footstep_visualizer.py File Reference

Go to the source code of this file.

Namespaces
	footstep_visualizer

Functions
def	footstep_visualizer.actCPCallback (msg)
def	footstep_visualizer.config_callback (config, level)
def	footstep_visualizer.contactStatesCallback (msg)
def	footstep_visualizer.drawPoint (image, point, size, color, text)
def	footstep_visualizer.llegCopCallback (msg)
def	footstep_visualizer.matrixFromTranslationQuaternion (trans, q)
def	footstep_visualizer.periodicCallback (event)
def	footstep_visualizer.refCPCallback (msg)
def	footstep_visualizer.rlegCopCallback (msg)
def	footstep_visualizer.transformToMatrix (transform)
def	footstep_visualizer.verticesPoints (original_vertices, origin_pose, scale, resolution_size)
def	footstep_visualizer.verticesPoints3D (original_vertices, origin_pose, scale, resolution_size)
def	footstep_visualizer.zmpCallback (msg)

Variables
	footstep_visualizer.act_contact_states_msg = None
	footstep_visualizer.act_cp_msg = None
	footstep_visualizer.act_cp_point_sub = rospy.Subscriber("/act_capture_point", PointStamped, actCPCallback)
	footstep_visualizer.contact_states_sub = rospy.Subscriber("/act_contact_states", ContactStatesStamped, contactStatesCallback)
	footstep_visualizer.cp_check_margin = i_param.cp_check_margin
	footstep_visualizer.g_get_parameter_srv = rospy.ServiceProxy("/StabilizerServiceROSBridge/getParameter", getParameter)
	footstep_visualizer.i_param = g_get_parameter_srv().i_param
	footstep_visualizer.image_size = rospy.get_param("~image_size", 400)
	footstep_visualizer.leg_front_margin = i_param.eefm_leg_front_margin
	footstep_visualizer.leg_inside_margin = i_param.eefm_leg_inside_margin
	footstep_visualizer.leg_outside_margin = i_param.eefm_leg_outside_margin
	footstep_visualizer.leg_rear_margin = i_param.eefm_leg_rear_margin
	footstep_visualizer.lleg_cop_msg = None
	footstep_visualizer.lleg_end_coords = rospy.get_param("~lleg_end_coords", "lleg_end_coords")
list	footstep_visualizer.lleg_margined_vertices
	footstep_visualizer.lleg_sub = rospy.Subscriber("/lfsensor_cop", PointStamped, llegCopCallback)
list	footstep_visualizer.lleg_vertices
	footstep_visualizer.msg_lock = Lock()
	footstep_visualizer.pub = rospy.Publisher("~output", Image, queue_size=1)
	footstep_visualizer.ref_cp_msg = None
	footstep_visualizer.ref_cp_point_sub = rospy.Subscriber("/ref_capture_point", PointStamped, refCPCallback)
	footstep_visualizer.rleg_cop_msg = None
	footstep_visualizer.rleg_end_coords = rospy.get_param("~rleg_end_coords", "rleg_end_coords")
list	footstep_visualizer.rleg_margined_vertices
	footstep_visualizer.rleg_sub = rospy.Subscriber("/rfsensor_cop", PointStamped, rlegCopCallback)
list	footstep_visualizer.rleg_vertices
	footstep_visualizer.root_link = rospy.get_param("~root_link", "BODY")
	footstep_visualizer.scale = rospy.get_param("~scale", 0.6)
	footstep_visualizer.srv = Server(FootstepVisualizerConfig, config_callback)
	footstep_visualizer.tf_buffer = tf2_ros.Buffer()
	footstep_visualizer.tf_listener = tf2_ros.TransformListener(tf_buffer)
	footstep_visualizer.zmp_msg = None
	footstep_visualizer.zmp_sub = rospy.Subscriber("/zmp", PointStamped, zmpCallback)