Method getCorners

limsim/utils/trajectory.py:49–52

(self)

                         [self.length / 2, -self.width / 2]])

    def getCorners(self) -> np.ndarray:
        TRCorners = self.sCorners.T
        rotCorners: np.ndarray = np.dot(self.rotateMat, TRCorners)
        return rotCorners.T + self.center


class RecCollide: