Classes | Functions
kdl_posemath Namespace Reference

Classes

class  PoseMath

Functions

def fromCameraParams
def fromMatrix
def fromMsg
def fromTf
def toMatrix
def toMsg
def toPose
def toTf

Function Documentation

def kdl_posemath.fromCameraParams (   cv,
  rvec,
  tvec 
)
:param cv: OpenCV module
:param rvec: A Rodrigues rotation vector - see :func:`Rodrigues2`
:type rvec: 3x1 :class:`CvMat`
:param tvec: A translation vector 
:type tvec: 3x1 :class:`CvMat`
:return: New :class:`PyKDL.Frame` object

For use with :func:`FindExtrinsicCameraParams2`::

    import cv
    import tf_conversions.posemath as pm
    ...
    rvec = cv.CreateMat(3, 1, cv.CV_32FC1)
    tvec = cv.CreateMat(3, 1, cv.CV_32FC1)
    cv.FindExtrinsicCameraParams2(model, corners, intrinsic_matrix, kc, rvec, tvec)
    pose = pm.fromCameraParams(cv, rvec, tvec)

Definition at line 140 of file kdl_posemath.py.

:param m: input 4x4 matrix
:type m: :func:`numpy.array`
:return: New :class:`PyKDL.Frame` object

Convert a pose represented as a 4x4 numpy array to a :class:`PyKDL.Frame`.

Definition at line 94 of file kdl_posemath.py.

def kdl_posemath.fromMsg (   p)
:param p: input pose
:type p: :class:`geometry_msgs.msg.Pose`
:return: New :class:`PyKDL.Frame` object

Convert a pose represented as a ROS Pose message to a :class:`PyKDL.Frame`.

Definition at line 63 of file kdl_posemath.py.

def kdl_posemath.fromTf (   tf)
:param tf: :class:`tf.Transformer` transform
:type tf: tuple (translation, quaternion)
:return: New :class:`PyKDL.Frame` object

Convert a pose returned by :meth:`tf.Transformer.lookupTransform` to a :class:`PyKDL.Frame`.

.. doctest::

    >>> import rospy
    >>> import tf
    >>> import geometry_msgs.msg
    >>> t = tf.Transformer(True, rospy.Duration(10.0))
    >>> m = geometry_msgs.msg.TransformStamped()
    >>> m.header.frame_id = 'THISFRAME'
    >>> m.child_frame_id = 'CHILD'
    >>> m.transform.translation.x = 668.5
    >>> m.transform.rotation.w = 1.0
    >>> t.setTransform(m)
    >>> t.lookupTransform('THISFRAME', 'CHILD', rospy.Time(0))
    ((668.5, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0))
    >>> import tf_conversions.posemath as pm
    >>> p = pm.fromTf(t.lookupTransform('THISFRAME', 'CHILD', rospy.Time(0)))
    >>> print pm.toMsg(p * p)
    position: 
      x: 1337.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0

Definition at line 9 of file kdl_posemath.py.

def kdl_posemath.toMatrix (   f)
:param f: input pose
:type f: :class:`PyKDL.Frame`

Return a numpy 4x4 array for the Frame F.

Definition at line 108 of file kdl_posemath.py.

def kdl_posemath.toMsg (   f)
:param f: input pose
:type f: :class:`PyKDL.Frame`

Return a ROS Pose message for the Frame f.

Definition at line 77 of file kdl_posemath.py.

def kdl_posemath.toPose (   x,
  q 
)
:param x: input position
:param 1: input quaternion
:type p: output pose

Return a ROS pose from python lists.

Definition at line 121 of file kdl_posemath.py.

def kdl_posemath.toTf (   f)
:param f: input pose
:type f: :class:`PyKDL.Frame`

Return a tuple (position, quaternion) for the pose.

Definition at line 52 of file kdl_posemath.py.



r2_teleop
Author(s): Paul Dinh
autogenerated on Fri Jan 3 2014 11:34:08