get_robot_corners¶

mobrob_behcon.utils.mobrob_transformation.get_robot_corners(currentPose)[source]¶

Get corners of robot as coordinates in world space

Parameters: currentPose ((float, float, float)) – current pose of robot in world space (x, y, yaw)
Returns: points of all four corners (pt1, pt2, pt3, pt4)
Return type: ((float,float),(float,float),(float,float),(float,float))