Functions
def	arrowMarker
def	feedback_callback
def	quaternion2YawDegree
def	sign
Variables
list	feedbackMsg = []
string	filename_string = "teb_svg_"
tuple	goal_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='red', opacity=1.0)
list	goal_pose = feedbackMsg.trajectories[0]
	goal_position = goal_pose.position
int	GRID_X_MAX = 2
int	GRID_X_MIN = 2
int	GRID_Y_MAX = 1
int	GRID_Y_MIN = 2
tuple	hLines = svg.add(svg.g(id='hLines', stroke='black'))
tuple	legend = svg.g(id='legend', font_size=25)
tuple	legendGeometry = svg.text(stringGeometry)
tuple	line
list	line_end = obstacle.polygon.points[1]
list	line_start = obstacle.polygon.points[0]
float	MIN_POSE_DISTANCE = 0.3
int	OBSTACLE_DIST = 50
list	point = obstacle.polygon.points[0]
list	points = []
tuple	rate = rospy.Rate(10.0)
int	SCALE = 200
float	SCALE_VELOCITY_VEC = 0.4
tuple	start_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='blue', opacity=1.0)
list	start_pose = feedbackMsg.trajectories[0]
	start_position = start_pose.position
string	stringGeometry = "Geometry: 1 Unit = 1.0m"
tuple	svg = svgwrite.Drawing(filename=filename_string, debug=True)
tuple	timestr = time.strftime("%Y%m%d_%H%M%S")
string	topic_name = "/test_optim_node/teb_feedback"
tuple	traj_color = svgwrite.rgb(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255), 'RGB')
list	vertices = []
tuple	vLines = svg.add(svg.g(id='vline', stroke='black'))

Function Documentation

def export_to_svg.arrowMarker	(	color = `'green'`,
		orientation = `'auto'`
	)

Create an arrow marker with svgwrite

@return:  arrow marker
@rtype:   svg_write marker object

Definition at line 55 of file export_to_svg.py.

def export_to_svg.feedback_callback ( data )

Callback for receiving TEB and obstacle information

@param data: Received feedback message
@type  data: visualization_msgs/Marker

@globalparam tebList: Received TEB List
@globaltype  tebList: teb_local_planner/FeedbackMsg

Definition at line 81 of file export_to_svg.py.

def export_to_svg.quaternion2YawDegree ( orientation )

Get yaw angle [degree] from quaternion representation

@param orientation:	orientation in quaternions to read from
@type  orientation:	geometry_msgs/Quaternion
@return: yaw angle [degree]
@rtype:  float

Definition at line 68 of file export_to_svg.py.

def export_to_svg.sign ( number )

Signum function: get sign of a number

@param number: get sign of this number
@type  number: numeric type (eg. integer)
@return:  sign of number
@rtype:   integer {1, -1, 0}

Definition at line 44 of file export_to_svg.py.

Variable Documentation

list export_to_svg::feedbackMsg = []

Definition at line 111 of file export_to_svg.py.

string export_to_svg::filename_string = "teb_svg_"

Definition at line 114 of file export_to_svg.py.

tuple export_to_svg::goal_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='red', opacity=1.0)

Definition at line 213 of file export_to_svg.py.

list export_to_svg::goal_pose = feedbackMsg.trajectories[0]

Definition at line 197 of file export_to_svg.py.

export_to_svg::goal_position = goal_pose.position

Definition at line 199 of file export_to_svg.py.

int export_to_svg::GRID_X_MAX = 2

Definition at line 34 of file export_to_svg.py.

int export_to_svg::GRID_X_MIN = 2

Definition at line 33 of file export_to_svg.py.

int export_to_svg::GRID_Y_MAX = 1

Definition at line 36 of file export_to_svg.py.

int export_to_svg::GRID_Y_MIN = 2

Definition at line 35 of file export_to_svg.py.

tuple export_to_svg::hLines = svg.add(svg.g(id='hLines', stroke='black'))

Definition at line 126 of file export_to_svg.py.

tuple export_to_svg::legend = svg.g(id='legend', font_size=25)

Definition at line 141 of file export_to_svg.py.

tuple export_to_svg::legendGeometry = svg.text(stringGeometry)

Definition at line 143 of file export_to_svg.py.

tuple export_to_svg::line

Initial value:

00001 svg.add( svg.polyline(points=points, fill='none', stroke=traj_color, stroke_width=10, stroke_linecap='round', \
00002                           stroke_linejoin='round', opacity=1.0 ) )

Definition at line 182 of file export_to_svg.py.

list export_to_svg::line_end = obstacle.polygon.points[1]

Definition at line 228 of file export_to_svg.py.

list export_to_svg::line_start = obstacle.polygon.points[0]

Definition at line 227 of file export_to_svg.py.

float export_to_svg::MIN_POSE_DISTANCE = 0.3

Definition at line 31 of file export_to_svg.py.

int export_to_svg::OBSTACLE_DIST = 50

Definition at line 39 of file export_to_svg.py.

list export_to_svg::point = obstacle.polygon.points[0]

Definition at line 222 of file export_to_svg.py.

list export_to_svg::points = []