16 lines
2.0 KiB
Plaintext
16 lines
2.0 KiB
Plaintext
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<EFBFBD>
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<00>ʮiH <00> <00>4 <00> d dl Zd dlmZ G d<03> d<04> <00> ZdS )<05> N)<01>MathOpsc <00>R <00> e Zd Zd<01> Zdedej ddfd<06>Zdedej dz fd<07>ZdS )<08>FieldLandmarksc <00>. <00> ddl m} || _ i | _ d S )Nr )<01>World)<04> world.worldr <00>world<6C> landmarks)<03>selfr r s <20>=/home/miku/Downloads/Code/SE/world/commons/field_landmarks.py<70>__init__zFieldLandmarks.__init__ s& <00> <00>%<25>%<25>%<25>%<25>%<25>%<25> !<21><04>
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<EFBFBD> !<21><04><0E><0E><0E> <00> landmark_id<69> landmark_pos<6F>returnNc <00><> <00> | j }t j |<02> <00> }t j ||j |j j j <00><01> <00> }|| j |< dS )zT
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Calculates the global position of all currently visible landmarks.
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)<03> local_pos_3d<33>
global_pos_3d<33>global_orientation_quatN) r r <00> deg_sph2cart<72>rel_to_global_3d<33>global_position<6F>agent<6E>robotr r
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)r r r r <00>
local_cart_3dr s r <00>update_from_perceptionz%FieldLandmarks.update_from_perception
sZ <00> <00>
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<15>
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<EFBFBD><05> <1F>,<2C>\<5C>:<3A>:<3A>
<0A> <1F>0<>&<26> <1F>/<2F>$)<29>K<EFBFBD>$5<>$M<>
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<EFBFBD>
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<EFBFBD>
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<EFBFBD>
<0A> '4<><04><0E>{<7B>#<23>#<23>#r c <00>6 <00> | j <00> |<01> <00> S )z<>
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Returns the calculated 2d global position for a given landmark ID.
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Returns None if the landmark is not currently visible or processed.
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)<02>global_positions<6E>get)r r s r <00>get_landmark_positionz$FieldLandmarks.get_landmark_position s <00> <00>
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<14>$<24>(<28>(<28><1B>5<>5<>5r ) <09>__name__<5F>
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__module__<EFBFBD> __qualname__r
<00>str<74>np<6E>ndarrayr r <00> r r r r sx <00> <00> <00> <00> <00> <00>"<22> "<22> "<22>4<>#<23> 4<>R<EFBFBD>Z<EFBFBD> 4<>TX<54> 4<> 4<> 4<> 4<> 6<><13> 6<><12><1A>d<EFBFBD>9J<39> 6<> 6<> 6<> 6<> 6<> 6r r )<05>numpyr% <00>utils.math_opsr r r' r r <00><module>r* sU <00><01> <12> <12> <12> <12> "<22> "<22> "<22> "<22> "<22> "<22> 6<> 6<> 6<> 6<> 6<> 6<> 6<> 6<> 6<> 6r
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