def sonarHit(self, distance, sonarPose, robotPose):
"""
@param distance: distance along ray that the sonar hit something
@param sonarPose: C{util.Pose} of the sonar on the robot
@param robotPose: C{util.Pose} of the robot in the global frame
@return: C{util.Point} representing position of the sonar hit in the
global frame.
"""
return robotPose.transformPoint(sonarPose.transformPoint(\
util.Point(distance,0)))
def sonarHit(self, distance, sonarPose, robotPose):
"""
:param distance: distance along ray that the sonar hit something
:param sonarPose: ``util.Pose`` of the sonar on the robot
:param robotPose: ``util.Pose`` of the robot in the global frame
:return: ``util.Point`` representing position of the sonar hit in the
global frame.
"""
return robotPose.transformPoint(sonarPose.transformPoint(\
util.Point(distance,0)))