INNER CODE UNIT · Python
_gt_static
MOLAorg/mola · mola_demos/demos/fake_sensor_publisher.py:122
def _gt_static(_t):
return _STATIC_X, _STATIC_Y, 0.0, _STATIC_YAW, 0.0, 0.0
def _gt_static_twist(_t):
return 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
def _gt_moving_pose(t):
x = _MOVING_V * t
y = _MOVING_A * math.sin(_MOVING_OMEGA * t)
vy = _MOVING_A * _MOVING_OMEGA * math.cos(_MOVING_OMEGA * t)
yaw = math.atan2(vy, _MOVING_V)
return x, y, 0.0, yaw, 0.0, 0.0
def _gt_moving_twist(t):
vx_w = _MOVING_V