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# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import rospy
import tf
import time
import bullet
import math
try:
rospy.init_node("test_node")
tfl = tf.TransformListener()
time.sleep(1)
# View all frames
print("All frames are:\n", tfl.all_frames_as_string())
# dot based introspection
print("All frame graph is:\n", tfl.all_frames_as_dot())
# test transforming pose
po = tf.PoseStamped()
po.frame_id = "base_link"
print("calling transform pose")
po2 = tfl.transform_pose("/map", po)
print("po2.pose.this", po2.pose.this)
print("po.pose.this", po.pose.this)
# test transforming point
po = tf.PointStamped()
po.frame_id = "base_link"
po3 = tfl.transform_point("/map", po)
print("po3")
print(po3.this)
# test transforming vector
po = tf.VectorStamped()
po.frame_id = "base_link"
po4 = tfl.transform_vector("/map", po)
print(po4.this)
# test transforming quaternion
po = tf.QuaternionStamped()
po.frame_id = "base_link"
po5 = tfl.transform_quaternion("/map", po)
print("po5", po5.this)
tr = tf.TransformStamped()
lps = tf.PoseStamped()
lps.pose.setIdentity()
print("setting stamp")
mytime = rospy.Time(10,20)
lps.stamp = mytime
print(mytime)
print("getting stamp")
output = lps.stamp
print(output)
print(lps.pose)
print("setting pose.positon to 1,2,3")
lps.pose.setOrigin( bullet.Vector3(1,2,3))
print(lps.pose.getOrigin())
print(lps.pose)
transform_stamped = tf.TransformStamped()
print("getting stamp")
print(transform_stamped.stamp)
# mytime = rospy.Time().now()
mytime = rospy.Time(10,20)
transform_stamped.stamp = mytime
print(mytime)
print("getting stamp", transform_stamped.stamp)
print("transform:", transform_stamped.transform)
transform_stamped.transform.setIdentity()
print("after setIdentity()", transform_stamped.transform)
# transform_stamped.transform.basis.setEulerZYX(0,0,0)
quat = bullet.Quaternion(math.pi/2,0,0)
print("quaternion ", quat)
transform_stamped.transform.setRotation(quat)
print("setting rotation to PI/2",transform_stamped.transform)
pointstamped = tf.PointStamped()
print("getting stamp")
print(pointstamped.stamp)
# mytime = rospy.Time().now()
mytime = rospy.Time(10,20)
pointstamped.stamp = mytime
print(mytime)
print("getting stamp")
output = pointstamped.stamp
print(output)
print(pointstamped.point)
print(transform_stamped.transform * pointstamped.point)
pose_only = bullet.Transform(transform_stamped.transform)
print("destructing pose_only", pose_only.this )
pose_only = []
print("Creating copy")
po2_copy = tf.PoseStamped(po2)
print("po2_copy.pose", po2_copy.pose.this)
print("po2.pose", po2.pose.this)
print("Creating copy2")
po2_copy2 = tf.PoseStamped(po2)
print("po2_copy2.pose", po2_copy2.pose.this)
print("destructing po2 po2.pose is", po2.pose.this)
po2 = []
print("destructing po2_copy po2_copy.pose is", po2_copy.pose.this)
po2_copy = []
print("done")
except ValueError as e:
print("Exception {} Improperly thrown: {}".format(type(e), e))
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