                        | Available on edX |\n",
     "| 6  | Point Cloud Occupancy Grid Mapping   | Required  |[Exercise](section_2_sensor_data_processing/6_grid_mapping.ipynb)                            | Available on edX |\n",
     "| 7  | Camera-based Semantic Grid Mapping   | Required  |[Exercise](section_2_sensor_data_processing/7_cam_semantic_grid_mapping.ipynb)               | Available on edX |\n",
+    "| 8  | Localization                         | Required  |[Exercise](section_2_sensor_data_processing/8_localization.ipynb)                            | Available on edX |\n",
     "\n",
     "\n",
     "\n",

section_2_sensor_data_processing/localization/trajectory.py

@@ -0,0 +1,25 @@
+from squaternion import Quaternion
+
+class TrajectoryPoint2D:
+    def __init__(self):
+        self.x=None
+        self.y=None
+        self.psi=None
+        self.t=None
+
+    def from_odometry(self, odometry):
+        self.x = odometry.pose.pose.position.x
+        self.y = odometry.pose.pose.position.y
+        self.t = odometry.header.stamp.sec+odometry.header.stamp.nanosec*1e-9
+        self.psi = self.quaternion_to_yaw(odometry.pose.pose.orientation)
+
+    def from_pose(self, pose):
+        self.x = pose.pose.position.x
+        self.y = pose.pose.position.y
+        self.t = pose.header.stamp.sec+pose.header.stamp.nanosec*1e-9
+        self.psi = self.quaternion_to_yaw(pose.pose.orientation)
+
+    def quaternion_to_yaw(self, quaternion):
+        q = Quaternion(quaternion.w,quaternion.x,quaternion.y,quaternion.z)
+        e = q.to_euler(degrees=True)
+        return e[2]