(self)
return warmup_pose
Calculate default reference  pose during warmup period.
Calculate default reference  pose during warmup period.
Calculate default reference pose during warmup period .
def _calc_ref_pose_warmup(self):
    """Calculate default reference  pose during warmup period."""
    motion = self.get_active_motion()
    pose0 = motion.calc_frame(0)
    warmup_pose = self._default_pose.copy()

    pose_root_rot = motion.get_frame_root_rot(pose0)
    default_root_rot = motion.get_frame_root_rot(warmup_pose)
    default_root_pos = motion.get_frame_root_pos(warmup_pose)

    pose_heading = motion_util.calc_heading(pose_root_rot)
    default_heading = motion_util.calc_heading(default_root_rot)
    delta_heading = pose_heading - default_heading
    delta_heading_rot = transformations.quaternion_about_axis(
        delta_heading, [0, 0, 1])

    default_root_pos = pose3d.QuaternionRotatePoint(default_root_pos,
                                                    delta_heading_rot)
    default_root_rot = transformations.quaternion_multiply(
        delta_heading_rot, default_root_rot)

    motion.set_frame_root_pos(default_root_pos, warmup_pose)
    motion.set_frame_root_rot(default_root_rot, warmup_pose)

    return warmup_pose
def _calc_ref_pose_warmup ( self ) : motion = self . get_active_motion ( ) pose0 = motion . calc_frame ( 0 ) warmup_pose = self . _default_pose . copy ( ) pose_root_rot = motion . get_frame_root_rot ( pose0 ) default_root_rot = motion . get_frame_root_rot ( warmup_pose ) default_root_pos = motion . get_frame_root_pos ( warmup_pose ) pose_heading = motion_util . calc_heading ( pose_root_rot ) default_heading = motion_util . calc_heading ( default_root_rot ) delta_heading = pose_heading - default_heading delta_heading_rot = transformations . quaternion_about_axis ( delta_heading , [ 0 , 0 , 1 ] ) default_root_pos = pose3d . QuaternionRotatePoint ( default_root_pos , delta_heading_rot ) default_root_rot = transformations . quaternion_multiply ( delta_heading_rot , default_root_rot ) motion . set_frame_root_pos ( default_root_pos , warmup_pose ) motion . set_frame_root_rot ( default_root_rot , warmup_pose ) return warmup_pose