footstep_visualizer Namespace Reference

Functions
def	actCPCallback
def	config_callback
def	contactStatesCallback
def	drawPoint
def	llegCopCallback
def	matrixFromTranslationQuaternion
def	periodicCallback
def	refCPCallback
def	rlegCopCallback
def	transformToMatrix
def	verticesPoints
def	verticesPoints3D
def	zmpCallback
Variables
	act_contact_states_msg = None
	act_cp_msg = None
tuple	act_cp_point_sub = rospy.Subscriber("/act_capture_point", PointStamped, actCPCallback)
tuple	contact_states_sub = rospy.Subscriber("/act_contact_states", ContactStatesStamped, contactStatesCallback)
	cp_check_margin = i_param.cp_check_margin
tuple	g_get_parameter_srv = rospy.ServiceProxy("/StabilizerServiceROSBridge/getParameter", getParameter)
tuple	i_param = g_get_parameter_srv()
tuple	image_size = rospy.get_param("~image_size", 400)
	leg_front_margin = i_param.eefm_leg_front_margin
	leg_inside_margin = i_param.eefm_leg_inside_margin
	leg_outside_margin = i_param.eefm_leg_outside_margin
	leg_rear_margin = i_param.eefm_leg_rear_margin
	lleg_cop_msg = None
tuple	lleg_end_coords = rospy.get_param("~lleg_end_coords", "lleg_end_coords")
list	lleg_margined_vertices
tuple	lleg_sub = rospy.Subscriber("/lfsensor_cop", PointStamped, llegCopCallback)
list	lleg_vertices
tuple	msg_lock = Lock()
tuple	pub = rospy.Publisher("~output", Image)
	ref_cp_msg = None
tuple	ref_cp_point_sub = rospy.Subscriber("/ref_capture_point", PointStamped, refCPCallback)
	rleg_cop_msg = None
tuple	rleg_end_coords = rospy.get_param("~rleg_end_coords", "rleg_end_coords")
list	rleg_margined_vertices
tuple	rleg_sub = rospy.Subscriber("/rfsensor_cop", PointStamped, rlegCopCallback)
list	rleg_vertices
tuple	root_link = rospy.get_param("~root_link", "BODY")
tuple	scale = rospy.get_param("~scale", 0.6)
tuple	srv = Server(FootstepVisualizerConfig, config_callback)
tuple	tf_buffer = tf2_ros.Buffer()
tuple	tf_listener = tf2_ros.TransformListener(tf_buffer)
	zmp_msg = None
tuple	zmp_sub = rospy.Subscriber("/zmp", PointStamped, zmpCallback)

---

Function Documentation

def footstep_visualizer.actCPCallback

(

msg

)

Definition at line 247 of file footstep_visualizer.py.

def footstep_visualizer.config_callback	(		config,
			level
	)

Definition at line 267 of file footstep_visualizer.py.

def footstep_visualizer.contactStatesCallback

(

msg

)

Definition at line 257 of file footstep_visualizer.py.

def footstep_visualizer.drawPoint	(		image,
			point,
			size,
			color,
			text
	)

Definition at line 60 of file footstep_visualizer.py.

def footstep_visualizer.llegCopCallback

(

msg

)

Definition at line 236 of file footstep_visualizer.py.

def footstep_visualizer.matrixFromTranslationQuaternion	(		trans,
			q
	)

Definition at line 22 of file footstep_visualizer.py.

def footstep_visualizer.periodicCallback

(

event

)

Definition at line 67 of file footstep_visualizer.py.

def footstep_visualizer.refCPCallback

(

msg

)

Definition at line 252 of file footstep_visualizer.py.

def footstep_visualizer.rlegCopCallback

(

msg

)

Definition at line 242 of file footstep_visualizer.py.

def footstep_visualizer.transformToMatrix

(

transform

)

Definition at line 48 of file footstep_visualizer.py.

def footstep_visualizer.verticesPoints	(		original_vertices,
			origin_pose,
			scale,
			resolution_size
	)

Definition at line 26 of file footstep_visualizer.py.

def footstep_visualizer.verticesPoints3D	(		original_vertices,
			origin_pose,
			scale,
			resolution_size
	)

Definition at line 35 of file footstep_visualizer.py.

def footstep_visualizer.zmpCallback

(

msg

)

Definition at line 262 of file footstep_visualizer.py.

---

Variable Documentation

footstep_visualizer::act_contact_states_msg = None

Definition at line 235 of file footstep_visualizer.py.

footstep_visualizer::act_cp_msg = None

Definition at line 233 of file footstep_visualizer.py.

tuple footstep_visualizer::act_cp_point_sub = rospy.Subscriber("/act_capture_point", PointStamped, actCPCallback)

Definition at line 312 of file footstep_visualizer.py.

tuple footstep_visualizer::contact_states_sub = rospy.Subscriber("/act_contact_states", ContactStatesStamped, contactStatesCallback)

Definition at line 314 of file footstep_visualizer.py.

footstep_visualizer::cp_check_margin = i_param.cp_check_margin

Definition at line 291 of file footstep_visualizer.py.

tuple footstep_visualizer::g_get_parameter_srv = rospy.ServiceProxy("/StabilizerServiceROSBridge/getParameter", getParameter)

Definition at line 281 of file footstep_visualizer.py.

tuple footstep_visualizer::i_param = g_get_parameter_srv()

Definition at line 286 of file footstep_visualizer.py.

tuple footstep_visualizer::image_size = rospy.get_param("~image_size", 400)

Definition at line 284 of file footstep_visualizer.py.

footstep_visualizer::leg_front_margin = i_param.eefm_leg_front_margin

Definition at line 287 of file footstep_visualizer.py.

footstep_visualizer::leg_inside_margin = i_param.eefm_leg_inside_margin

Definition at line 289 of file footstep_visualizer.py.

footstep_visualizer::leg_outside_margin = i_param.eefm_leg_outside_margin

Definition at line 290 of file footstep_visualizer.py.

footstep_visualizer::leg_rear_margin = i_param.eefm_leg_rear_margin

Definition at line 288 of file footstep_visualizer.py.

footstep_visualizer::lleg_cop_msg = None

Definition at line 230 of file footstep_visualizer.py.

tuple footstep_visualizer::lleg_end_coords = rospy.get_param("~lleg_end_coords", "lleg_end_coords")

Definition at line 282 of file footstep_visualizer.py.

list footstep_visualizer::lleg_margined_vertices

Initial value:

[[leg_front_margin-cp_check_margin[0], leg_outside_margin-cp_check_margin[3]],
                              [leg_front_margin-cp_check_margin[0], -1*(leg_inside_margin-cp_check_margin[2])],
                              [-1*(leg_rear_margin-cp_check_margin[1]), -1*(leg_inside_margin-cp_check_margin[2])],
                              [-1*(leg_rear_margin-cp_check_margin[1]), leg_outside_margin-cp_check_margin[3]]]

Definition at line 300 of file footstep_visualizer.py.

tuple footstep_visualizer::lleg_sub = rospy.Subscriber("/lfsensor_cop", PointStamped, llegCopCallback)

Definition at line 309 of file footstep_visualizer.py.

list footstep_visualizer::lleg_vertices

Initial value:

[[leg_front_margin, leg_outside_margin],
                     [leg_front_margin, -1*leg_inside_margin],
                     [-1*leg_rear_margin, -1*leg_inside_margin],
                     [-1*leg_rear_margin, leg_outside_margin]]

Definition at line 292 of file footstep_visualizer.py.

tuple footstep_visualizer::msg_lock = Lock()

Definition at line 21 of file footstep_visualizer.py.

tuple footstep_visualizer::pub = rospy.Publisher("~output", Image)

Definition at line 274 of file footstep_visualizer.py.

footstep_visualizer::ref_cp_msg = None

Definition at line 234 of file footstep_visualizer.py.

tuple footstep_visualizer::ref_cp_point_sub = rospy.Subscriber("/ref_capture_point", PointStamped, refCPCallback)

Definition at line 313 of file footstep_visualizer.py.

footstep_visualizer::rleg_cop_msg = None

Definition at line 231 of file footstep_visualizer.py.

tuple footstep_visualizer::rleg_end_coords = rospy.get_param("~rleg_end_coords", "rleg_end_coords")

Definition at line 283 of file footstep_visualizer.py.

list footstep_visualizer::rleg_margined_vertices

Initial value:

[[leg_front_margin-cp_check_margin[0], leg_inside_margin-cp_check_margin[2]],
                              [leg_front_margin-cp_check_margin[0], -1*(leg_outside_margin-cp_check_margin[3])],
                              [-1*(leg_rear_margin-cp_check_margin[1]), -1*(leg_outside_margin-cp_check_margin[3])],
                              [-1*(leg_rear_margin-cp_check_margin[1]), leg_inside_margin-cp_check_margin[2]]]

Definition at line 304 of file footstep_visualizer.py.

tuple footstep_visualizer::rleg_sub = rospy.Subscriber("/rfsensor_cop", PointStamped, rlegCopCallback)

Definition at line 310 of file footstep_visualizer.py.

list footstep_visualizer::rleg_vertices

Initial value:

[[leg_front_margin, leg_inside_margin],
                     [leg_front_margin, -1*leg_outside_margin],
                     [-1*leg_rear_margin, -1*leg_outside_margin],
                     [-1*leg_rear_margin, leg_inside_margin]]

Definition at line 296 of file footstep_visualizer.py.

tuple footstep_visualizer::root_link = rospy.get_param("~root_link", "BODY")

Definition at line 308 of file footstep_visualizer.py.

tuple footstep_visualizer::scale = rospy.get_param("~scale", 0.6)

Definition at line 285 of file footstep_visualizer.py.

tuple footstep_visualizer::srv = Server(FootstepVisualizerConfig, config_callback)

Definition at line 275 of file footstep_visualizer.py.

tuple footstep_visualizer::tf_buffer = tf2_ros.Buffer()

Definition at line 276 of file footstep_visualizer.py.

tuple footstep_visualizer::tf_listener = tf2_ros.TransformListener(tf_buffer)

Definition at line 277 of file footstep_visualizer.py.

footstep_visualizer::zmp_msg = None

Definition at line 232 of file footstep_visualizer.py.

tuple footstep_visualizer::zmp_sub = rospy.Subscriber("/zmp", PointStamped, zmpCallback)

Definition at line 311 of file footstep_visualizer.py.