def _create_pos()

in simulation_ws/src/aws_robomaker_simulation_common/nodes/route_manager.py [0:0]

• 29 lines of code
• 2 McCabe index (conditional complexity)

    def _create_pos(
            self,
            x_world,
            y_world,
            z_world,
            euler_orientation_x,
            euler_orientation_y,
            euler_orientation_z):
        """
        Wrap 3D euler location and orientation input to a Pose.

        Args
        ----
            x(float): in world coordinates
            y(float): in world coordinates
            z(float): in world coordinates
            orientation_x(float): in world coordinates,
            orientation_y(float): in world coordinates
            orientation_z(float): in world coordinates

        Returns
        -------
            Pose:
                {
                    'position': {
                        'x': double
                        'y': double
                        'z': double
                    }
                    'orientation': {
                        'x': double
                        'y': double
                        'z': double
                        'w': double
                    }
                }

        """
        position = {
            'x': x_world,
            'y': y_world,
            'z': z_world
        }

        # Make sure the quaternion is valid and normalized
        quaternion_orientation = transform.quaternion_from_euler(
            euler_orientation_x, euler_orientation_y, euler_orientation_z)
        orientation = {
            'x': quaternion_orientation[0],
            'y': quaternion_orientation[1],
            'z': quaternion_orientation[2],
            'w': quaternion_orientation[3]
        }

        p = {
            'pose':
            {
                'position': position,
                'orientation': orientation
            }
        }

        return p