Add option for passive reference frame

Author: cpsl-jetson-1

avstack/geometry/datastructs.py

@@ -1,12 +1,13 @@
 import json
+from typing import Union
 
 import numpy as np
 
 import avstack
 
 from . import transformations as tforms
 from .base import q_mult_vec
-from .refchoc import ReferenceDecoder, ReferenceFrame, Rotation, Vector
+from .refchoc import ReferenceDecoder, ReferenceFrame, PassiveReferenceFrame, Rotation, Vector
 
 
 class VectorDecoder(json.JSONDecoder):
@@ -70,7 +71,7 @@ def object_hook(json_object):
 
 
 class Position(Vector):
-    def _pull_from_reference(self, reference: ReferenceFrame):
+    def _pull_from_reference(self, reference: Union[ReferenceFrame, PassiveReferenceFrame]):
         return reference.x
 
     @property
@@ -83,7 +84,7 @@ def factory():
 
 
 class Velocity(Vector):
-    def _pull_from_reference(self, reference: ReferenceFrame):
+    def _pull_from_reference(self, reference: Union[ReferenceFrame, PassiveReferenceFrame]):
         return reference.v
 
     @staticmethod
@@ -92,7 +93,7 @@ def factory():
 
 
 class Acceleration(Vector):
-    def _pull_from_reference(self, reference: ReferenceFrame):
+    def _pull_from_reference(self, reference: Union[ReferenceFrame, PassiveReferenceFrame]):
         return reference.acc
 
     @staticmethod
@@ -101,7 +102,7 @@ def factory():
 
 
 class Attitude(Rotation):
-    def _pull_from_reference(self, reference: ReferenceFrame):
+    def _pull_from_reference(self, reference: Union[ReferenceFrame, PassiveReferenceFrame]):
         return reference.q
 
     @staticmethod
@@ -110,7 +111,7 @@ def factory():
 
 
 class AngularVelocity(Rotation):
-    def _pull_from_reference(self, reference: ReferenceFrame):
+    def _pull_from_reference(self, reference: Union[ReferenceFrame, PassiveReferenceFrame]):
         return reference.ang
 
     @staticmethod

avstack/modules/tracking/tracker2d.py

@@ -24,14 +24,14 @@ def track(self, detections, platform, **kwargs):
             trk = BasicBoxTrack2D(
                 t0=detections.timestamp,
                 box2d=det.box2d,
+                reference=platform,
                 obj_type=det.obj_type,
                 ID_force=None,
                 v=None,
                 P=np.eye(6),  # fake this
                 t=detections.timestamp,
-                coast=0,
+                dt_coast=0,
                 n_updates=1,
-                age=1,
             )
             tracks.append(trk)
         return tracks