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 __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
def xy_from_state(self, state):
_, t = rotation_translation_from_SE2(state)
return t
