transform_datatypes.py

Go to the documentation of this file.

# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Juergen Sturm, University of Freiburg
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of the Willow Garage nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

import rospy
import tf
import tf.msg
import geometry_msgs.msg
import math
import numpy
from geometry_msgs.msg import PoseStamped,Pose,Point,Quaternion

def pose_to_mat44(pose):
    trans_mat = tf.transformations.translation_matrix( [pose.position.x, 
                                     pose.position.y,
                                     pose.position.z])
    rot_mat = tf.transformations.quaternion_matrix( [pose.orientation.x,
                                  pose.orientation.y,
                                  pose.orientation.z,
                                  pose.orientation.w])
    return( numpy.dot(trans_mat,rot_mat) )

def mat44_to_pose(mat):
    trans = Point(  *tuple(tf.transformations.translation_from_matrix(mat) ) )
    rot = Quaternion( *tuple(tf.transformations.quaternion_from_matrix(mat) ) )
    return( Pose(trans,rot) )

def xyz_to_mat44(pos):
    return transformations.translation_matrix((pos.x, pos.y, pos.z))

def xyzw_to_mat44(ori):
    return transformations.quaternion_matrix((ori.x, ori.y, ori.z, ori.w))