get_T_world_cluster

mobrob_behcon.utils.mobrob_transformation.get_T_world_cluster(yaw_ego, x_ego, y_ego, x_cls, y_cls)[source]

Get transformation from world to laserpoint cluster

Parameters

  • yaw_ego (float) – yaw angle of robot (orientation)

  • x_ego (float) – x position of robot in world space

  • y_ego (float) – y position of robot in world space

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

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

Returns

transfomationmatrix world->cluster

Return type

numpy.array(4,4)