Variables | |
baseFrame = rospy.get_param('~frame_id', 'base_link_gt') | |
br = tf.TransformBroadcaster() | |
delay = stamp-now | |
fixedFrame = rospy.get_param('~fixed_frame_id', 'world') | |
gtFile = rospy.get_param('~file', 'groundtruth.txt') | |
bool | init = False |
int | init_x = 0 |
int | init_y = 0 |
mat1 = numpy.dot(trans1_mat, rot1_mat) | |
mat2 = numpy.dot(trans2_mat, rot2_mat) | |
mat3 = numpy.dot(mat1, mat2) | |
mylist = line.split(',') | |
now = rospy.get_time() | |
offset_theta = rospy.get_param('~offset_theta', 0.0) | |
offset_time = rospy.get_param('~offset_time', 0.0) | |
offset_x = rospy.get_param('~offset_x', 0.0) | |
offset_y = rospy.get_param('~offset_y', 0.0) | |
rot1_mat = tf.transformations.quaternion_matrix(tf.transformations.quaternion_from_euler(0, 0, theta)) | |
rot2_mat = tf.transformations.quaternion_matrix(tf.transformations.quaternion_from_euler(0, 0, offset_theta)) | |
rot3 = tf.transformations.quaternion_from_matrix(mat3) | |
float | stamp = float(int(mylist[0]))/1000000.0 |
theta = float(mylist[3]) | |
trans1_mat = tf.transformations.translation_matrix((x, y, 0)) | |
trans2_mat = tf.transformations.translation_matrix((offset_x, offset_y, 0)) | |
trans3 = tf.transformations.translation_from_matrix(mat3) | |
x = float(mylist[1]) | |
y = float(mylist[2]) | |
gt_tf_broadcaster.baseFrame = rospy.get_param('~frame_id', 'base_link_gt') |
Definition at line 11 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.br = tf.TransformBroadcaster() |
Definition at line 18 of file gt_tf_broadcaster.py.
Definition at line 59 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.fixedFrame = rospy.get_param('~fixed_frame_id', 'world') |
Definition at line 10 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.gtFile = rospy.get_param('~file', 'groundtruth.txt') |
Definition at line 16 of file gt_tf_broadcaster.py.
bool gt_tf_broadcaster.init = False |
Definition at line 22 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.init_x = 0 |
Definition at line 20 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.init_y = 0 |
Definition at line 21 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.mat1 = numpy.dot(trans1_mat, rot1_mat) |
Definition at line 43 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.mat2 = numpy.dot(trans2_mat, rot2_mat) |
Definition at line 47 of file gt_tf_broadcaster.py.
Definition at line 49 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.mylist = line.split(',') |
Definition at line 26 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.now = rospy.get_time() |
Definition at line 57 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.offset_theta = rospy.get_param('~offset_theta', 0.0) |
Definition at line 15 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.offset_time = rospy.get_param('~offset_time', 0.0) |
Definition at line 12 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.offset_x = rospy.get_param('~offset_x', 0.0) |
Definition at line 13 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.offset_y = rospy.get_param('~offset_y', 0.0) |
Definition at line 14 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.rot1_mat = tf.transformations.quaternion_matrix(tf.transformations.quaternion_from_euler(0, 0, theta)) |
Definition at line 42 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.rot2_mat = tf.transformations.quaternion_matrix(tf.transformations.quaternion_from_euler(0, 0, offset_theta)) |
Definition at line 46 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.rot3 = tf.transformations.quaternion_from_matrix(mat3) |
Definition at line 51 of file gt_tf_broadcaster.py.
float gt_tf_broadcaster.stamp = float(int(mylist[0]))/1000000.0 |
Definition at line 28 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.theta = float(mylist[3]) |
Definition at line 31 of file gt_tf_broadcaster.py.
Definition at line 41 of file gt_tf_broadcaster.py.
Definition at line 45 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.trans3 = tf.transformations.translation_from_matrix(mat3) |
Definition at line 50 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.x = float(mylist[1]) |
Definition at line 29 of file gt_tf_broadcaster.py.
gt_tf_broadcaster.y = float(mylist[2]) |
Definition at line 30 of file gt_tf_broadcaster.py.