INNER CODE UNIT · Python
_MOVING_V
MOLAorg/mola · mola_demos/demos/fake_sensor_publisher.py:50
_MOVING_V = 1.0 # forward speed [m/s]
_MOVING_A = 2.0 # lateral amplitude [m]
_MOVING_OMEGA = 0.5 # lateral frequency [rad/s]
# Circle scenario parameters
_CIRCLE_VX = 1.0 # forward speed [m/s]
_CIRCLE_WZ = 0.2 # yaw rate [rad/s]
_TRANSIENT_LOCAL_QOS = QoSProfile(
depth=1,
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
reliability=QoSReliabilityPolicy.RELIABLE,
)
# ---------------------------------------------------------------------------
# Math helpers
# ---------------------------------------------------------------------------