test_cam_transform Namespace Reference

Functions
def	cam_rotation_matrix
def	np_mat_to_str
def	space_to_str
def	transform_to_str
Variables
string	chainName = "Head"
tuple	current = proxy.getPosition(chainName, space, False)
tuple	currentSensor = proxy.getPosition(chainName, space, True)
tuple	DCM = apply(transformations.euler_matrix,rpy)
tuple	e = np.linalg.norm(DCM - m)
string	frame1 = 'Torso_link'
string	frame2 = 'CameraTop_frame'
string	ip = "ra.local"
tuple	listener = TransformListener()
tuple	m = transformations.quaternion_matrix(rot)
int	port = 9559
tuple	proxy = ALProxy("ALMotion", ip, port)
list	rpy = currentSensor[3:]
	space = motion.SPACE_TORSO
tuple	stamp = rospy.Time()
tuple	T = np.matrix([tTCSensor[0:4],tTCSensor[4:8],tTCSensor[8:12],tTCSensor[12:]])
tuple	tTC = proxy.getTransform(chainName, space, False)
tuple	tTCSensor = proxy.getTransform(chainName, space, True)
tuple	tTH = proxy.getTransform(chainName, space, False)
tuple	tTHSensor = proxy.getTransform(chainName, space, True)

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Function Documentation

def test_cam_transform.cam_rotation_matrix

(

)

Definition at line 47 of file test_cam_transform.py.

def test_cam_transform.np_mat_to_str

(

m

)

Definition at line 39 of file test_cam_transform.py.

def test_cam_transform.space_to_str

(

space

)

Definition at line 20 of file test_cam_transform.py.

def test_cam_transform.transform_to_str

(

result

)

Definition at line 28 of file test_cam_transform.py.

---

Variable Documentation

string test_cam_transform::chainName = "Head"

Definition at line 58 of file test_cam_transform.py.

tuple test_cam_transform::current = proxy.getPosition(chainName, space, False)

Definition at line 60 of file test_cam_transform.py.

tuple test_cam_transform::currentSensor = proxy.getPosition(chainName, space, True)

Definition at line 59 of file test_cam_transform.py.

tuple test_cam_transform::DCM = apply(transformations.euler_matrix,rpy)

Definition at line 66 of file test_cam_transform.py.

tuple test_cam_transform::e = np.linalg.norm(DCM - m)

Definition at line 102 of file test_cam_transform.py.

string test_cam_transform::frame1 = 'Torso_link'

Definition at line 86 of file test_cam_transform.py.

string test_cam_transform::frame2 = 'CameraTop_frame'

Definition at line 87 of file test_cam_transform.py.

string test_cam_transform::ip = "ra.local"

Definition at line 53 of file test_cam_transform.py.

tuple test_cam_transform::listener = TransformListener()

Definition at line 52 of file test_cam_transform.py.

tuple test_cam_transform::m = transformations.quaternion_matrix(rot)

Definition at line 96 of file test_cam_transform.py.

int test_cam_transform::port = 9559

Definition at line 54 of file test_cam_transform.py.

tuple test_cam_transform::proxy = ALProxy("ALMotion", ip, port)

Definition at line 55 of file test_cam_transform.py.

list test_cam_transform::rpy = currentSensor[3:]

Definition at line 64 of file test_cam_transform.py.

test_cam_transform::space = motion.SPACE_TORSO

Definition at line 57 of file test_cam_transform.py.

tuple test_cam_transform::stamp = rospy.Time()

Definition at line 85 of file test_cam_transform.py.

tuple test_cam_transform::T = np.matrix([tTCSensor[0:4],tTCSensor[4:8],tTCSensor[8:12],tTCSensor[12:]])

Definition at line 79 of file test_cam_transform.py.

tuple test_cam_transform::tTC = proxy.getTransform(chainName, space, False)

Definition at line 75 of file test_cam_transform.py.

tuple test_cam_transform::tTCSensor = proxy.getTransform(chainName, space, True)

Definition at line 74 of file test_cam_transform.py.

tuple test_cam_transform::tTH = proxy.getTransform(chainName, space, False)

Definition at line 69 of file test_cam_transform.py.

tuple test_cam_transform::tTHSensor = proxy.getTransform(chainName, space, True)

Definition at line 68 of file test_cam_transform.py.