def get_turn_params(self):
"""Returns a tupel of: (rotation_state, rotation_speed, driving_time)
"""
angle = Utils.get_wall_angle(SmachGlobalData.msg_line)
#angle = math.copysign(angle, self.get_x_dif_fl_fr())
(return_speed, return_time) = self.get_speed_and_time(angle, ROTATION_MAX)
return_state = self.get_return_state(angle, "turnLeft", "turnRight")
return (return_state, return_speed, return_time)
def is_not_collimated(self):
angle = Utils.get_wall_angle(SmachGlobalData.msg_line)
print "wall_angle", angle
return abs(angle) > GOAL_ANGLE_TOLERANCE
