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 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
