Namespace inertialsim::examples::tartanair

Namespace List > inertialsim > examples > tartanair

Classes

Type	Name
struct	ImuData TartanAir IMU data.
struct	PoseData TartanAir IMU pose data.

Public Functions

Type	Name
std::pair< ImuData, PoseData >	Load (const std::filesystem::path & directory, const std::string & environment, const std::string & difficulty, int trajectory) Load TartanAir flight simulation data.

Public Functions Documentation

function Load

Load TartanAir flight simulation data.

std::pair< ImuData , PoseData > inertialsim::examples::tartanair::Load (
    const std::filesystem::path & directory,
    const std::string & environment,
    const std::string & difficulty,
    int trajectory
) 

Data is available from the TartanAir site at https://tartanair.org/. Data is organized by environment, difficulty level, and trajectory number. Only IMU and associated pose data is supported here.

The function loads synchronized IMU measurements (gyroscope and accelerometer) along with ground truth pose data (attitude, position, velocity).

Parameters:

• directory Top level directory with TartanAir data.
• environment Environment name (e.g., "Downtown").
• difficulty One of "easy" or "hard".
• trajectory Trajectory number (e.g., 0, 1, ..., 8).

Returns:

Pair containing:

• IMU data
• Pose data

Exception:

• std::runtime_error if data files cannot be opened or parsed.

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The documentation for this class was generated from the following file cpp/include/inertialsim/examples/tartanair.h