def heading(self):
"""The heading value converted from orientation."""
# XXX: changing the orientation should invalidate this
if self.heading_ is None:
yaw = yaw_from_quaternion(self.orientation)
self.heading_ = Heading(yaw)
return self.heading_
def pose(self) -> Pose:
pos, orn = self._client.getBasePositionAndOrientation(self._bullet_id)
heading = Heading(yaw_from_quaternion(orn))
# NOTE: we're inefficiently creating a new Pose object on every call here,
# but it's too risky to change this because our clients now rely on this behavior.
return Pose.from_explicit_offset(
[0, 0, 0],
np.array(pos),
heading,
local_heading=Heading(0),
)
def pose(self) -> Pose:
pos, orn = self._client.getBasePositionAndOrientation(self._bullet_id)
heading = Heading(yaw_from_quaternion(orn))
pose = Pose.from_explicit_offset(
[0, 0, 0],
np.array(pos),
heading,
local_heading=Heading(0),
)
return pose
def heading(self):
if self.heading_ is None:
yaw = yaw_from_quaternion(self.orientation)
self.heading_ = Heading(yaw)
return self.heading_