本文整理汇总了Python中World.World.get_ref_from_name方法的典型用法代码示例。如果您正苦于以下问题：Python World.get_ref_from_name方法的具体用法？Python World.get_ref_from_name怎么用？Python World.get_ref_from_name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_ref_from_name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: _set_ref
# 需要导入模块: from World import World [as 别名]
# 或者: from World.World import get_ref_from_name [as 别名]
def _set_ref(self, new_ref_name):
'''Changes the reference frame of the action step'''
new_ref = World.get_ref_from_name(new_ref_name)
if (new_ref != ArmState.ROBOT_BASE):
index = ActionStepMarker._ref_names.index(new_ref_name)
new_ref_obj = ActionStepMarker._ref_object_list[index - 1]
else:
new_ref_obj = Object()
if (self.action_step.type == ActionStep.ARM_TARGET):
if self.arm_index == 0:
self.action_step.armTarget.rArm = World.convert_ref_frame(
self.action_step.armTarget.rArm, new_ref, new_ref_obj)
else:
self.action_step.armTarget.lArm = World.convert_ref_frame(
self.action_step.armTarget.lArm, new_ref, new_ref_obj)
elif (self.action_step.type == ActionStep.ARM_TRAJECTORY):
for i in range(len(self.action_step.armTrajectory.timing)):
if self.arm_index == 0:
arm_old = self.action_step.armTrajectory.rArm[i]
arm_new = World.convert_ref_frame(arm_old,
new_ref, new_ref_obj)
self.action_step.armTrajectory.rArm[i] = arm_new
else:
arm_old = self.action_step.armTrajectory.lArm[i]
arm_new = World.convert_ref_frame(arm_old,
new_ref, new_ref_obj)
self.action_step.armTrajectory.lArm[i] = arm_new
if self.arm_index == 0:
self.action_step.armTrajectory.rRefFrameObject = new_ref_obj
self.action_step.armTrajectory.rRefFrame = new_ref
else:
self.action_step.armTrajectory.lRefFrameObject = new_ref_obj
self.action_step.armTrajectory.lRefFrame = new_ref示例2: _update_viz_core
# 需要导入模块: from World import World [as 别名]
# 或者: from World.World import get_ref_from_name [as 别名]
def _update_viz_core(self):
'''Updates visualization after a change'''
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = self._get_ref_name()
pose = self.get_pose()
if (self.action_step.type == ActionStep.ARM_TARGET):
menu_control = self._make_gripper_marker(menu_control,
self._is_hand_open())
elif (self.action_step.type == ActionStep.ARM_TRAJECTORY):
point_list = []
for j in range(len(self.action_step.armTrajectory.timing)):
point_list.append(self._get_traj_pose(j).position)
main_marker = Marker(type=Marker.SPHERE_LIST, id=self.get_uid(),
lifetime=rospy.Duration(2),
scale=Vector3(0.02, 0.02, 0.02),
header=Header(frame_id=frame_id),
color=ColorRGBA(0.8, 0.4, 0.0, 0.8),
points=point_list)
menu_control.markers.append(main_marker)
menu_control.markers.append(ActionStepMarker.make_sphere_marker(
self.get_uid() + 2000,
self._get_traj_pose(0), frame_id, 0.05))
last_index = len(self.action_step.armTrajectory.timing) - 1
menu_control.markers.append(ActionStepMarker.make_sphere_marker(
self.get_uid() + 3000, self._get_traj_pose(last_index),
frame_id, 0.05))
else:
rospy.logerr('Non-handled action step type '
+ str(self.action_step.type))
ref_frame = World.get_ref_from_name(frame_id)
if (ref_frame == ArmState.OBJECT):
menu_control.markers.append(Marker(type=Marker.ARROW,
id=(1000 + self.get_uid()),
lifetime=rospy.Duration(2),
scale=Vector3(0.02, 0.03, 0.04),
header=Header(frame_id=frame_id),
color=ColorRGBA(1.0, 0.8, 0.2, 0.5),
points=[pose.position, Point(0, 0, 0)]))
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=self.get_uid(), scale=Vector3(0, 0, 0.03),
text='Step' + str(self.step_number),
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = self._get_name()
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker, True)
int_marker.controls.append(menu_control)
ActionStepMarker._im_server.insert(int_marker,
self.marker_feedback_cb)