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How to use transform_out method in pandera

Best Python code snippet using pandera_python

twist_frame_integrator.py

Source:twist_frame_integrator.py

1#!/usr/bin/env python2import roslib; roslib.load_manifest('lcsr_tf_tools')3import rospy4import tf5import geometry_msgs.msg as geometry_msgs6import threading7import math8import PyKDL9import copy10def multiply_quat(q0,q1):11    [x0,y0,z0,w0] = q012    [x1,y1,z1,w1] = q113    return ( (w0*x1 + x0*w1 + y0*z1 - z0*y1),14             (w0*y1 - x0*z1 + y0*w1 + z0*x1),15             (w0*z1 + x0*y1 - y0*x1 + z0*w1),16             (w0*w1 - x0*x1 - y0*y1 - z0*z1) )17class TwistFrameIntegrator(object):18    def __init__(self):19        # Get the node params20        self.linear_multiplier = rospy.get_param('~linear_multiplier')21        self.angular_multiplier = rospy.get_param('~angular_multiplier')22        self.broadcast_rate = rospy.get_param('~broadcast_rate')23        self.body_fixed = rospy.get_param('~body_fixed')24        # Initialize the frame we're going to publish25        xyzw = [float(f) for f in rospy.get_param('~xyzw','0 0 0 1').split()]26        xyzw_offset = [float(f) for f in rospy.get_param('~xyzw_offset','0 0 0 1').split()]27        xyz = [float(f) for f in rospy.get_param('~xyz','0 0 0').split()]28        rospy.logwarn("xyzw: " + str(xyzw))29        rospy.logwarn("xyz: " + str(xyz))30        self.transform = PyKDL.Frame(31            PyKDL.Rotation.Quaternion(*xyzw)*PyKDL.Rotation.Quaternion(*xyzw_offset),32            PyKDL.Vector(*xyz))33        self.transform_out = PyKDL.Frame()34        self.rotation = self.transform.M.GetQuaternion()35        self.time = rospy.Time.now()36        self.frame_id = rospy.get_param('~frame_id')37        self.child_frame_id = rospy.get_param('~child_frame_id')38        # Synchronization39        self.broadcast_lock = threading.Lock()40        # Initialze TF structures41        self.broadcaster = tf.TransformBroadcaster()42        # Subscribe to twist inputs43        self.twist_sub = rospy.Subscriber(44                "twist", geometry_msgs.Twist,45                self.twist_cb)46        self.twiststamped_sub = rospy.Subscriber(47                "twist_stamped", geometry_msgs.TwistStamped,48                self.twiststamped_cb)49        # Broadcast the frame at a given rate50        self.broadcast_thread = threading.Thread(target=self.broadcast_loop)51        self.broadcast_thread.start()52    def broadcast_loop(self):53        """54        Broadcast the integrated TF frame at a fixed rate.55        """56        rate = rospy.Rate(self.broadcast_rate)57        while not rospy.is_shutdown():58            # Acquire broadcast lock59            self.broadcast_lock.acquire()60            # Broadcast the frame61            try:62                self.broadcaster.sendTransform(63                        (self.transform_out.p.x(), self.transform_out.p.y(), self.transform_out.p.z()),64                        self.transform_out.M.GetQuaternion(),65                        rospy.Time.now(),66                        self.child_frame_id,67                        self.frame_id)68            except Exception as ex:69                rospy.logerr("Failed to broadcast transform: "+str(ex))70            # Release broadcast lock71            self.broadcast_lock.release()72            # Don't spam TF73            rate.sleep()74    def twiststamped_cb(self,msg):75        """76        This callback pulls the twist out of a TwistStamped message. For now,77        it disregards the origin frame.78        """79        twist_cb(msg.twist)80    def twist_cb(self,msg):81        """82        This callback integrates the linear and angular velocities into a TF83        frame, and then broadcasts the frame.84        """85        try:86            # Acquire broadcast lock87            self.broadcast_lock.acquire()88            # Convert angular rotation vector to quaternion89            q_velocity = (90                    msg.angular.x * math.sin(self.angular_multiplier/2),91                    msg.angular.y * math.sin(self.angular_multiplier/2),92                    msg.angular.z * math.sin(self.angular_multiplier/2),93                    math.cos(self.angular_multiplier/2))94            q_velocity_norm = math.sqrt(math.pow(q_velocity[0],2) + math.pow(q_velocity[1],2) + math.pow(q_velocity[2],2) + math.pow(q_velocity[3],2))95            q_velocity = [i/q_velocity_norm for i in q_velocity]96            if self.body_fixed:97                # Integrate linear velocity in local frame98                self.transform.p += self.transform.M*(self.linear_multiplier*PyKDL.Vector(msg.linear.x,msg.linear.y,msg.linear.z))99                # Integrate angular velocity in local frame100                self.rotation = multiply_quat(self.rotation,q_velocity)101                self.transform.M = PyKDL.Rotation.Quaternion(*self.rotation)102                103                # Copy this transform104                self.transform_out = PyKDL.Frame(self.transform)105            else:106                # Integrate linear velocity107                self.transform.p += self.linear_multiplier*PyKDL.Vector(msg.linear.x,msg.linear.y,msg.linear.z)108                # Integrate angular velocity109                self.rotation = multiply_quat(q_velocity,self.rotation)110                self.transform.M = PyKDL.Rotation.Quaternion(*self.rotation)111                # Invert the transform to get parent-frame relative transform112                self.transform_out = self.transform113            self.transform_out.M.DoRotZ(-math.pi/2)114            self.transform_out.M.DoRotX(-math.pi/2)115        finally:116            # Release broadcast lock117            self.broadcast_lock.release()118def main():119    rospy.init_node('twist_frame_integrator')120    121    twist_frame_integrator = TwistFrameIntegrator()122    rospy.loginfo("Spinning...")123    rospy.spin()124    rospy.loginfo("Done.")125if __name__ == '__main__':...

LinkedTransformTest.py

Source:LinkedTransformTest.py

1import unittest2from kivy.event import EventDispatcher3from .LinkedTransform import LinkedTransform4import numpy as np5import cv26from pathlib import Path7class LinkedTransformMock(LinkedTransform):8    def __init__(self, *args, **kwargs):9        self.received = []10        super().__init__(*args, **kwargs)11    def receive_frame(self, frame: np.ndarray):12        self.received.append(frame)13class SimpleObserver(EventDispatcher):14    pass15class LinkedTransformTest(unittest.TestCase):16    @classmethod17    def get_test_image(cls) -> np.ndarray:18        return cv2.imread(str((Path(__file__).parent.parent / Path('resource/test/Archaeologist-Tux-icon.png'))))19    def test_frames_are_passed_through(self):20        transform_in = LinkedTransform()21        transform_out = LinkedTransformMock()22        transform_in.attach_sink(transform_out)23        frame = LinkedTransformTest.get_test_image()24        transform_in.receive_frame(frame)25        self.assertIn(frame, transform_out.received, 'Transform didn\'t passthrough the frame')26    def test_frame_is_being_transformed(self):27        transform_in = LinkedTransform()28        transform_out = LinkedTransformMock()29        transform_in.attach_sink(transform_out)30        frame = LinkedTransformTest.get_test_image()31        transform_in.transform_fn = np.transpose32        transform_in.receive_frame(frame)33        self.assertTrue((frame.T == transform_out.received).all())34    def test_observer_is_being_notified(self):35        transform_in = LinkedTransform()36        transform_out = LinkedTransformMock()37        transform_in.attach_sink(transform_out)38        results = {'received': False, 'processed': False}39        def register_frame_received(*args):40            results['received'] = True41        def register_frame_processed(*args):42            results['processed'] = True43        transform_in.bind(on_frame_received=register_frame_received, on_frame_processed=register_frame_processed)44        frame = LinkedTransformTest.get_test_image()45        transform_in.receive_frame(frame)46        self.assertTrue(results['received'], 'Observer did not receive "on_frame_received" event')...

PoseAverage.py

Source:PoseAverage.py

1from geometry_msgs.msg import Transform2import tf.transformations as tr3import math4class PoseAverage(object):5    def __init__(self):6        self.translation = [0.0, 0.0, 0.0]7        self.n = 08        self.sum_sines = 09        self.sum_cosines = 010    def add_pose(self, transform_in):11        self.n += 112        translation_in = transform_in.translation13        self.translation = [(self.translation[0]*(self.n - 1) + translation_in.x)/self.n,\14                            (self.translation[1]*(self.n - 1) + translation_in.y)/self.n,\15                            (self.translation[2]*(self.n - 1) + translation_in.z)/self.n]16        rotation_in = transform_in.rotation17        quaternion = (rotation_in.x, rotation_in.y, rotation_in.z, rotation_in.w)18        theta_in = tr.euler_from_quaternion(quaternion)[2]19        self.sum_sines += math.sin(theta_in)20        self.sum_cosines += math.cos(theta_in)21    def get_average(self):22        if self.n == 0:23            return None24        transform_out = Transform()25        theta_out = math.atan2(self.sum_sines, self.sum_cosines)26        trans = transform_out.translation27        rot = transform_out.rotation28        (trans.x,trans.y,trans.z)=self.translation29        (rot.x,rot.y,rot.z,rot.w)=tr.quaternion_from_euler(0,0,theta_out)...

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