def set_step(self, step, force_refresh=False):
"""
Set the absolulte position of the vehicle along it's path
"""
if not self.path:
return
_num_segs = len(self.path.segments) - 1
if step > _num_segs:
step = _num_segs
if self.step == step and not force_refresh:
return
self.orientation = \
-TupleMath.bearing(
self.path.segments[step].vector, (1.0, 0.0, 0.0)
)
_ori = \
-TupleMath.signed_bearing(
self.path.segments[step].vector, (1.0, 0.0, 0.0)
)
if self.step < _num_segs:
_angle = self.path.segments[step].angle
if _angle:
self.update(_angle)
self.step = step
def set_look_ahead(self, vector):
"""
Set the angle between the segment vector and passed vector
vector - a unit vecotr in tuple form
"""
self.angle = -TupleMath.signed_bearing(vector, self.vector)
self.tangent = TupleMath.add(vector, self.vector)