Method getSCorners

limsim/utils/trajectory.py:43–47

(self)

    # shape corners
    def getSCorners(self) -> np.ndarray:
        return np.array([[self.length / 2, self.width / 2],
                         [-self.length / 2, self.width / 2],
                         [-self.length / 2, -self.width / 2],
                         [self.length / 2, -self.width / 2]])

    def getCorners(self) -> np.ndarray:
        TRCorners = self.sCorners.T