def __init__(self, node, name = "ROSTransformStamped", topic = "transform",
**kargs):
ROSOutput.__init__(self, node, name = name, topic = topic, **kargs)
self.publisher = CROSTransformStamped(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
def __init__(self,
node,
name="ROSTransformStamped",
topic="transform",
**kargs):
ROSOutput.__init__(self, node, name=name, topic=topic, **kargs)
self.publisher = CROSTransformStamped(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
class ROSTransformStamped(ROSOutput):
def __init__(self, node, name = "ROSTransformStamped", topic = "transform",
**kargs):
ROSOutput.__init__(self, node, name = name, topic = topic, **kargs)
self.publisher = CROSTransformStamped(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
#-------------------------------------------------------------------------------
def outputData(self, time):
parentNode, parentFrame = self.frameParent
if self.frame != parentFrame:
translation = self.getPos(parentNode)
rotation = self.getQuat(parentNode)
self.publish(time, parentFrame, self.frame, translation, rotation)
class ROSTransformStamped(ROSOutput):
def __init__(self,
node,
name="ROSTransformStamped",
topic="transform",
**kargs):
ROSOutput.__init__(self, node, name=name, topic=topic, **kargs)
self.publisher = CROSTransformStamped(name, self.node.node, self.topic,
self.queueSize)
self.publisher.reparentTo(self)
#-------------------------------------------------------------------------------
def outputData(self, time):
parentNode, parentFrame = self.frameParent
if self.frame != parentFrame:
translation = self.getPos(parentNode)
rotation = self.getQuat(parentNode)
self.publish(time, parentFrame, self.frame, translation, rotation)
