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functions.py
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functions.py
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import numpy as np
import cv2
import math
from PIL import Image
from naoqi import ALProxy
import sys
import almath
####################################################### Functions for standing
def legs_balance(motionProxy):
# Get the balance betwean two legs
motionProxy.wbEnable(True)
supportLeg = "Legs"
duration = 3.0
motionProxy.wbGoToBalance(supportLeg, duration)
motionProxy.wbEnable(False)
#################################################### Functions for camera angle
def set_camera_angle(motionProxy, angle):
# Set camera angle for taking the picture
# Angle in Degrees
motionProxy.setStiffnesses("Head", 1.0)
names = "HeadPitch"
angleLists = angle*almath.TO_RAD
timeLists = 2.0
isAbsolute = True
motionProxy.angleInterpolation(names, angleLists, timeLists, isAbsolute)
##################################################### Image processing functions
def image_processing(ip, port, picture, theta_horizont, theta_kose, faktor_odbacivanja_linija, faktor_osjetljivosti_stepenica):
'''Funkcija'''
# Nao taking picture
camProxy = ALProxy("ALVideoDevice", ip, port)
resolution = 2 # 1280x960 Max = 3
colorSpace = 11 # RGB
camProxy.setParam(18, 1) # 18 option for using camera, 1 for bottom camera
videoClient = camProxy.subscribe("python_client", resolution, colorSpace, 30)
naoImage = camProxy.getImageRemote(videoClient)
# Dimensions
imageWidth = naoImage[0]
imageHeight = naoImage[1]
array = naoImage[6]
# using PIL library
im = Image.fromstring("RGB", (imageWidth, imageHeight), array)
# Save the image
im.save(picture, "PNG")
# im.show()
camProxy.unsubscribe(videoClient)
'''Funkcija'''
# reading pictures in dictionary
im = cv2.imread(picture)
im_horizont = cv2.imread(picture)
im_kose = cv2.imread(picture)
rows, colons, chanels = im.shape
diagonal = math.sqrt(math.pow(rows, 2) + math.pow(colons, 2))
'''Funkcija'''
# image filtering
gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
blur_gauss = cv2.GaussianBlur(gray, (5, 5), 0)
canny = cv2.Canny(blur_gauss, 50, 150, apertureSize=3)
cv2.imwrite('pictures/stairs_canny.png', canny)
'''Funkcija'''
# pull out lines from pictures
#faktor_osjetljivosti_stepenica = 80 # sto je majni faktor, to su osjetljivije
lines = cv2.HoughLines(canny, 1, np.pi/180, faktor_osjetljivosti_stepenica)
'''Funkcija'''
# writing down horizontal lines in to dictionary lines_horizont
broj_clanova = 0
lines_horizont_pomocna = np.zeros((1, np.shape(lines[0])[0], 2))
for i in range(0, len(lines[0])):
if (lines[0][i][1]*180/np.pi > theta_horizont[0]) and (lines[0][i][1]*180/np.pi < theta_horizont[1]):
lines_horizont_pomocna[0][broj_clanova][0] = lines[0][i][0]
lines_horizont_pomocna[0][broj_clanova][1] = lines[0][i][1]
broj_clanova += 1
# izbacivanje 0 iz matrice horizontalnih linija
lines_horizont = np.zeros((1, broj_clanova, 2))
for i in range(0, len(lines_horizont[0])):
lines_horizont[0][i][0] = lines_horizont_pomocna[0][i][0]
lines_horizont[0][i][1] = lines_horizont_pomocna[0][i][1]
# Bubble sort algoritam za sortiranje lines_horizont
for i in range(0, len(lines_horizont[0])):
for j in range(len(lines_horizont[0])-1-i):
if lines_horizont[0][j][0] < lines_horizont[0][j+1][0]:
lines_horizont[0][j][0], lines_horizont[0][j+1][0] = lines_horizont[0][j+1][0], lines_horizont[0][j][0]
lines_horizont[0][j][1], lines_horizont[0][j+1][1] = lines_horizont[0][j+1][1], lines_horizont[0][j][1]
broj_clanova_horizont = broj_clanova
'''Funkcija'''
# writing down inclined lines in dictionary lines_kosina
broj_clanova = 0
lines_kose_pomocna = np.zeros((1, np.shape(lines[0])[0], 2))
for i in range(0, len(lines[0])):
# prvo trazimo lijevu kosu liniju
if (lines[0][i][1]*180/np.pi > theta_kose[0]) and (lines[0][i][1]*180/np.pi < theta_kose[1]):
lines_kose_pomocna[0][broj_clanova][0] = lines[0][i][0]
lines_kose_pomocna[0][broj_clanova][1] = lines[0][i][1]
broj_clanova += 1
# zatim trazimo desnu kosu liniju
elif (lines[0][i][1]*180/np.pi > theta_kose[2]) and (lines[0][i][1]*180/np.pi < theta_kose[3]):
lines_kose_pomocna[0][broj_clanova][0] = lines[0][i][0]
lines_kose_pomocna[0][broj_clanova][1] = lines[0][i][1]
broj_clanova += 1
# izbacivanje 0 iz matrice kosih linija
lines_kose = np.zeros((1, broj_clanova, 2))
for i in range(0, len(lines_kose[0])):
lines_kose[0][i][0] = lines_kose_pomocna[0][i][0]
lines_kose[0][i][1] = lines_kose_pomocna[0][i][1]
broj_clanova_kose = broj_clanova
'''Funkcija'''
# Determine the intersections of inclined and horizontal lines
# definicija pocetnih i konacnih koordinata lijeve i desne kose linije
for rho, theta in lines_kose[0]:
a = np.cos(theta)
b = np.sin(theta)
x0 = a*rho
y0 = b*rho
# ako je tocka sa lijeve strane
if (theta*180/np.pi > theta_kose[0]) and (theta*180/np.pi < theta_kose[1]):
x1L = round((x0 + diagonal*(-b)), 1)
y1L = round((y0 + diagonal*(a)), 1)
x2L = round((x0 - diagonal*(-b)), 1)
y2L = round((y0 - diagonal*(a)), 1)
# ako je tocka s desne strane
elif (theta*180/np.pi > theta_kose[2]) and (theta*180/np.pi < theta_kose[3]):
x1R = round((x0 + diagonal*(-b)), 1)
y1R = round((y0 + diagonal*(a)), 1)
x2R = round((x0 - diagonal*(-b)), 1)
y2R = round((y0 - diagonal*(a)), 1)
# rijecnik za punit parove centralnih tocki. kljucna rijec je broj linije
pixeli = {}
i = 0
# pronalazak presjecista horizontalnih linija sa kosim
for j in range(0, broj_clanova_horizont):
pixeli[j] = []
x, y = presjeciste(([[x1L, y1L], [x2L, y2L]]), ([[0, round(lines_horizont[0][i][0], 1)], [rows, round(lines_horizont[0][i][0], 1)]]))
pixeli[j].append((x, y))
x, y = presjeciste(([[x1R, y1R], [x2R, y2R]]), ([[0, round(lines_horizont[0][i][0], 1)], [rows, round(lines_horizont[0][i][0], 1)]]))
pixeli[j].append((x, y))
i += 1
'''Funkcija'''
# Rejection of unnecessary pixels, to get the three lines for one stair
centralna_tocka = {}
# pronalazak tocke na sredini linije stepenice
for j in range(0, broj_clanova_horizont):
centralna_tocka[j] = []
x = (pixeli[j][1][0]-pixeli[j][0][0])/2 + pixeli[j][0][0] # x2-x1/2 + X1
y = (pixeli[j][0][1] + pixeli[j][1][1])/2 # y1+y2/2
centralna_tocka[j].append((x, y))
pomocna_lista = {} # diction za odredivanje koliko linija je nasao umjesto jedne linije
a = 3 # proizvoljan broj koji puni pomocnu listu u rijecniku
for j in range(0, (len(centralna_tocka) - 1)):
if (centralna_tocka[j][0][1] - faktor_odbacivanja_linija) < centralna_tocka[j+1][0][1]: # ako je sljedeci manji od pixel_razmak onda ga izbaci
pomocna_lista[j] = []
pomocna_lista[j].append(a)
z = 0
pixeli_novi = {} # ovdje se nalaze pixeli zadnje linije od mnostva linija
for j in range(0, broj_clanova_horizont): # ovdje stavit broj_cl_hor -1 da se zadnja linija izbrise
if j in pomocna_lista:
pass
else:
pixeli_novi[z] = pixeli[j]
z += 1
broj_clanova_horizont = len(pixeli_novi)
pixeli = pixeli_novi
'''Poziv Funkcije'''
# showing horizontal lines on picture
im_horizont = prikaz_linija_na_slici(im_horizont, lines_horizont, rows, colons, diagonal, theta_horizont, theta_kose)
cv2.imwrite('pictures/stairs_lines_horizont.png', im_horizont)
'''Poziv Funkcije'''
# showing inclined lines on picture
im_kose = prikaz_linija_na_slici(im_kose, lines_kose, rows, colons, diagonal, theta_horizont, theta_kose)
cv2.imwrite('pictures/stairs_lines_inclined.png', im_kose)
'''Funkcija'''
# showing lines on picture
im_stepenice = prikaz_stepenica_na_slici(im, broj_clanova_horizont, pixeli)
cv2.imwrite('pictures/stairs_with_lines.png', im_stepenice)
# showing lins of stairs on window and stopping program until ESC key is pressed
cv2.imshow('linije stepenica', im_stepenice)
k = cv2.waitKey(0)
if k != 27: # wait for ESC key to exit
cv2.destroyAllWindows()
'''Funkcija'''
# pixeli_kamera is dictionary with key for koordinates of pixel in center of camera
pixeli_kamera = {}
fokus = 573.19
for j in range(0, broj_clanova_horizont):
pixeli_kamera[j] = []
# proracun za lijevu tocku
x = pixeli[j][0][0] - colons/2
y = rows/2 - pixeli[j][0][1] # ovo je dobro
z = fokus
pixeli_kamera[j].append((x, y, z))
#racun za desnu tocku
x = pixeli[j][1][0] - colons/2
y = rows/2 - pixeli[j][1][1] # ovo je dobro
z = fokus
pixeli_kamera[j].append((x, y, z))
'''Funkcija'''
# vektor_pixela_robot is dictionary with key for vektors of pixels in frame robot
pixeli_robot = {}
motion = ALProxy("ALMotion", ip, port)
T1 = motion.getTransform("CameraBottom", 2, True)
T1 = np.asarray(T1)
T1 = np.reshape(T1, (4, 4))
''' matrica transformacija tocaka iz openCV u Nao-svijet'''
T2 = np.zeros((4, 4), dtype=np.float64)
T2[0, 2] = 1 # Z'=X
T2[1, 0] = -1 # X'=-Y
T2[2, 1] = 1 # Y'=-Z
T2[3, 3] = 1 # homogena koordinata
T = np.dot(T1, T2)
''' tocka centra kamere je tocka izrazena u koordinatnom sustavu robota'''
kamera_robot = np.transpose([T[0][3], T[1][3], T[2][3]])
for j in range(0, broj_clanova_horizont):
pixeli_robot[j] = []
# pravljenje vektora pixela od pixela kamere da se moze mnozit
vektor_pixela_kamere = np.ones((4, 1), dtype=np.float64)
#racun za lijevu tocku na liniji prva tocka u dictionary
vektor_pixela_kamere[0] = pixeli_kamera[j][0][0]
vektor_pixela_kamere[1] = pixeli_kamera[j][0][1]
vektor_pixela_kamere[2] = pixeli_kamera[j][0][2]
vektor_pixela_kamere[3] = 1 # zbog homogenosti
a = np.dot(T, vektor_pixela_kamere)
pixeli_robot[j].append((a[0], a[1], a[2]))
#racun za desnu tocku na liniji druga tocka u dictionary
vektor_pixela_kamere[0] = pixeli_kamera[j][1][0]
vektor_pixela_kamere[1] = pixeli_kamera[j][1][1]
vektor_pixela_kamere[2] = pixeli_kamera[j][1][2]
vektor_pixela_kamere[3] = 1 # zbog homogenosti
a = np.dot(T, vektor_pixela_kamere)
pixeli_robot[j].append((a[0], a[1], a[2]))
vektor_pixela_robot = {} # to je vektor koji sluzi za odredivanje t-a on je normiran
for j in range(0, broj_clanova_horizont):
vektor_pixela_robot[j] = []
# vektor za prvu tocku
x = pixeli_robot[j][0][0] - kamera_robot[0]
y = pixeli_robot[j][0][1] - kamera_robot[1]
z = pixeli_robot[j][0][2] - kamera_robot[2]
norm = np.sqrt(x*x + y*y + z*z)
vektor_pixela_robot[j].append((x/norm, y/norm, z/norm))
# vektor za drugu tocku
x = pixeli_robot[j][1][0] - kamera_robot[0]
y = pixeli_robot[j][1][1] - kamera_robot[1]
z = pixeli_robot[j][1][2] - kamera_robot[2]
norm = np.sqrt(x*x + y*y + z*z)
vektor_pixela_robot[j].append((x/norm, y/norm, z/norm))
# vektor_pixela_robot je normiran
'''Funkcija'''
# determination of 3D spots along with plane
tocke_3D = {} # sluzi za spremanje tocaka u 3D sustavu
ravnine_3D = {} # sluzi za spremanje ravnina u 3D sustavu, za svaku liniju sprema prijasnju ravninu
for j in range(0, broj_clanova_horizont):
tocke_3D, ravnine_3D = odredivanje_tocaka_i_ravnina(vektor_pixela_robot, kamera_robot, tocke_3D, ravnine_3D, j)
'''Funkcija'''
# determinating distance fron stairs, height and depth of stairs
stepenice = {} # lista stepenice na nultom mjestu se nalazi udaljenost od stepenice, a na ostalim mjestima redni broj stepenice i prvo visina pa onda duljina
stepenice[0] = []
udaljenost_od_stepenica = (tocke_3D[0][0][0] + tocke_3D[0][1][0])/2 #po x osi
k = (tocke_3D[0][1][1] - tocke_3D[0][0][1])/(tocke_3D[0][1][0] - tocke_3D[0][0][0])
fi = np.arctan(udaljenost_od_stepenica/(np.absolute(k*tocke_3D[0][0][0]) + tocke_3D[0][0][1]))
stepenice[0].append(udaljenost_od_stepenica)
stepenice[0].append(fi)
broj_stepenica = 1
brojac_stepenica = 'nemoj_prelazit_na_novu_stepenicu'
for j in range(1, broj_clanova_horizont): # j je broj linije a ne stepenice
stepenice[j] = []
if j % 2 == 1: # ako je pri djeljenju ima ostatak, neparan je onda se racunaju visine
visina_stepenice = ((tocke_3D[j][0][2]-tocke_3D[j-1][0][2]) + (tocke_3D[j][1][2]-tocke_3D[j-1][1][2]))/2 # po z osi
stepenice[broj_stepenica].append(visina_stepenice)
brojac_stepenica = 'nemoj_prelazit_na_novu_stepenicu'
elif j % 2 == 0: # ako je paran broj linije, onda racunanje dubine
dubina_stepenice = ((tocke_3D[j][0][0]-tocke_3D[j-1][0][0]) + (tocke_3D[j][1][0]-tocke_3D[j-1][1][0]))/2 # po x osi
stepenice[broj_stepenica].append(dubina_stepenice)
brojac_stepenica = 'predji_na_novu_stepenicu'
if brojac_stepenica == 'predji_na_novu_stepenicu': # onda znamo da je izracunao dubinu gazista i treba povecat brojac stepenica
broj_stepenica += 1
'''Funkcija'''
# printing stairs height, depth and filling dictionary parametri_stepenica for json format
print '_____PARAMETRI STEPENICA_____'
parametri_stepenica = {}
for z in range(0, broj_stepenica): #jer je uracunao zadnju letvicu pa trebamo stavit ++++++1
if z == 0: #udaljenost
print 'udaljenost od stepenica', stepenice[0][0][0], 'kut stepenica', stepenice[0][1][0]
print '--------------'
parametri_stepenica[z] = []
parametri_stepenica[z].append((stepenice[0][0][0], stepenice[0][1][0]))
else:
print z, '. stepenica'
print 'Visina ', stepenice[z][0][0], ' dubina ', stepenice[z][1][0]
print '----'
parametri_stepenica[z] = []
parametri_stepenica[z].append((stepenice[z][0][0], stepenice[z][1][0]))
'''Funkcija'''
#tocke_3D needs to be in more beautiful format
tocke_3D_json = {}
for j in range(0, broj_clanova_horizont):
tocke_3D_json[j] = []
lijeva_tocka = tocke_3D[j][0][0][0], tocke_3D[j][0][1][0], tocke_3D[j][0][2][0]
desna_tocka = tocke_3D[j][1][0][0], tocke_3D[j][1][1][0], tocke_3D[j][0][2][0]
tocke_3D_json[j].append((lijeva_tocka, desna_tocka))
return parametri_stepenica, tocke_3D_json
def presjeciste(line1, line2): # line1 = [[x1, y1],[x2, y2]] & line2 = [[x1, y1],[x2, y2]]
# funkcija z racunanje presjecista dva pravca. tocke trebaju biti zaokruzene na jednu decimalu
s1 = np.array(line1[0])
e1 = np.array(line1[1])
s2 = np.array(line2[0])
e2 = np.array(line2[1])
a1 = (s1[1] - e1[1]) / (s1[0] - e1[0])
b1 = s1[1] - (a1 * s1[0])
a2 = (s2[1] - e2[1]) / (s2[0] - e2[0])
b2 = s2[1] - (a2 * s2[0])
if abs(a1 - a2) < sys.float_info.epsilon:
return False
x = (b2 - b1) / (a1 - a2)
y = a1 * x + b1
return x, y
def prikaz_linija_na_slici(im, lines_plot, rows, colons, diagonal, theta_horizont, theta_kose):
# showing lines on picture
for rho, theta in lines_plot[0]:
a = np.cos(theta)
b = np.sin(theta)
x0 = a*rho
y0 = b*rho
x1 = int(x0 + diagonal*(-b))
y1 = int(y0 + diagonal*(a))
x2 = int(x0 - diagonal*(-b))
y2 = int(y0 - diagonal*(a))
if (theta*180/np.pi > theta_horizont[0]) and (theta*180/np.pi < theta_horizont[1]):
cv2.line(im, (0, int(rho)), (rows, int(rho)), (0, 0, 255), 1)
else:
cv2.line(im, (x1, y1), (x2, y2), (255, 0, 0), 1)
return im
def prikaz_stepenica_na_slici(im, broj_clanova_horizont, pixeli):
# showing lines on picture
for linija in range(0, broj_clanova_horizont):
cv2.line(im, (int(pixeli[linija][0][0]), int(pixeli[linija][0][1])), (int(pixeli[linija][1][0]), int(pixeli[linija][1][1])), (0, 255, 0), 1)
return im
def odredivanje_tocaka_i_ravnina(vektor_pixela_robot, kamera_robot, tocke_3D, ravnine_3D, j):
#prvo treba osigurati mjesto za upis u dictionari tocke i ravnine
tocke_3D[j] = []
ravnine_3D[j] = []
if j == 0: # ako su prve dvije tocke u pitanju
A = 0
B = 0
C = 1
D = 0
ravnine_3D[j].append((A, B, C, D))
elif j > 0: # ako su ostale tocke u pitanju
# funkcija za pronalazak normale koja je okomita na vektor i ravninu odredivanje parametara A,B,C,D
vektor_3D_x = tocke_3D[j-1][0][0] - tocke_3D[j-1][1][0] # x3DL - x3DR
vektor_3D_y = tocke_3D[j-1][0][1] - tocke_3D[j-1][1][1] # y3DL - y3DR
vektor_3D_z = tocke_3D[j-1][0][2] - tocke_3D[j-1][1][2] # z3DL - z3DR
norm = np.sqrt(vektor_3D_x*vektor_3D_x + vektor_3D_y*vektor_3D_y + vektor_3D_z*vektor_3D_z) # normiranje za pravac izmedu 3D tocaka
vektor_linije_3D = [vektor_3D_x[0]/norm, vektor_3D_y[0]/norm, vektor_3D_z[0]/norm]
vektor_linije_3D = [vektor_linije_3D[0][0], vektor_linije_3D[1][0], vektor_linije_3D[2][0]] # ovo je zato da bude lipo slozeno u liste
vektor_3D_normala_x = ravnine_3D[j-1][0][0]
vektor_3D_normala_y = ravnine_3D[j-1][0][1]
vektor_3D_normala_z = ravnine_3D[j-1][0][2]
norm = np.sqrt(vektor_3D_normala_x*vektor_3D_normala_x + vektor_3D_normala_y*vektor_3D_normala_y + vektor_3D_normala_z*vektor_3D_normala_z) #normiranje za pravac izmedu 3D tocaka
normala_ravnine_3D = [vektor_3D_normala_x/norm, vektor_3D_normala_y/norm, vektor_3D_normala_z/norm]
# sad ide produkt normale ravnine i vektora pravca ovdje treba pazit sto se kako mnozi, ako se mnozi za neparan j onda se
if j > 0 and j % 2 == 1:
normala_nove_ravnine_3D = np.cross(normala_ravnine_3D, vektor_linije_3D)
else:
normala_nove_ravnine_3D = np.cross(vektor_linije_3D, normala_ravnine_3D)
norm = np.sqrt(math.pow(normala_nove_ravnine_3D[0], 2) + math.pow(normala_nove_ravnine_3D[1], 2) + math.pow(normala_nove_ravnine_3D[2], 2))
A = normala_nove_ravnine_3D[0]/norm
B = normala_nove_ravnine_3D[1]/norm
C = normala_nove_ravnine_3D[2]/norm
# komponenta D se odreduje uvrstavanjem tocke u jednadzbu ravnine uvrstavamo lijevu tocku
DL = - (A*tocke_3D[j-1][0][0] + B*tocke_3D[j-1][0][1] + C*tocke_3D[j-1][0][2])
DR = - (A*tocke_3D[j-1][1][0] + B*tocke_3D[j-1][1][1] + C*tocke_3D[j-1][1][2])
#print DL-DR
# punjenje dictionarija sa novom ravninom
ravnine_3D[j].append((A, B, C, DL))
A = ravnine_3D[j][0][0]
B = ravnine_3D[j][0][1]
C = ravnine_3D[j][0][2]
D = ravnine_3D[j][0][3]
# kad imamo koeficjente ravnine potrebno je pronaci presjeciste vektora_pixela_robot s ravninom A,B,C,D
# tocka kamere
xC = kamera_robot[0]
yC = kamera_robot[1]
zC = kamera_robot[2]
''' za lijevu tocku racun '''
# ljevi vektor j
vektor_xL = vektor_pixela_robot[j][0][0]
vektor_yL = vektor_pixela_robot[j][0][1]
vektor_zL = vektor_pixela_robot[j][0][2]
# za lijevu tocku
tL = -(A*xC + B*yC + C*zC + D)/(A*(vektor_xL) + B*(vektor_yL) + C*(vektor_zL))
XL = xC + vektor_xL*tL
YL = yC + vektor_yL*tL
ZL = zC + vektor_zL*tL
tocke_3D[j].append((XL, YL, ZL))
''' za desnu tocku racun '''
# desni vektor j
vektor_xR = vektor_pixela_robot[j][1][0]
vektor_yR = vektor_pixela_robot[j][1][1]
vektor_zR = vektor_pixela_robot[j][1][2]
# za desnu tocku
tR = -(A*xC + B*yC + C*zC + D)/(A*(vektor_xR) + B*(vektor_yR) + C*(vektor_zR))
XR = xC + vektor_xR*tR
YR = yC + vektor_yR*tR
ZR = zC + vektor_zR*tR
tocke_3D[j].append((XR, YR, ZR))
return tocke_3D, ravnine_3D
############################################# Optimal spot
def finding_optimal_spot(tocke_3D):
lijeva_tocka = tocke_3D[0][0][0]
print lijeva_tocka
desna_tocka = tocke_3D[0][0][1]
print desna_tocka
X = (lijeva_tocka[0] + desna_tocka[0])/2 - 0.70
Y = (lijeva_tocka[1] - desna_tocka[1])/2 + desna_tocka[1]
Theta = 0
return X, Y, Theta
############################################## Nao walking
def walking(motionProxy, X, Y, Theta):
# Enable arms control by move algorithm
motionProxy.setMoveArmsEnabled(True, True)
# FOOT CONTACT PROTECTION
motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])
# get robot position before move
initRobotPosition = almath.Pose2D(motionProxy.getRobotPosition(False))
motionProxy.post.moveTo(X, Y, Theta)
# wait is useful because with post moveTo is not blocking function
motionProxy.waitUntilMoveIsFinished()
# get robot position after move
endRobotPosition = almath.Pose2D(motionProxy.getRobotPosition(False))
# compute and print the robot motion
robotMove = almath.pose2DInverse(initRobotPosition)*endRobotPosition
# return an angle between [-PI, PI]
robotMove.theta = almath.modulo2PI(robotMove.theta)
print "Robot Move:", robotMove