本文整理汇总了Python中World.World.get_pose_from_transform方法的典型用法代码示例。如果您正苦于以下问题：Python World.get_pose_from_transform方法的具体用法？Python World.get_pose_from_transform怎么用？Python World.get_pose_from_transform使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类World.World的用法示例。
在下文中一共展示了World.get_pose_from_transform方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: _make_gripper_marker
# 需要导入模块: from World import World [as 别名]
# 或者: from World.World import get_pose_from_transform [as 别名]
def _make_gripper_marker(self, control, is_hand_open=False):
'''Makes a gripper marker'''
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - ActionStepMarker._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,
transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = ('package://pr2_description/meshes/' +
'gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -ActionStepMarker._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = ('package://pr2_description/meshes/' +
'gripper_v0/l_finger.dae')
mesh2.pose = World.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = ('package://pr2_description/meshes/' +
'gripper_v0/l_finger_tip.dae')
mesh3.pose = World.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - ActionStepMarker._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,
transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = ('package://pr2_description/meshes/' +
'gripper_v0/l_finger.dae')
mesh4.pose = World.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = ('package://pr2_description/meshes/' +
'gripper_v0/l_finger_tip.dae')
mesh5.pose = World.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control示例2: _offset_pose
# 需要导入模块: from World import World [as 别名]
# 或者: from World.World import get_pose_from_transform [as 别名]
def _offset_pose(pose, constant=1):
'''Offsets the world pose for visualization'''
transform = World.get_matrix_from_pose(pose)
offset_array = [constant * ActionStepMarker._offset, 0, 0]
offset_transform = tf.transformations.translation_matrix(offset_array)
hand_transform = tf.transformations.concatenate_matrices(transform,
offset_transform)
return World.get_pose_from_transform(hand_transform)