Functions
def	arrowMarker (color='green', orientation='auto')

def	arrowMarker (color='green', orientation='auto')

def	feedback_callback (data)

def	feedback_callback (data)

def	quaternion2YawDegree (orientation)

def	quaternion2YawDegree (orientation)

def	sign (number)

def	sign (number)

Variables
	anonymous

	anonymous

	feedback_callback

	feedback_callback

list	feedbackMsg

	FeedbackMsg

	FeedbackMsg

list	feedbackMsg = []

string	filename_string

string	filename_string = "teb_svg_"

	goal_arrow

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

	goal_pose

	goal_pose = feedbackMsg.trajectories[0].trajectory[len(feedbackMsg.trajectories[0].trajectory)-1].pose

	goal_position

	goal_position = goal_pose.position

int	GRID_X_MAX

int	GRID_X_MAX = 2

int	GRID_X_MIN

int	GRID_X_MIN = -2

int	GRID_Y_MAX

int	GRID_Y_MAX = 1

int	GRID_Y_MIN

int	GRID_Y_MIN = -2

	hLines

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

	legend

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

	legendGeometry

	legendGeometry = svg.text(stringGeometry)

	line

	line

	line_end

	line_end = obstacle.polygon.points[1]

	line_start

	line_start = obstacle.polygon.points[0]

float	MIN_POSE_DISTANCE

float	MIN_POSE_DISTANCE = 0.3

int	OBSTACLE_DIST

int	OBSTACLE_DIST = 50

	point

	point = obstacle.polygon.points[0]

list	points

list	points = []

	queue_size

	queue_size

	rate

	rate = rospy.Rate(10.0)

int	SCALE

int	SCALE = 200

float	SCALE_VELOCITY_VEC

float	SCALE_VELOCITY_VEC = 0.4

	start_arrow

	start_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='blue', opacity=1.0)

	start_pose

	start_pose = feedbackMsg.trajectories[0].trajectory[0].pose

	start_position

	start_position = start_pose.position

string	stringGeometry

string	stringGeometry = "Geometry: 1 Unit = 1.0m"

	svg

	svg = svgwrite.Drawing(filename=filename_string, debug=True)

	timestr

	timestr = time.strftime("%Y%m%d_%H%M%S")

string	topic_name

string	topic_name = "/test_optim_node/teb_feedback"

	traj_color

	traj_color = svgwrite.rgb(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255), 'RGB')

	tx

	tx

	ty

	ty

list	vertices

list	vertices = []

	vLines

	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

export_to_svg.anonymous

Definition at line 102 of file export_to_svg.py.

export_to_svg.feedback_callback

Definition at line 106 of file export_to_svg.py.

export_to_svg.FeedbackMsg

Definition at line 106 of file export_to_svg.py.

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.

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.

export_to_svg.goal_pose = feedbackMsg.trajectories[0].trajectory[len(feedbackMsg.trajectories[0].trajectory)-1].pose

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.

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

Definition at line 126 of file export_to_svg.py.

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

Definition at line 141 of file export_to_svg.py.

export_to_svg.legendGeometry = svg.text(stringGeometry)

Definition at line 143 of file export_to_svg.py.

export_to_svg.line

Initial value:

1 = svg.add( svg.polyline(points=points, fill='none', stroke=traj_color, stroke_width=10, stroke_linecap='round', \

2 stroke_linejoin='round', opacity=1.0 ) )

Definition at line 182 of file export_to_svg.py.

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

Definition at line 228 of file export_to_svg.py.

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.

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

Definition at line 222 of file export_to_svg.py.

list export_to_svg.points = []

Definition at line 175 of file export_to_svg.py.

export_to_svg.queue_size

Definition at line 106 of file export_to_svg.py.

export_to_svg.rate = rospy.Rate(10.0)

Definition at line 110 of file export_to_svg.py.

export_to_svg.SCALE = 200

Definition at line 30 of file export_to_svg.py.

float export_to_svg.SCALE_VELOCITY_VEC = 0.4

Definition at line 32 of file export_to_svg.py.

export_to_svg.start_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='blue', opacity=1.0)

Definition at line 206 of file export_to_svg.py.

export_to_svg.start_pose = feedbackMsg.trajectories[0].trajectory[0].pose

Definition at line 196 of file export_to_svg.py.

export_to_svg.start_position = start_pose.position

Definition at line 198 of file export_to_svg.py.

string export_to_svg.stringGeometry = "Geometry: 1 Unit = 1.0m"

Definition at line 142 of file export_to_svg.py.

export_to_svg.svg = svgwrite.Drawing(filename=filename_string, debug=True)

Definition at line 120 of file export_to_svg.py.

export_to_svg.timestr = time.strftime("%Y%m%d_%H%M%S")

Definition at line 113 of file export_to_svg.py.

export_to_svg.topic_name = "/test_optim_node/teb_feedback"

Definition at line 104 of file export_to_svg.py.

export_to_svg.traj_color = svgwrite.rgb(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255), 'RGB')

Definition at line 172 of file export_to_svg.py.

export_to_svg.tx

Definition at line 145 of file export_to_svg.py.

export_to_svg.ty

Definition at line 145 of file export_to_svg.py.

list export_to_svg.vertices = []

Definition at line 232 of file export_to_svg.py.

export_to_svg.vLines = svg.add(svg.g(id='vline', stroke='black'))

Definition at line 132 of file export_to_svg.py.

Functions

Variables

Function Documentation

Variable Documentation