def SignalInput_callback (self, srvSignalReq):
rv = SrvSignalResponse()
if (self.angposMech is not None):
Jinv = self.JacobianInv(self.angposMech)
(self.stateRef, isInArena) = self.TransformStateToFrame('Stage', srvSignalReq.state)
self.angposRef = self.Get1FromPt(self.stateRef.pose.position)
self.angvelRef = Jinv.dot(np.array([[self.stateRef.velocity.linear.x],[self.stateRef.velocity.linear.y]]))
rv.success = True #isInArena
return rv
