def merge_to_state_msg(self): # Create Packet msg = user_msg() msg.wallframe_id = self.mid_ msg.frame_names = self.frame_names_ msg.frame_confs = self.confs_merged_ msg.transforms = self.transforms_merged_ msg.translations = self.translations_merged_ msg.translations_mm = self.translations_merged_mm_ msg.translations_body_mm = self.translations_merged_body_mm_ self.current_state_msg = msg pass
def __init__(self, uid, tf_listener, user_event_pub, filtering, hand_click): # Init from constructor self.mid_ = uid self.listener_ = tf_listener self.filtering_ = filtering self.user_event_pub_ = user_event_pub # Initial Structures self.exists_in_tracker = {} self.frame_names_ = [] self.tracker_uids_ = {} self.tracker_packets_ = {} self.transforms_ = {} self.transforms_merged_ = [] self.translations_ = {} self.translations_merged = [] self.confs_merged_ = [] self.merged_transform_exists_ = [] self.tracker_transform_exists_ = {} self.current_state_msg = user_msg() self.is_active_ = False self.is_primary_ = False self.exists_ = False self.init_filters_ = False self.hand_click_ = hand_click # State self.state__ = "IDLE" # Prameters from parameter server self.hand_limit_ = rospy.get_param('/wallframe/user/hand_limit') self.head_limit_ = rospy.get_param('/wallframe/user/head_limit') self.elbow_limit_ = rospy.get_param('/wallframe/user/elbow_limit') self.base_frame_ = rospy.get_param('/wallframe/user/base_frame', 'wall_frame') self.filter_mincutoff_ = rospy.get_param( '/wallframe/user/filter_mincutoff', 1.0) self.filter_beta_ = rospy.get_param('/wallframe/user/filter_beta', 0.1) self.filter_dcutoff_ = rospy.get_param( '/wallframe/user/filter_dcutoff', 1.0) self.run_frequency_ = rospy.get_param('/wallframe/user/run_frequency', 1.0) self.workspace_limits_ = rospy.get_param( '/wallframe/user/workspace_limits') self.vpub_ = rospy.Publisher('/wallframe/user/vel', Float32) self.hand_x_ = 0.0 self.hand_y_ = 0.0 self.up_cnt_ = 0 self.vels_ = [] self.cl_ = False
def __init__(self,uid,tf_listener,user_event_pub,filtering,hand_click): # Init from constructor self.mid_ = uid self.listener_ = tf_listener self.filtering_ = filtering self.user_event_pub_ = user_event_pub # Initial Structures self.exists_in_tracker = {} self.frame_names_ = [] self.tracker_uids_ = {} self.tracker_packets_ = {} self.transforms_ = {} self.transforms_merged_ = [] self.translations_ = {} self.translations_merged = [] self.confs_merged_ = [] self.merged_transform_exists_ = [] self.tracker_transform_exists_ = {} self.current_state_msg = user_msg() self.is_active_ = False self.is_primary_ = False self.exists_ = False self.init_filters_ = False self.hand_click_ = hand_click # State self.state__ = "IDLE" # Prameters from parameter server self.hand_limit_ = rospy.get_param('/wallframe/user/hand_limit') self.head_limit_ = rospy.get_param('/wallframe/user/head_limit') self.elbow_limit_ = rospy.get_param('/wallframe/user/elbow_limit') self.base_frame_ = rospy.get_param('/wallframe/user/base_frame','wall_frame') self.filter_mincutoff_ = rospy.get_param('/wallframe/user/filter_mincutoff',1.0) self.filter_beta_ = rospy.get_param('/wallframe/user/filter_beta',0.1) self.filter_dcutoff_ = rospy.get_param('/wallframe/user/filter_dcutoff',1.0) self.run_frequency_ = rospy.get_param('/wallframe/user/run_frequency',1.0) self.workspace_limits_ = rospy.get_param('/wallframe/user/workspace_limits') self.vpub_ = rospy.Publisher('/wallframe/user/vel',Float32) self.hand_x_ = 0.0 self.hand_y_ = 0.0 self.up_cnt_ = 0 self.vels_ = [] self.cl_ = False