libutil

Library for utility functions.

class libutil.LibUtil

Bases: object

Utility library.

delete()

get_robot_descriptor()

Load the robot’s description file.

Returns

Description data.

Return type

dict

Examples

>>> print(get_robot_descriptor())
{"TOPIC_LRF": "/hsrb/base_scan", "FRAME_MAP": "map", ...}

rotate_coordinate(x, y, theta)

Coordinate transformation of rotation.

Parameters

• x (float) – x before rotation.

• y (float) – y before rotation.

• theta (float) – Rotation angle.

Returns

x, y after rotation.

Return type

float