def lane_pose_from_SE2Transform(self, qt: SE2Transform, tol=0.001) -> LanePose: return self.lane_pose_from_SE2(qt.as_SE2(), tol=tol)
def discretize(tran: SE2Transform) -> PointLabel: def D(x): return np.round(x, decimals=2) p, theta = geo.translation_angle_from_SE2(tran.as_SE2()) return D(p[0]), D(p[1]), D(np.cos(theta)), D(np.sin(theta))