get_T_world_robot

mobrob_behcon.utils.mobrob_transformation.get_T_world_robot(yaw_ego, x_ego, y_ego)

Get transformation from world to robot

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

Returns

transformationmatrix world->robot

Return type

numpy.array(4,4)