(self)
return
Calculates and stores the current reference pose and velocity.
Calculates and stores the current reference pose and velocity.
Calculates and stores the current reference pose and velocity .
def _update_ref_state(self):
    """Calculates and stores the current reference pose and velocity."""
    time = self._get_motion_time()
    self._ref_pose = self._calc_ref_pose(time)
    self._ref_vel = self._calc_ref_vel(time)
    return
def _update_ref_state ( self ) : time = self . _get_motion_time ( ) self . _ref_pose = self . _calc_ref_pose ( time ) self . _ref_vel = self . _calc_ref_vel ( time ) return