Functions
def	actCPCallback (msg)

def	config_callback (config, level)

def	contactStatesCallback (msg)

def	drawPoint (image, point, size, color, text)

def	llegCopCallback (msg)

def	matrixFromTranslationQuaternion (trans, q)

def	periodicCallback (event)

def	refCPCallback (msg)

def	rlegCopCallback (msg)

def	transformToMatrix (transform)

def	verticesPoints (original_vertices, origin_pose, scale, resolution_size)

def	verticesPoints3D (original_vertices, origin_pose, scale, resolution_size)

def	zmpCallback (msg)

Variables
	act_contact_states_msg = None

	act_cp_msg = None

	act_cp_point_sub = rospy.Subscriber("/act_capture_point", PointStamped, actCPCallback)

	contact_states_sub = rospy.Subscriber("/act_contact_states", ContactStatesStamped, contactStatesCallback)

	cp_check_margin = i_param.cp_check_margin

	g_get_parameter_srv = rospy.ServiceProxy("/StabilizerServiceROSBridge/getParameter", getParameter)

	i_param = g_get_parameter_srv().i_param

	image_size = rospy.get_param("~image_size", 400)

	leg_front_margin = i_param.eefm_leg_front_margin

	leg_inside_margin = i_param.eefm_leg_inside_margin

	leg_outside_margin = i_param.eefm_leg_outside_margin

	leg_rear_margin = i_param.eefm_leg_rear_margin

	lleg_cop_msg = None

	lleg_end_coords = rospy.get_param("~lleg_end_coords", "lleg_end_coords")

list	lleg_margined_vertices

	lleg_sub = rospy.Subscriber("/lfsensor_cop", PointStamped, llegCopCallback)

list	lleg_vertices

	msg_lock = Lock()

	pub = rospy.Publisher("~output", Image, queue_size=1)

	ref_cp_msg = None

	ref_cp_point_sub = rospy.Subscriber("/ref_capture_point", PointStamped, refCPCallback)

	rleg_cop_msg = None

	rleg_end_coords = rospy.get_param("~rleg_end_coords", "rleg_end_coords")

list	rleg_margined_vertices

	rleg_sub = rospy.Subscriber("/rfsensor_cop", PointStamped, rlegCopCallback)

list	rleg_vertices

	root_link = rospy.get_param("~root_link", "BODY")

	scale = rospy.get_param("~scale", 0.6)

	srv = Server(FootstepVisualizerConfig, config_callback)

	tf_buffer = tf2_ros.Buffer()

	tf_listener = tf2_ros.TransformListener(tf_buffer)

	zmp_msg = None

	zmp_sub = rospy.Subscriber("/zmp", PointStamped, zmpCallback)

Function Documentation

def footstep_visualizer.actCPCallback ( msg )

Definition at line 247 of file footstep_visualizer.py.

def footstep_visualizer.config_callback	(	config,
		level
	)

Definition at line 267 of file footstep_visualizer.py.

def footstep_visualizer.contactStatesCallback ( msg )

Definition at line 257 of file footstep_visualizer.py.

def footstep_visualizer.drawPoint	(	image,
		point,
		size,
		color,
		text
	)

Definition at line 60 of file footstep_visualizer.py.

def footstep_visualizer.llegCopCallback ( msg )

Definition at line 236 of file footstep_visualizer.py.

def footstep_visualizer.matrixFromTranslationQuaternion	(	trans,
		q
	)

Definition at line 22 of file footstep_visualizer.py.

def footstep_visualizer.periodicCallback ( event )

Definition at line 67 of file footstep_visualizer.py.

def footstep_visualizer.refCPCallback ( msg )

Definition at line 252 of file footstep_visualizer.py.

def footstep_visualizer.rlegCopCallback ( msg )

Definition at line 242 of file footstep_visualizer.py.

def footstep_visualizer.transformToMatrix ( transform )

Definition at line 48 of file footstep_visualizer.py.

def footstep_visualizer.verticesPoints	(	original_vertices,
		origin_pose,
		scale,
		resolution_size
	)

Definition at line 26 of file footstep_visualizer.py.

def footstep_visualizer.verticesPoints3D	(	original_vertices,
		origin_pose,
		scale,
		resolution_size
	)

Definition at line 35 of file footstep_visualizer.py.

def footstep_visualizer.zmpCallback ( msg )

Definition at line 262 of file footstep_visualizer.py.

Variable Documentation

footstep_visualizer.act_contact_states_msg = None

Definition at line 235 of file footstep_visualizer.py.

footstep_visualizer.act_cp_msg = None

Definition at line 233 of file footstep_visualizer.py.

footstep_visualizer.act_cp_point_sub = rospy.Subscriber("/act_capture_point", PointStamped, actCPCallback)

Definition at line 312 of file footstep_visualizer.py.

footstep_visualizer.contact_states_sub = rospy.Subscriber("/act_contact_states", ContactStatesStamped, contactStatesCallback)

Definition at line 314 of file footstep_visualizer.py.

footstep_visualizer.cp_check_margin = i_param.cp_check_margin

Definition at line 291 of file footstep_visualizer.py.

footstep_visualizer.g_get_parameter_srv = rospy.ServiceProxy("/StabilizerServiceROSBridge/getParameter", getParameter)

Definition at line 281 of file footstep_visualizer.py.

footstep_visualizer.i_param = g_get_parameter_srv().i_param

Definition at line 286 of file footstep_visualizer.py.

footstep_visualizer.image_size = rospy.get_param("~image_size", 400)

Definition at line 284 of file footstep_visualizer.py.

footstep_visualizer.leg_front_margin = i_param.eefm_leg_front_margin

Definition at line 287 of file footstep_visualizer.py.

footstep_visualizer.leg_inside_margin = i_param.eefm_leg_inside_margin

Definition at line 289 of file footstep_visualizer.py.

footstep_visualizer.leg_outside_margin = i_param.eefm_leg_outside_margin

Definition at line 290 of file footstep_visualizer.py.

footstep_visualizer.leg_rear_margin = i_param.eefm_leg_rear_margin

Definition at line 288 of file footstep_visualizer.py.

footstep_visualizer.lleg_cop_msg = None

Definition at line 230 of file footstep_visualizer.py.

footstep_visualizer.lleg_end_coords = rospy.get_param("~lleg_end_coords", "lleg_end_coords")

Definition at line 282 of file footstep_visualizer.py.

list footstep_visualizer.lleg_margined_vertices

Initial value:

 = [[leg_front_margin-cp_check_margin[0], leg_outside_margin-cp_check_margin[3]],
                               [leg_front_margin-cp_check_margin[0], -1*(leg_inside_margin-cp_check_margin[2])],
                               [-1*(leg_rear_margin-cp_check_margin[1]), -1*(leg_inside_margin-cp_check_margin[2])],
                               [-1*(leg_rear_margin-cp_check_margin[1]), leg_outside_margin-cp_check_margin[3]]]

Definition at line 300 of file footstep_visualizer.py.

footstep_visualizer.lleg_sub = rospy.Subscriber("/lfsensor_cop", PointStamped, llegCopCallback)

Definition at line 309 of file footstep_visualizer.py.

list footstep_visualizer.lleg_vertices

Initial value:

 = [[leg_front_margin, leg_outside_margin],
                      [leg_front_margin, -1*leg_inside_margin],
                      [-1*leg_rear_margin, -1*leg_inside_margin],
                      [-1*leg_rear_margin, leg_outside_margin]]

Definition at line 292 of file footstep_visualizer.py.

footstep_visualizer.msg_lock = Lock()

Definition at line 21 of file footstep_visualizer.py.

footstep_visualizer.pub = rospy.Publisher("~output", Image, queue_size=1)

Definition at line 274 of file footstep_visualizer.py.

footstep_visualizer.ref_cp_msg = None

Definition at line 234 of file footstep_visualizer.py.

footstep_visualizer.ref_cp_point_sub = rospy.Subscriber("/ref_capture_point", PointStamped, refCPCallback)

Definition at line 313 of file footstep_visualizer.py.

footstep_visualizer.rleg_cop_msg = None

Definition at line 231 of file footstep_visualizer.py.

footstep_visualizer.rleg_end_coords = rospy.get_param("~rleg_end_coords", "rleg_end_coords")

Definition at line 283 of file footstep_visualizer.py.

list footstep_visualizer.rleg_margined_vertices

Initial value:

 = [[leg_front_margin-cp_check_margin[0], leg_inside_margin-cp_check_margin[2]],
                               [leg_front_margin-cp_check_margin[0], -1*(leg_outside_margin-cp_check_margin[3])],
                               [-1*(leg_rear_margin-cp_check_margin[1]), -1*(leg_outside_margin-cp_check_margin[3])],
                               [-1*(leg_rear_margin-cp_check_margin[1]), leg_inside_margin-cp_check_margin[2]]]

Definition at line 304 of file footstep_visualizer.py.

footstep_visualizer.rleg_sub = rospy.Subscriber("/rfsensor_cop", PointStamped, rlegCopCallback)

Definition at line 310 of file footstep_visualizer.py.

list footstep_visualizer.rleg_vertices

Initial value:

 = [[leg_front_margin, leg_inside_margin],
                      [leg_front_margin, -1*leg_outside_margin],
                      [-1*leg_rear_margin, -1*leg_outside_margin],
                      [-1*leg_rear_margin, leg_inside_margin]]

Definition at line 296 of file footstep_visualizer.py.

footstep_visualizer.root_link = rospy.get_param("~root_link", "BODY")

Definition at line 308 of file footstep_visualizer.py.

footstep_visualizer.scale = rospy.get_param("~scale", 0.6)

Definition at line 285 of file footstep_visualizer.py.

footstep_visualizer.srv = Server(FootstepVisualizerConfig, config_callback)

Definition at line 275 of file footstep_visualizer.py.

footstep_visualizer.tf_buffer = tf2_ros.Buffer()

Definition at line 276 of file footstep_visualizer.py.

footstep_visualizer.tf_listener = tf2_ros.TransformListener(tf_buffer)

Definition at line 277 of file footstep_visualizer.py.

footstep_visualizer.zmp_msg = None

Definition at line 232 of file footstep_visualizer.py.

footstep_visualizer.zmp_sub = rospy.Subscriber("/zmp", PointStamped, zmpCallback)

Definition at line 311 of file footstep_visualizer.py.

Functions

Variables

Function Documentation

Variable Documentation