Example #1
0
    def transformPlanToBDIFrame(self, plan):
        if (self.pose_bdi is None):
            # print "haven't received POSE_BDI"
            return

        # TODO: This transformation should be rewritten using the LOCAL_TO_LOCAL_BDI frame
        # instead of using FK here

        t_bodybdi  = transformUtils.transformFromPose(self.pose_bdi.pos, self.pose_bdi.orientation)
        t_bodybdi.PostMultiply()

        current_pose = self.jointController.q
        t_bodymain = transformUtils.transformFromPose( current_pose[0:3]  , botpy.roll_pitch_yaw_to_quat(current_pose[3:6])   )
        t_bodymain.PostMultiply()

        # iterate and transform
        self.bdi_plan = plan.decode( plan.encode() ) # decode and encode ensures deepcopy
        for i, footstep in enumerate(self.bdi_plan.footsteps):
            step = footstep.pos

            t_step = transformUtils.frameFromPositionMessage(step)
            t_body_to_step = vtk.vtkTransform()
            t_body_to_step.DeepCopy(t_step)
            t_body_to_step.PostMultiply()
            t_body_to_step.Concatenate(t_bodymain.GetLinearInverse())

            t_stepbdi = vtk.vtkTransform()
            t_stepbdi.DeepCopy(t_body_to_step)
            t_stepbdi.PostMultiply()
            t_stepbdi.Concatenate(t_bodybdi)
            footstep.pos = transformUtils.positionMessageFromFrame(t_stepbdi)

        if (self.showBDIPlan is True):
            self.drawBDIFootstepPlan()
Example #2
0
    def transformPlanToBDIFrame(self, plan):
        if (self.pose_bdi is None):
            # print "haven't received POSE_BDI"
            return

        # TODO: This transformation should be rewritten using the LOCAL_TO_LOCAL_BDI frame
        # instead of using FK here

        t_bodybdi  = transformUtils.transformFromPose(self.pose_bdi.pos, self.pose_bdi.orientation)
        t_bodybdi.PostMultiply()

        current_pose = self.jointController.q
        t_bodymain = transformUtils.transformFromPose( current_pose[0:3]  , botpy.roll_pitch_yaw_to_quat(current_pose[3:6])   )
        t_bodymain.PostMultiply()

        # iterate and transform
        self.bdi_plan = plan.decode( plan.encode() ) # decode and encode ensures deepcopy
        for i, footstep in enumerate(self.bdi_plan.footsteps):
            step = footstep.pos

            t_step = transformUtils.frameFromPositionMessage(step)
            t_body_to_step = vtk.vtkTransform()
            t_body_to_step.DeepCopy(t_step)
            t_body_to_step.PostMultiply()
            t_body_to_step.Concatenate(t_bodymain.GetLinearInverse())

            t_stepbdi = vtk.vtkTransform()
            t_stepbdi.DeepCopy(t_body_to_step)
            t_stepbdi.PostMultiply()
            t_stepbdi.Concatenate(t_bodybdi)
            footstep.pos = transformUtils.positionMessageFromFrame(t_stepbdi)

        if (self.showBDIPlan is True):
            self.drawBDIFootstepPlan()
Example #3
0
def testEulerBotpy():
    '''
    Test some quaternion and euler conversions with botpy
    '''

    quat = transformations.random_quaternion()
    rpy = transformations.euler_from_quaternion(quat)

    rpy2 = botpy.quat_to_roll_pitch_yaw(quat)
    quat2 = botpy.roll_pitch_yaw_to_quat(rpy)

    mat = transformations.quaternion_matrix(quat)
    frame = transformUtils.getTransformFromNumpy(mat)
    rpy3 = transformUtils.rollPitchYawFromTransform(frame)

    print quat, quat2
    print rpy, rpy2, rpy3

    assert isQuatEqual(quat, quat2)
    assert np.allclose(rpy, rpy2)
    assert np.allclose(rpy2, rpy3)
Example #4
0
def rollPitchYawToQuaternion(rpy):
    return botpy.roll_pitch_yaw_to_quat(rpy)