def render_lidar()

in safety_gym/envs/engine.py [0:0]

• 18 lines of code
• 3 McCabe index (conditional complexity)

    def render_lidar(self, poses, color, offset, group):
        ''' Render the lidar observation '''
        robot_pos = self.world.robot_pos()
        robot_mat = self.world.robot_mat()
        lidar = self.obs_lidar(poses, group)
        for i, sensor in enumerate(lidar):
            if self.lidar_type == 'pseudo':
                i += 0.5  # Offset to center of bin
            theta = 2 * np.pi * i / self.lidar_num_bins
            rad = self.render_lidar_radius
            binpos = np.array([np.cos(theta) * rad, np.sin(theta) * rad, offset])
            pos = robot_pos + np.matmul(binpos, robot_mat.transpose())
            alpha = min(1, sensor + .1)
            self.viewer.add_marker(pos=pos,
                                   size=self.render_lidar_size * np.ones(3),
                                   type=const.GEOM_SPHERE,
                                   rgba=np.array(color) * alpha,
                                   label='')