def get_pose(self):
x, y, t = SimObject.get_pose(self)
rx, ry, rt = self.__frame.get_pose()
return Pose(
rx +
x *
cos(rt) -
y *
sin(rt),
ry +
x *
sin(rt) +
y *
cos(rt),
t +
rt)
def get_internal_pose(self):
return SimObject.get_pose(self)
def __init__(self,pose,robot):
SimObject.__init__(self,pose)
self.__robot = robot
def get_internal_pose(self):
"""Get the pose of the sensor in the parent (robot) coordinates."""
return SimObject.get_pose(self)
def __init__(self,pose,parent):
SimObject.__init__(self,pose)
self.__frame = parent
def get_pose(self):
x, y, t = SimObject.get_pose(self)
rx, ry, rt = self.__frame.get_pose()
return Pose(rx + x * cos(rt) - y * sin(rt),
ry + x * sin(rt) + y * cos(rt), t + rt)
def get_internal_pose(self):
"""Get the pose of the sensor in the parent (robot) coordinates."""
return SimObject.get_pose(self)
def __init__(self, pose, parent):
SimObject.__init__(self, pose)
self.__frame = parent
def get_internal_pose(self):
"""Get the pose of the sensor from simobject inheritance"""
return SimObject.get_pose(self)
def __init__(self,pose,frame):
SimObject.__init__(self,pose)
self.__frame = frame
