def pub_head_registration(ud):
cheek_pose_base_link = self.tf_list.transformPose(
"/base_link", ud.cheek_pose)
# find the center of the ellipse given a cheek click
cheek_transformation = np.mat(
tf_trans.euler_matrix(2.6 * np.pi / 6, 0, 0, 'szyx'))
cheek_transformation[0:3, 3] = np.mat([-0.08, -0.04, 0]).T
cheek_pose = PoseConverter.to_homo_mat(cheek_pose_base_link)
#b_B_c[0:3,0:3] = np.eye(3)
norm_xy = cheek_pose[0:2, 2] / np.linalg.norm(cheek_pose[0:2, 2])
head_rot = np.arctan2(norm_xy[1], norm_xy[0])
cheek_pose[0:3,
0:3] = tf_trans.euler_matrix(0, 0, head_rot,
'sxyz')[0:3, 0:3]
self.cheek_pub.publish(
PoseConverter.to_pose_stamped_msg("/base_link", cheek_pose))
ell_center = cheek_pose * cheek_transformation
self.ell_center_pub.publish(
PoseConverter.to_pose_stamped_msg("/base_link", ell_center))
# create an ellipsoid msg and command it
ep = EllipsoidParams()
ep.e_frame.transform = PoseConverter.to_tf_msg(ell_center)
ep.height = 0.924
ep.E = 0.086
self.ep_pub.publish(ep)
return 'succeeded'
def pub_head_registration(ud):
cheek_pose_base_link = self.tf_list.transformPose("/base_link", ud.cheek_pose)
# find the center of the ellipse given a cheek click
cheek_transformation = np.mat(tf_trans.euler_matrix(2.6 * np.pi/6, 0, 0, 'szyx'))
cheek_transformation[0:3, 3] = np.mat([-0.08, -0.04, 0]).T
cheek_pose = PoseConverter.to_homo_mat(cheek_pose_base_link)
#b_B_c[0:3,0:3] = np.eye(3)
norm_xy = cheek_pose[0:2, 2] / np.linalg.norm(cheek_pose[0:2, 2])
head_rot = np.arctan2(norm_xy[1], norm_xy[0])
cheek_pose[0:3,0:3] = tf_trans.euler_matrix(0, 0, head_rot, 'sxyz')[0:3,0:3]
self.cheek_pub.publish(PoseConverter.to_pose_stamped_msg("/base_link", cheek_pose))
ell_center = cheek_pose * cheek_transformation
self.ell_center_pub.publish(PoseConverter.to_pose_stamped_msg("/base_link", ell_center))
# create an ellipsoid msg and command it
ep = EllipsoidParams()
ep.e_frame.transform = PoseConverter.to_tf_msg(ell_center)
ep.height = 0.924
ep.E = 0.086
self.ep_pub.publish(ep)
return 'succeeded'
