tf_utils.py
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00001 import numpy as np
00002 import tf.transformations as tr
00003 
00004 def tf_as_matrix(tup):
00005     return np.matrix(tr.translation_matrix(tup[0])) * np.matrix(tr.quaternion_matrix(tup[1])) 
00006 
00007 def transform(to_frame, from_frame, tflistener, t=0):
00008     return tf_as_matrix(tflistener.lookupTransform(to_frame, from_frame, rospy.Time(t)))
00009 
00010 def tf_as_matrix(tup):
00011     return np.matrix(tr.translation_matrix(tup[0])) * np.matrix(tr.quaternion_matrix(tup[1])) 
00012 
00013 def matrix_as_tf(mat):
00014     return (tr.translation_from_matrix(mat), tr.quaternion_from_matrix(mat))
00015 
00016 


rcommander
Author(s): Hai Nguyen (haidai@gmail.com)
autogenerated on Thu Nov 28 2013 11:46:34