(cls)
| 175 | @classmethod |
| 176 | @lru_cache(maxsize=1) |
| 177 | def get_symm(cls): |
| 178 | assert set(cls.arrorder) <= set(Full27DofPoseArray.arrorder) |
| 179 | symm = Full27DofPoseArray.contract_array(cls,Symmetry) |
| 180 | |
| 181 | _perm_full = np.abs(symm).astype(np.int_) |
| 182 | sign = np.sign(symm) |
| 183 | perm = np.zeros_like(_perm_full) |
| 184 | for i in range(len(cls.arrorder)): |
| 185 | perm[i]=cls.arrorder.index(_perm_full[i]) |
| 186 | return perm, sign |
| 187 | ... |
| 188 | |
| 189 | class LeggedPoseArray(PoseArray): |
| 190 | kNumUsedMotors:int = kNumLegMotors |
no test coverage detected