util.py

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from math import cos, degrees, sin

from geometry_msgs.msg import Pose2D

from python_qt_binding.QtGui import QColor

FIELDS = {'x': 'black', 'y': 'green', 'theta': 'blue'}


def scale(v, minval, maxval, dest_size=1.0, offset=0.0):
    if minval == maxval:
        return offset
    return (v - minval) / (maxval - minval) * dest_size + offset


def subtractPose(pose_a, pose_b):
    dx = pose_a.x - pose_b.x
    dy = pose_a.y - pose_b.y
    s = sin(-pose_b.theta)
    c = cos(-pose_b.theta)
    x = dx * c - dy * s
    y = dx * s + dy * c
    return Pose2D(x, y, pose_a.theta - pose_b.theta)


def debug(pose):
    return '%.2f %.2f %.2f' % (pose.x, pose.y, degrees(pose.theta))


PALETTE = [QColor(204,  65,  37), QColor(246, 178, 107), QColor(255, 217, 102), QColor(147, 196, 125),  # noqa(E241)
           QColor(109, 158, 235), QColor(142, 124, 195), QColor(224, 102, 102), QColor(118, 165, 175),
           QColor(111, 168, 220), QColor(194, 123, 160)]