CSVROSData Class¶

class rosdata.utils.datareader.CSVROSData(csvfile: str)[source]¶

A utility class to provide easy accessibility to a CSV file created by ROSData tools.

__getitem__(item)[source]¶

Can be used as a shorthand for the get_data method.

Examples

# equivalent to csvrosdata_obj.get_data(indices=0)

csvrosdata_obj[0]

# equivalent to csvrosdata_obj.get_data(fields=’timestamp’)

csvrosdata_obj[‘timestamp’]

# equivalent to csvrosdata_obj.get_data(indices=0, fields=’timestamp’)

csvrosdata_obj[0, ‘timestamp’]

__init__(csvfile: str) → None[source]¶

Initialises a CSVROSData object where the class attributes, referred to as fields, will be the headers of the CSV file. For the pose data functions to be accesible the CSV file must contain the headers [‘pos_x’, ‘pos_y’, ‘pos_z’, ‘quat_w’, ‘quat_x’, ‘quat_y’, ‘quat_z’]. Numeric data will be stored as floats, all other data will be stored as strings except for the string ‘none’ which will be stored as None.

Parameters: csvfile (str) – the path to the ROSData CSV file

__len__() → int[source]¶

returns the length of the data

Returns: the length of the data
Return type: int

field_exists(field: str) → bool[source]¶

Checks to see if a field exists within this CSV data

Parameters: field (str) – the field
Returns: true if the field exists
Return type: bool

get_data(indices=None, fields=None)[source]¶

Gets the entire data for a specific index, or the value for a field for a index, or gets the field for the entire data (e.g., all timestamps).

Examples

# return data for index 0

data = csvrosdata_obj.get_data(0)

# return all pos_x data

data = csvrosdata_obj.get_data(‘pos_x’)

# return all fields for multiple indices

data = csvrosdata_obj.get_data([0, 2])

# return all data for a set of fields

data = csvrosdata_obj.get_data([‘pos_x’, ‘pos_z’])

# return multiple fields for a specified index or a set of indices
data = csvrosdata_obj.get_data(0, [‘pos_x’, ‘pos_z’])
data = csvrosdata_obj.get_data([0, 2], [‘pos_x’, ‘pos_z’])

Parameters

indices (int, str, list) – the index or indices to be retrieved
fields (optional, int or str) – the field or fields to be retrieved

Raises

ValueError – if too many arguments are provided

Returns

either the data (list) for a given index, the value for a given index/field or the data (list) for a field across all indices.

Return type

variable

get_pose(index: int) → spatialmath.pose3d.SE3[source]¶

Gets the transform (spatialmath.SE3 object) for the given index.

Parameters: index (int) – the index for the desired transform
Returns: returns a spatialmath.SE3 object with the given transform, or None if a transform does not exist for this index.
Return type: spatialmath.SE3

get_pose_data(index: int) → list[source]¶

Gets the transform (spatialmath.SE3 object) for the given index.

Parameters: index (int) – the index for the desired transform
Returns: returns a spatialmath.SE3 object with the given transform, or None if a transform does not exist for this index.
Return type: spatialmath.SE3

pose_data_exists() → bool[source]¶

Returns true if the CSV ROSData file contained pose information.

Returns: true if pose information is available.
Return type: bool