def go_to_relative(
self,
xyt_position,
use_map=False,
close_loop=True,
smooth=False):
"""
Moves the robot to the robot to given goal state
relative to its initial pose.
:param xyt_position: The relative goal state of the form (x,y,t)
:param use_map: When set to "True", ensures that controler is
using only free space on the map to move the robot.
:param close_loop: When set to "True", ensures that controler is
operating in open loop by taking
account of odometry.
:param smooth: When set to "True", ensures that the
motion leading to the goal is a smooth one.
:type xyt_position: list or np.ndarray
:type use_map: bool
:type close_loop: bool
:type smooth: bool
"""
start_pos = self.base_state.state.state_f.copy()
goal_pos = _get_absolute_pose(xyt_position, start_pos.ravel())
self.go_to_absolute(goal_pos, use_map, close_loop, smooth)
def go_to_relative(self, xyt_position, close_loop=True, smooth=True):
"""
Relative pose that the robot should go to.
"""
start_pos = self.state.state_f.copy()
goal_pos = _get_absolute_pose(xyt_position, start_pos.ravel())
return self.go_to_absolute(goal_pos, close_loop, smooth)