test_cam_transform Namespace Reference

Functions
def	cam_rotation_matrix ()
def	np_mat_to_str (m)
def	space_to_str (space)
def	transform_to_str (result)

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

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.

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

Definition at line 60 of file test_cam_transform.py.

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

Definition at line 59 of file test_cam_transform.py.

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

Definition at line 66 of file test_cam_transform.py.

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.

test_cam_transform.listener = TransformListener()

Definition at line 52 of file test_cam_transform.py.

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.

test_cam_transform.proxy = ALProxy("ALMotion", ip, port)

Definition at line 55 of file test_cam_transform.py.

test_cam_transform.rot

Definition at line 90 of file test_cam_transform.py.

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.

test_cam_transform.stamp = rospy.Time()

Definition at line 85 of file test_cam_transform.py.

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.

test_cam_transform.trans

Definition at line 90 of file test_cam_transform.py.

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

Definition at line 75 of file test_cam_transform.py.

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

Definition at line 74 of file test_cam_transform.py.

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

Definition at line 69 of file test_cam_transform.py.

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

Definition at line 68 of file test_cam_transform.py.