integrate.py 文件源码

def reset(self):
        """Clear computed trajectory except the initial point."""
        lat, lon, VE, VN, h, p, r, stamp = self._init_values

        self.lat_arr[0] = np.deg2rad(lat)
        self.lon_arr[0] = np.deg2rad(lon)
        self.VE_arr[0] = VE
        self.VN_arr[0] = VN
        self.Cnb_arr[0] = dcm.from_hpr(h, p, r)

        self.traj = pd.DataFrame(index=pd.Index([stamp], name='stamp'))
        self.traj['lat'] = [lat]
        self.traj['lon'] = [lon]
        self.traj['VE'] = [VE]
        self.traj['VN'] = [VN]
        self.traj['h'] = [h]
        self.traj['p'] = [p]
        self.traj['r'] = [r]