def __init__(self, lvel, avel, topology='plane', interval=1): ''' :param lvel: Instantaneous linear velocity :param avel: Instantaneous angular velocity :param topology: Topology of the domain (plane/torus) :param interval: Length of motion. ''' self.topology_s = topology SymbolicDiffeo.__init__(self, topology) self.lvel = np.asarray(lvel) self.avel = float(avel) self.interval = interval self.v = se2.algebra_from_velocities(avel=self.avel, lvel=self.lvel) self.q = SE2.group_from_algebra(self.v) self.R, self.t = geometry.rotation_translation_from_SE2(self.q)
def xy_from_state(self, state): _, t = rotation_translation_from_SE2(state) return t