(x)
| 173 | return relative_pos |
| 174 | |
| 175 | def normalize_angle(x): |
| 176 | x = x % (2 * np.pi) # force in range [0, 2 pi) |
| 177 | if x > np.pi: # move to [-pi, pi) |
| 178 | x -= 2 * np.pi |
| 179 | return x |
| 180 | |
| 181 | def build_skeleton(ped, sk_links): |
| 182 | ######## get the pedestrian skeleton ######### |