Comments (2)
There are two coordinate systems involved here.
(1) For the purposes of tracking the agent's 2D pose in the world map, we assume the following conventions: agent starts at the map center --- (0, 0) --- with X as forward, Y as rightward, and heading as positive starting from X to Y.
(2) We also use the standard image indexing for addressing the 2D map and for setting subgoals for planning. Here, the origin is the top-left corner, i.e., the agent starts at (H/2, W/2) where the map size is (H, W), and X is rightward, Y is downward, and heading is positive from X to Y.
In the line you are looking at, we basically convert the agent heading from coordinate system (1) to (2).
x1, y1 = asnumpy(self.states["prev_map_position"][i]).tolist() x2, y2 = asnumpy(self.states["curr_map_position"][i]).tolist() t2 = global_pose[i, 2].item() - math.pi / 2
Thanks for your reply!
from occupancyanticipation.
There are two coordinate systems involved here.
(1) For the purposes of tracking the agent's 2D pose in the world map, we assume the following conventions: agent starts at the map center --- (0, 0) --- with X as forward, Y as rightward, and heading as positive starting from X to Y.
(2) We also use the standard image indexing for addressing the 2D map and for setting subgoals for planning. Here, the origin is the top-left corner, i.e., the agent starts at (H/2, W/2) where the map size is (H, W), and X is rightward, Y is downward, and heading is positive from X to Y.
In the line you are looking at, we basically convert the agent heading from coordinate system (1) to (2).
x1, y1 = asnumpy(self.states["prev_map_position"][i]).tolist()
x2, y2 = asnumpy(self.states["curr_map_position"][i]).tolist()
t2 = global_pose[i, 2].item() - math.pi / 2
from occupancyanticipation.
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