get_T_laser_cluster¶

mobrob_behcon.utils.mobrob_transformation.get_T_laser_cluster(x_cls, y_cls)[source]¶

Get transformationmatrix from laser to cluster

Parameters

x_cls (float) – x coordinate of cluster in laser space
y_cls (float) – y coordinate of cluster in laser space

Returns

transformationmatrix laser->cluster

Return type

numpy.array(4,4)