Beispiel #1
1
def homogeneous2translation_quaternion(homogeneous):
  """
  Translation: [x, y, z]
  Quaternion: [x, y, z, w]
  """
  translation = transformations.translation_from_matrix(homogeneous)
  quaternion = transformations.quaternion_from_matrix(homogeneous)
  return translation, quaternion
Beispiel #2
0
def homogeneous2translation_rpy(homogeneous):
  """
  Translation: [x, y, z]
  RPY: [sx, sy, sz]
  """
  translation = transformations.translation_from_matrix(homogeneous)
  rpy = transformations.euler_from_matrix(homogeneous)
  return translation, rpy
Beispiel #3
0
def serialize_transform(tform):
    return {
        "translation": list(transformations.translation_from_matrix(tform)),
        "quaternion": list(transformations.quaternion_from_matrix(tform))
    }
Beispiel #4
0
def serialize_transform(tform):
    return {
        "translation": list(transformations.translation_from_matrix(tform)),
        "quaternion": list(transformations.quaternion_from_matrix(tform))
    }