Variables
	baseFrame = rospy.get_param('~frame_id', 'base_link_gt')

	br = tf.TransformBroadcaster()

float	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 + offset_time

	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])

Variable Documentation

◆ baseFrame

gt_tf_broadcaster.baseFrame = rospy.get_param('~frame_id', 'base_link_gt')

Definition at line 11 of file gt_tf_broadcaster.py.

◆ br

gt_tf_broadcaster.br = tf.TransformBroadcaster()

Definition at line 18 of file gt_tf_broadcaster.py.

◆ delay

float gt_tf_broadcaster.delay = stamp - now

Definition at line 59 of file gt_tf_broadcaster.py.

◆ fixedFrame

gt_tf_broadcaster.fixedFrame = rospy.get_param('~fixed_frame_id', 'world')

Definition at line 10 of file gt_tf_broadcaster.py.

◆ gtFile

gt_tf_broadcaster.gtFile = rospy.get_param('~file', 'groundtruth.txt')

Definition at line 16 of file gt_tf_broadcaster.py.

◆ init

bool gt_tf_broadcaster.init = False

Definition at line 22 of file gt_tf_broadcaster.py.

◆ init_x

gt_tf_broadcaster.init_x = 0

Definition at line 20 of file gt_tf_broadcaster.py.

◆ init_y

gt_tf_broadcaster.init_y = 0

Definition at line 21 of file gt_tf_broadcaster.py.

◆ mat1

gt_tf_broadcaster.mat1 = numpy.dot(trans1_mat, rot1_mat)

Definition at line 43 of file gt_tf_broadcaster.py.

◆ mat2

gt_tf_broadcaster.mat2 = numpy.dot(trans2_mat, rot2_mat)

Definition at line 47 of file gt_tf_broadcaster.py.

◆ mat3

gt_tf_broadcaster.mat3 = numpy.dot(mat1, mat2)

Definition at line 49 of file gt_tf_broadcaster.py.

◆ mylist

gt_tf_broadcaster.mylist = line.split(',')

Definition at line 26 of file gt_tf_broadcaster.py.

◆ now

gt_tf_broadcaster.now = rospy.get_time()

Definition at line 57 of file gt_tf_broadcaster.py.

◆ offset_theta

gt_tf_broadcaster.offset_theta = rospy.get_param('~offset_theta', 0.0)

Definition at line 15 of file gt_tf_broadcaster.py.

◆ offset_time

gt_tf_broadcaster.offset_time = rospy.get_param('~offset_time', 0.0)

Definition at line 12 of file gt_tf_broadcaster.py.

◆ offset_x

gt_tf_broadcaster.offset_x = rospy.get_param('~offset_x', 0.0)

Definition at line 13 of file gt_tf_broadcaster.py.

◆ offset_y

gt_tf_broadcaster.offset_y = rospy.get_param('~offset_y', 0.0)

Definition at line 14 of file gt_tf_broadcaster.py.

◆ rot1_mat

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.

◆ rot2_mat

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.

◆ rot3

gt_tf_broadcaster.rot3 = tf.transformations.quaternion_from_matrix(mat3)

Definition at line 51 of file gt_tf_broadcaster.py.

◆ stamp

float gt_tf_broadcaster.stamp = float(int(mylist[0]))/1000000.0 + offset_time

Definition at line 28 of file gt_tf_broadcaster.py.

◆ theta

gt_tf_broadcaster.theta = float(mylist[3])

Definition at line 31 of file gt_tf_broadcaster.py.

◆ trans1_mat

gt_tf_broadcaster.trans1_mat = tf.transformations.translation_matrix((x, y, 0))

Definition at line 41 of file gt_tf_broadcaster.py.

◆ trans2_mat

gt_tf_broadcaster.trans2_mat = tf.transformations.translation_matrix((offset_x, offset_y, 0))

Definition at line 45 of file gt_tf_broadcaster.py.

◆ trans3

gt_tf_broadcaster.trans3 = tf.transformations.translation_from_matrix(mat3)

Definition at line 50 of file gt_tf_broadcaster.py.

◆ x

gt_tf_broadcaster.x = float(mylist[1])

Definition at line 29 of file gt_tf_broadcaster.py.

◆ y

gt_tf_broadcaster.y = float(mylist[2])

Definition at line 30 of file gt_tf_broadcaster.py.

Variables