(self)
return cycle_delta_heading
Calculates the net change in the root heading after a cycle.

    Returns:
      Net change in heading.
Calculates the net change in the root heading after a cycle.
Calculates the net change in the root heading after a cycle .
def _calc_cycle_delta_heading(self):
    """Calculates the net change in the root heading after a cycle.

    Returns:
      Net change in heading.
    """
    first_frame = self._frames[0]
    last_frame = self._frames[-1]

    rot_start = self.get_frame_root_rot(first_frame)
    rot_end = self.get_frame_root_rot(last_frame)
    inv_rot_start = transformations.quaternion_conjugate(rot_start)
    drot = transformations.quaternion_multiply(rot_end, inv_rot_start)
    cycle_delta_heading = motion_util.calc_heading(drot)

    return cycle_delta_heading
def _calc_cycle_delta_heading ( self ) : first_frame = self . _frames [ 0 ] last_frame = self . _frames [ - 1 ] rot_start = self . get_frame_root_rot ( first_frame ) rot_end = self . get_frame_root_rot ( last_frame ) inv_rot_start = transformations . quaternion_conjugate ( rot_start ) drot = transformations . quaternion_multiply ( rot_end , inv_rot_start ) cycle_delta_heading = motion_util . calc_heading ( drot ) return cycle_delta_heading