def SignalInput_callback (self, srvSignalReq): rv = SrvSignalResponse() (self.stateRef, isInArena) = self.TransformStateToFrame('Stage', srvSignalReq.state) rv.success = True #isInArena return rv
def SignalInput_callback (self, srvSignalReq): rv = SrvSignalResponse() if (self.angposMech is not None): Jinv = self.JacobianInv(self.angposMech) (self.stateRef, isInArena) = self.TransformStateToFrame('Stage', srvSignalReq.state) self.angposRef = self.Get1FromPt(self.stateRef.pose.position) self.angvelRef = Jinv.dot(np.array([[self.stateRef.velocity.linear.x],[self.stateRef.velocity.linear.y]])) rv.success = True #isInArena return rv
def SignalInput_callback (self, srvSignal): rv = SrvSignalResponse() rv.success = True return rv