def getPhi(self, theta, thetad, omega, omegad, omegadd, psig):
        # from Lagoudakis
        if psig >= 0:
            psig_bar = np.pi - psig
        else:
            psig_bar = psig - -np.pi
        return np.array([
            1, omega, omegad, omega**2, omegad**2, omega * omegad,
            theta, thetad, theta**2, thetad**2, theta * thetad,
            omega * theta, omega * theta**2, omega**2 * theta,
            psig, psig**2, psig*theta, psig_bar, psig_bar**2, psig_bar*theta])
dataset/ETHPy150Open chrisdembia/agent-bicycle/randlov1998/tasks.py/LSPIGotoTask.getPhi/swapped operands of `-`