Classes
class	GetRobotState

Functions
def	angle_between_quaternions (quaternion1, quaternion2)

def	angle_between_vectors (vector1, vector2)

def	approx_equal_pose (old_pose, new_pose, threshold)

def	approx_equal_robot_state (old_robot_pose, old_tilt, new_robot_pose, new_tilt, positionThreshold, orientationThreshold, tiltThreshold)

def	euclidean_distance_3d (position1, position2)

def	get_camera_pose ()

def	get_camera_pose_cpp ()

def	get_robot_pose ()

def	get_robot_pose_cpp ()

def	get_rotation_from_pose (pose)

def	get_vector (quaternion)

def	quaternion_to_list (quaternion)

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

◆ angle_between_quaternions()

def src.common.state_acquisition.angle_between_quaternions	(	quaternion1,
		quaternion2
	)

Definition at line 201 of file state_acquisition.py.

◆ angle_between_vectors()

def src.common.state_acquisition.angle_between_vectors	(	vector1,
		vector2
	)

Definition at line 211 of file state_acquisition.py.

◆ approx_equal_pose()

def src.common.state_acquisition.approx_equal_pose	(	old_pose,
		new_pose,
		threshold
	)

 Checks if two poses are approximately equal, i.e. sum of all values is under
 a specified threshold.

Definition at line 181 of file state_acquisition.py.

◆ approx_equal_robot_state()

def src.common.state_acquisition.approx_equal_robot_state	(	old_robot_pose,
		old_tilt,
		new_robot_pose,
		new_tilt,
		positionThreshold,
		orientationThreshold,
		tiltThreshold
	)

Checks if two robot states are approximately equal, i.e. disctance of all values are under
a threshold.

Definition at line 158 of file state_acquisition.py.

◆ euclidean_distance_3d()

def src.common.state_acquisition.euclidean_distance_3d	(	position1,
		position2
	)

Definition at line 195 of file state_acquisition.py.

◆ get_camera_pose()

def src.common.state_acquisition.get_camera_pose ( )

Returns current camera pose

Definition at line 52 of file state_acquisition.py.

◆ get_camera_pose_cpp()

def src.common.state_acquisition.get_camera_pose_cpp ( )

Returns camera pose

Definition at line 41 of file state_acquisition.py.

◆ get_robot_pose()

def src.common.state_acquisition.get_robot_pose ( )

Returns robot pose

Definition at line 88 of file state_acquisition.py.

◆ get_robot_pose_cpp()

def src.common.state_acquisition.get_robot_pose_cpp ( )

Returns robot pose

Definition at line 77 of file state_acquisition.py.

◆ get_rotation_from_pose()

def src.common.state_acquisition.get_rotation_from_pose ( pose )

Returns the rotation in degrees from pose

Definition at line 106 of file state_acquisition.py.

◆ get_vector()

def src.common.state_acquisition.get_vector ( quaternion )

Definition at line 226 of file state_acquisition.py.

◆ quaternion_to_list()

def src.common.state_acquisition.quaternion_to_list ( quaternion )

Definition at line 234 of file state_acquisition.py.

Classes

Functions