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_