parameters: (self,waitcond=None,maxobservations=inf,posedist=0.05,usevisibility=True,**kwargs)
docstring: Computes several configuration for the robot to move. If usevisibility is True, will use the visibility model of the pattern to gather data.
          Otherwise, given that the pattern is currently detected in the camera, move the robot around the local neighborhood. This does not rely on the visibiliy information of the pattern and does not create a pattern
docstring_summary: Computes several configuration for the robot to move. If usevisibility is True, will use the visibility model of the pattern to gather data.
          Otherwise, given that the pattern is currently detected in the camera, move the robot around the local neighborhood. This does not rely on the visibiliy information of the pattern and does not create a pattern
docstring_tokens: Computes several configuration for the robot to move . If usevisibility is True will use the visibility model of the pattern to gather data . Otherwise given that the pattern is currently detected in the camera move the robot around the local neighborhood . This does not rely on the visibiliy information of the pattern and does not create a pattern
function: def computeAndMoveToObservations(self,waitcond=None,maxobservations=inf,posedist=0.05,usevisibility=True,**kwargs):
          """Computes several configuration for the robot to move. If usevisibility is True, will use the visibility model of the pattern to gather data.
          Otherwise, given that the pattern is currently detected in the camera, move the robot around the local neighborhood. This does not rely on the visibiliy information of the pattern and does not create a pattern
          """
          if usevisibility:
              poses,configs = self.computevisibilityposes(**kwargs)
          else:
              poses,configs = self.computelocalposes(**kwargs)                
          graphs = [self.env.drawlinelist(array([pose[4:7],pose[4:7]+0.05*rotationMatrixFromQuat(pose[0:4])[0:3,2]]),1) for pose in poses]
          try:
              return self.moveToObservations(poses,configs,waitcond=waitcond,maxobservations=maxobservations,posedist=posedist)
          finally:
              graphs = None
function_tokens: def computeAndMoveToObservations ( self , waitcond = None , maxobservations = inf , posedist = 0.05 , usevisibility = True , * * kwargs ) : if usevisibility : poses , configs = self . computevisibilityposes ( * * kwargs ) else : poses , configs = self . computelocalposes ( * * kwargs ) graphs = [ self . env . drawlinelist ( array ( [ pose [ 4 : 7 ] , pose [ 4 : 7 ] + 0.05 * rotationMatrixFromQuat ( pose [ 0 : 4 ] ) [ 0 : 3 , 2 ] ] ) , 1 ) for pose in poses ] try : return self . moveToObservations ( poses , configs , waitcond = waitcond , maxobservations = maxobservations , posedist = posedist ) finally : graphs = None