from abc import abstractmethod, ABC
from typing import Set, Union
import numpy as np
from stonesoup.types.detection import TrueDetection
from stonesoup.types.groundtruth import GroundTruthState
from .base import PlatformMountable
[docs]class Sensor(PlatformMountable, ABC):
"""Sensor Base class for general use.
Most properties and methods are inherited from :class:`~.PlatformMountable`.
Sensors must have a measure function.
def measure(self, ground_truths: Set[GroundTruthState], noise: Union[np.ndarray, bool] = True,
**kwargs) -> Set[TrueDetection]:
"""Generate a measurement for a given state
ground_truths : Set[:class:`~.GroundTruthState`]
A set of :class:`~.GroundTruthState`
noise: :class:`numpy.ndarray` or bool
An externally generated random process noise sample (the default is `True`, in which
case :meth:`~.Model.rvs` is used; if `False`, no noise will be added)
A set of measurements generated from the given states. The timestamps of the
measurements are set equal to that of the corresponding states that they were
calculated from. Each measurement stores the ground truth path that it was produced