Platforms

class stonesoup.platform.base.Platform(movement_controller: Movable = None, sensors: MutableSequence[Sensor] = None)

Bases: Base

A platform that can carry a number of different sensors.

The location of platform mounted sensors will be maintained relative to the sensor position. Platforms move within a 2 or 3 dimensional rectangular cartesian space.

A simple platform is considered to always be aligned with its principle velocity. It does not take into account issues such as bank angle or body deformation (e.g. flex).

Movement is controlled by the Platform’s Platform.movement_controller, and access to attributes of the Platform is proxied to the movement controller, to allow the Platform to report its own position, orientation etc.

If a movement_controller argument is not supplied to the constructor, the Platform will try to construct one using unused arguments passed to the Platform’s constructor.

Note

This class is abstract and not intended to be instantiated. To get the behaviour of this class use a subclass which gives movement behaviours. Currently, these are FixedPlatform and MovingPlatform

Parameters:

• movement_controller (Movable, optional) – Movable object to control the Platform’s movement. Default is None, but it can be constructed transparently by passing Movable’s constructor parameters to the Platform constructor.

• sensors (MutableSequence[Sensor], optional) – A list of N mounted sensors. Defaults to an empty list.

movement_controller: Movable

Movable object to control the Platform’s movement. Default is None, but it can be constructed transparently by passing Movable’s constructor parameters to the Platform constructor.

sensors: MutableSequence[Sensor]

A list of N mounted sensors. Defaults to an empty list.

add_sensor(sensor: Sensor) → None

Add a sensor to the platform.

Parameters:

sensor (BaseSensor) – The sensor object to add.

remove_sensor(sensor: Sensor) → None

Remove a sensor from the platform.

Parameters:

sensor (BaseSensor) – The sensor object to remove.

pop_sensor(index: int = -1)

Remove and return a sensor from the platform by index. If no index is specified, remove and return the last sensor in self.sensors.

Parameters:

index (int) – The index of the sensor to remove. Defaults to the last item in the list.

class stonesoup.platform.base.FixedPlatform(movement_controller: Movable = None, sensors: MutableSequence[Sensor] = None)

Bases: Platform

Parameters:

• movement_controller (Movable, optional) – Movable object to control the Platform’s movement. Default is None, but it can be constructed transparently by passing Movable’s constructor parameters to the Platform constructor.

• sensors (MutableSequence[Sensor], optional) – A list of N mounted sensors. Defaults to an empty list.

class stonesoup.platform.base.MovingPlatform(movement_controller: Movable = None, sensors: MutableSequence[Sensor] = None)

Bases: Platform

Parameters:

• movement_controller (Movable, optional) – Movable object to control the Platform’s movement. Default is None, but it can be constructed transparently by passing Movable’s constructor parameters to the Platform constructor.

• sensors (MutableSequence[Sensor], optional) – A list of N mounted sensors. Defaults to an empty list.

class stonesoup.platform.base.MultiTransitionMovingPlatform(movement_controller: Movable = None, sensors: MutableSequence[Sensor] = None)

Bases: Platform

Parameters:

• movement_controller (Movable, optional) – Movable object to control the Platform’s movement. Default is None, but it can be constructed transparently by passing Movable’s constructor parameters to the Platform constructor.

• sensors (MutableSequence[Sensor], optional) – A list of N mounted sensors. Defaults to an empty list.