def METHOD_NAME(self):
    """Get the angle of the vehicle in SUMO coordinate frame."""
    # get pitch angle
    matrix = self.node.getOrientation()
    angle1 = math.asin(matrix[0])
    angle2 = math.atan(-matrix[3] / abs(matrix[0]))
    angle = angle1
    if angle2 > 0:
        angle = math.pi - angle1
    return angle