tf_ext.py
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00001 # tf_ext.py
00002 # several extention function for tf
00003 import tf
00004 from tf.transformations import *
00005 
00006 def transformToMatrix(transform):
00007     # transform = (pos, quaternion)
00008     mat = quaternion_matrix(transform[1])
00009     mat[:3, 3] = transform[0]
00010     return mat
00011 
00012 def xyzxyzwToMatrix(xyzxyzw):
00013     # convert [x, y, z, xx, yy, zz, ww] to matrix
00014     # where xx, yy, zz and ww mean orientation parameter.
00015     return transformToMatrix((xyzxyzw[:3], xyzxyzw[3:]))
00016 
00017 def decomposeMatrix(mat):
00018     # convert matrix into (pos, quaternion) tuple
00019     pos = mat[:3, 3]
00020     q = quaternion_from_matrix(mat)
00021     return (pos, q)


jsk_teleop_joy
Author(s): Ryohei Ueda
autogenerated on Fri Apr 19 2019 03:45:43