def get_position_on_map(self, pose=None, do_floor=True): if pose is not None: position = project_tps_into_worldmap( pose.view(1, 4, 4), self.map_cell_size, self.map_size_meters, do_floor, ) else: position = project_tps_into_worldmap( self.pose6D.view(1, 4, 4), self.map_cell_size, self.map_size_meters, do_floor, ) return position
def get_position_on_map(self, do_floor=True): return project_tps_into_worldmap( self.pose6D.view(1, 4, 4), self.map_cell_size, self.map_size_meters, do_floor, )