Convert Circles To 2d Poses

Function

This Step converts circle shape info data to 2D pose data.

Usage Scenario

This Step is a general data conversion Step. This Step has no fixed usage scenarios.

Input and Output

• Input: Data items in the format of circle shape info (radius, theta, X, Y) input to this port will be converted to 2D pose data items (theta, X, Y). The theta values of circles are normally 0.

• Output: 2D pose data items converted from the input data, keeping the X, Y, and theta values, discarding the radius values.