def interpolate_ep(self, ep_a, ep_b, t_vals): pos_a, rot_a = ep_a pos_b, rot_b = ep_b num_samps = len(t_vals) pos_waypoints = (np.array(pos_a) + np.array(np.tile(pos_b - pos_a, (1, num_samps))) * np.array(t_vals)) pos_waypoints = [np.mat(pos).T for pos in pos_waypoints.T] rot_homo_a, rot_homo_b = np.eye(4), np.eye(4) rot_homo_a[:3,:3] = rot_a rot_homo_b[:3,:3] = rot_b quat_a = trans.quaternion_from_matrix(rot_homo_a) quat_b = trans.quaternion_from_matrix(rot_homo_b) rot_waypoints = [] for t in t_vals: cur_quat = trans.quaternion_slerp(quat_a, quat_b, t) rot_waypoints.append(np.mat(trans.quaternion_matrix(cur_quat))[:3,:3]) return zip(pos_waypoints, rot_waypoints)
def _make_generic(args): try: if type(args[0]) == str: frame_id = args[0] header, homo_mat, rot_quat, rot_euler = PoseConv._make_generic( args[1:]) if homo_mat is None: return None, None, None, None if header is None: header = [0, rospy.Time.now(), ''] header[2] = frame_id return header, homo_mat, rot_quat, rot_euler if len(args) == 2: return PoseConv._make_generic(((args[0], args[1]), )) elif len(args) == 1: pose_type = PoseConv.get_type(*args) if pose_type is None: return None, None, None, None if pose_type == 'pose_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg( args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'pose_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg( args[0].pose) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'tf_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg( args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'tf_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg( args[0].transform) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'point_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg( args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'point_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg( args[0].point) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'twist_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg( args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'twist_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg( args[0].twist) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'homo_mat': return (None, np.mat(args[0]), trans.quaternion_from_matrix(args[0]).tolist(), trans.euler_from_matrix(args[0])) elif pose_type in [ 'pos_rot', 'pos_euler', 'pos_quat', 'pos_axis_angle' ]: pos_arg = np.mat(args[0][0]) if pos_arg.shape == (1, 3): # matrix is row, convert to column pos = pos_arg.T elif pos_arg.shape == (3, 1): pos = pos_arg if pose_type == 'pos_axis_angle': homo_mat = np.mat(np.eye(4)) homo_mat[:3, :3] = axis_angle_to_rot_mat( args[0][1][0], args[0][1][1]) quat = trans.quaternion_from_matrix(homo_mat) rot_euler = trans.euler_from_matrix(homo_mat) elif pose_type == 'pos_rot': # rotation matrix homo_mat = np.mat(np.eye(4)) homo_mat[:3, :3] = np.mat(args[0][1]) quat = trans.quaternion_from_matrix(homo_mat) rot_euler = trans.euler_from_matrix(homo_mat) else: rot_arg = np.mat(args[0][1]) if rot_arg.shape[1] == 1: rot_arg = rot_arg.T rot_list = rot_arg.tolist()[0] if pose_type == 'pos_euler': # Euler angles rotation homo_mat = np.mat(trans.euler_matrix(*rot_list)) quat = trans.quaternion_from_euler(*rot_list) rot_euler = rot_list elif pose_type == 'pos_quat': # quaternion rotation homo_mat = np.mat( trans.quaternion_matrix(rot_list)) quat = rot_list rot_euler = trans.euler_from_quaternion(quat) homo_mat[:3, 3] = pos return None, homo_mat, np.array(quat), rot_euler except: pass return None, None, None, None
def _make_generic(args): try: if type(args[0]) == str: frame_id = args[0] header, homo_mat, rot_quat, rot_euler = PoseConv._make_generic(args[1:]) if homo_mat is None: return None, None, None, None if header is None: header = [0, rospy.Time.now(), ''] header[2] = frame_id return header, homo_mat, rot_quat, rot_euler if len(args) == 2: return PoseConv._make_generic(((args[0], args[1]),)) elif len(args) == 1: pose_type = PoseConv.get_type(*args) if pose_type is None: return None, None, None, None if pose_type == 'pose_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg(args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'pose_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg(args[0].pose) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'tf_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg(args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'tf_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg(args[0].transform) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'point_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg(args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'point_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg(args[0].point) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'twist_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg(args[0]) return None, homo_mat, rot_quat, rot_euler elif pose_type == 'twist_stamped_msg': homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg(args[0].twist) seq = args[0].header.seq stamp = args[0].header.stamp frame_id = args[0].header.frame_id return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler elif pose_type == 'homo_mat': return (None, np.mat(args[0]), trans.quaternion_from_matrix(args[0]).tolist(), trans.euler_from_matrix(args[0])) elif pose_type in ['pos_rot', 'pos_euler', 'pos_quat']: pos_arg = np.mat(args[0][0]) rot_arg = np.mat(args[0][1]) if pos_arg.shape == (1, 3): # matrix is row, convert to column pos = pos_arg.T elif pos_arg.shape == (3, 1): pos = pos_arg if pose_type == 'pos_rot': # rotation matrix homo_mat = np.mat(np.eye(4)) homo_mat[:3,:3] = rot_arg quat = trans.quaternion_from_matrix(homo_mat) rot_euler = trans.euler_from_matrix(homo_mat) else: if rot_arg.shape[1] == 1: rot_arg = rot_arg.T rot_list = rot_arg.tolist()[0] if pose_type == 'pos_euler': # Euler angles rotation homo_mat = np.mat(trans.euler_matrix(*rot_list)) quat = trans.quaternion_from_euler(*rot_list) rot_euler = rot_list elif pose_type == 'pos_quat': # quaternion rotation homo_mat = np.mat(trans.quaternion_matrix(rot_list)) quat = rot_list rot_euler = trans.euler_from_quaternion(quat) homo_mat[:3, 3] = pos return None, homo_mat, np.array(quat), rot_euler except: pass return None, None, None, None