Functions
def	get_rotation_matrix (angle_x, angle_y, angle_z)

def	getCubeMarker (pose, k, n_s, r, g, b, orientation)

def	getMarkerArrow (point, k, n_s, r, g, b, orientation)

def	getMeshMarker (pose, k, n_s, orientation, meshpath)

def	matrix_vector_mult (matrix, vector)

def	multiply_matrix (matrix_1, matrix_2)

Variables
int	angle_x = 0

int	angle_y = 0

int	angle_z = -150

list	base_vec = [poses[0].position.x,poses[0].position.y,poses[0].position.z]

	euler_vec = tf.transformations.euler_from_quaternion(q)

int	id = 0

	marker = Marker()

	marker2 = Marker()

	new_base_vec = matrix_vector_mult(get_rotation_matrix(angle_x, angle_y, angle_z),base_vec)

list	new_constellation = []

	new_pose = Pose()

	new_position = Point(*[new_base_vec[0],new_base_vec[1],new_base_vec[2]])

	new_quat = tf.transformations.quaternion_from_euler(euler_vec[0],euler_vec[1],euler_vec[2])

list	object = [new_pose,poses[1]]

list	object1 = [pose1,path1]

list	object2 = [pose2,path2]

list	object3 = [pose3,path3]

list	object4 = [pose4,path4]

	orientation

string	path1 = 'package://asr_object_database/rsc/databases/textured_objects/Knaeckebrot/Knaeckebrot.dae'

string	path2 = 'package://asr_object_database/rsc/databases/textured_objects/Smacks/Smacks.dae'

string	path3 = 'package://asr_object_database/rsc/databases/textured_objects/VitalisSchoko/VitalisSchoko.dae'

string	path4 = 'package://asr_object_database/rsc/databases/textured_objects/CoffeeBox/CoffeeBox.dae'

list	point_constellation = []

	pose1 = Pose()

	pose2 = Pose()

	pose3 = Pose()

	pose4 = Pose()

	position

	publisher = rospy.Publisher("transformation_tool", Marker, queue_size=10)

	q

list	translation = [-0.2,-0.6,0]

Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Function Documentation

def transformation_tool.get_rotation_matrix	(	angle_x,
		angle_y,
		angle_z
	)

Definition at line 55 of file transformation_tool.py.

def transformation_tool.getCubeMarker	(	pose,
		k,
		n_s,
		r,
		g,
		b,
		orientation
	)

returns a sphere marker

Definition at line 73 of file transformation_tool.py.

def transformation_tool.getMarkerArrow	(	point,
		k,
		n_s,
		r,
		g,
		b,
		orientation
	)

returns an arrow marker

Definition at line 117 of file transformation_tool.py.

def transformation_tool.getMeshMarker	(	pose,
		k,
		n_s,
		orientation,
		meshpath
	)

returns a sphere marker

Definition at line 94 of file transformation_tool.py.

def transformation_tool.matrix_vector_mult	(	matrix,
		vector
	)

Definition at line 48 of file transformation_tool.py.

def transformation_tool.multiply_matrix	(	matrix_1,
		matrix_2
	)

Definition at line 33 of file transformation_tool.py.

Variable Documentation

int transformation_tool.angle_x = 0

Definition at line 142 of file transformation_tool.py.

int transformation_tool.angle_y = 0

Definition at line 143 of file transformation_tool.py.

int transformation_tool.angle_z = -150

Definition at line 144 of file transformation_tool.py.

list transformation_tool.base_vec = [poses[0].position.x,poses[0].position.y,poses[0].position.z]

Definition at line 194 of file transformation_tool.py.

transformation_tool.euler_vec = tf.transformations.euler_from_quaternion(q)

Definition at line 207 of file transformation_tool.py.

int transformation_tool.id = 0

Definition at line 177 of file transformation_tool.py.

transformation_tool.marker = Marker()

Definition at line 183 of file transformation_tool.py.

transformation_tool.marker2 = Marker()

Definition at line 222 of file transformation_tool.py.

transformation_tool.new_base_vec = matrix_vector_mult(get_rotation_matrix(angle_x, angle_y, angle_z),base_vec)

Definition at line 195 of file transformation_tool.py.

list transformation_tool.new_constellation = []

Definition at line 176 of file transformation_tool.py.

transformation_tool.new_pose = Pose()

Definition at line 214 of file transformation_tool.py.

transformation_tool.new_position = Point(*[new_base_vec[0],new_base_vec[1],new_base_vec[2]])

Definition at line 196 of file transformation_tool.py.

transformation_tool.new_quat = tf.transformations.quaternion_from_euler(euler_vec[0],euler_vec[1],euler_vec[2])

Definition at line 212 of file transformation_tool.py.

list transformation_tool.object = [new_pose,poses[1]]

Definition at line 217 of file transformation_tool.py.

list transformation_tool.object1 = [pose1,path1]

Definition at line 154 of file transformation_tool.py.

list transformation_tool.object2 = [pose2,path2]

Definition at line 159 of file transformation_tool.py.

list transformation_tool.object3 = [pose3,path3]

Definition at line 164 of file transformation_tool.py.

list transformation_tool.object4 = [pose4,path4]

Definition at line 169 of file transformation_tool.py.

transformation_tool.orientation

Definition at line 152 of file transformation_tool.py.

string transformation_tool.path1 = 'package://asr_object_database/rsc/databases/textured_objects/Knaeckebrot/Knaeckebrot.dae'

Definition at line 153 of file transformation_tool.py.

string transformation_tool.path2 = 'package://asr_object_database/rsc/databases/textured_objects/Smacks/Smacks.dae'

Definition at line 158 of file transformation_tool.py.

string transformation_tool.path3 = 'package://asr_object_database/rsc/databases/textured_objects/VitalisSchoko/VitalisSchoko.dae'

Definition at line 163 of file transformation_tool.py.

string transformation_tool.path4 = 'package://asr_object_database/rsc/databases/textured_objects/CoffeeBox/CoffeeBox.dae'

Definition at line 168 of file transformation_tool.py.

list transformation_tool.point_constellation = []

Definition at line 149 of file transformation_tool.py.

transformation_tool.pose1 = Pose()

Definition at line 150 of file transformation_tool.py.

transformation_tool.pose2 = Pose()

Definition at line 155 of file transformation_tool.py.

transformation_tool.pose3 = Pose()

Definition at line 160 of file transformation_tool.py.

transformation_tool.pose4 = Pose()

Definition at line 165 of file transformation_tool.py.

transformation_tool.position

Definition at line 151 of file transformation_tool.py.

transformation_tool.publisher = rospy.Publisher("transformation_tool", Marker, queue_size=10)

Definition at line 179 of file transformation_tool.py.

transformation_tool.q

Initial value:

 = numpy.array([
             poses[0].orientation.x,
             poses[0].orientation.y,
             poses[0].orientation.z,
             poses[0].orientation.w])

Definition at line 202 of file transformation_tool.py.

list transformation_tool.translation = [-0.2,-0.6,0]

Definition at line 146 of file transformation_tool.py.

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation