Collaboration diagram for extract_rpy_from_quat.Converter:

Public Member Functions
def	__init__ (self, pub, element_attr, list_attr='')

def	getElementFromAttributeArray (self, attr_array, data)

def	normalize (self, array)

def	convertQuatToVector3 (self, quat)

def	handle_list (self, msg)

def	handle_individual (self, msg)

Public Attributes
	element_attr_array

	list_attr_array

	pub

Detailed Description

Definition at line 45 of file extract_rpy_from_quat.py.

Constructor & Destructor Documentation

◆ init()

def extract_rpy_from_quat.Converter.__init__	(	self,
		pub,
		element_attr,
		list_attr = `''`
	)

Definition at line 46 of file extract_rpy_from_quat.py.

    def __init__(self, pub, element_attr, list_attr=''):
        self.element_attr_array = element_attr.split('.')
        self.list_attr_array = list_attr.split('.')
        self.pub = pub
 

Member Function Documentation

◆ convertQuatToVector3()

def extract_rpy_from_quat.Converter.convertQuatToVector3	(	self,
		quat
	)

Definition at line 71 of file extract_rpy_from_quat.py.

    def convertQuatToVector3(self, quat):
        orientation_list = [quat.x, quat.y, quat.z, quat.w]
        orientation_list = self.normalize(orientation_list)
        (roll, pitch, yaw) = euler_from_quaternion (orientation_list, axes='sxyz')
        vector_msg = Vector3()
        vector_msg.x = roll
        vector_msg.y = pitch
        vector_msg.z = yaw
        return vector_msg
 

References extract_rpy_from_quat.Converter.normalize().

Referenced by extract_rpy_from_quat.Converter.handle_individual(), and extract_rpy_from_quat.Converter.handle_list().

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◆ getElementFromAttributeArray()

def extract_rpy_from_quat.Converter.getElementFromAttributeArray	(	self,
		attr_array,
		data
	)

Definition at line 51 of file extract_rpy_from_quat.py.

    def getElementFromAttributeArray(self, attr_array, data):
      attr_list = []
      for attr in attr_array:
        if len(attr_list) == 0:
          attr_list.append(getattr(data, attr))
        else:
          attr_list.append(getattr(attr_list[-1], attr))
      
      return attr_list[-1]
 

Referenced by extract_rpy_from_quat.Converter.handle_individual(), and extract_rpy_from_quat.Converter.handle_list().

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◆ handle_individual()

def extract_rpy_from_quat.Converter.handle_individual	(	self,
		msg
	)

Definition at line 94 of file extract_rpy_from_quat.py.

    def handle_individual(self, msg):
      quat = self.getElementFromAttributeArray(self.element_attr_array, msg)
 
      pose_array_msg = PoseArray()
 
      fake_pose = Pose()
      fake_pose.position = self.convertQuatToVector3(quat)
      fake_pose.orientation = quat
      pose_array_msg.poses.append(fake_pose)
      
      self.pub.publish(pose_array_msg)

References extract_rpy_from_quat.Converter.convertQuatToVector3(), extract_rpy_from_quat.Converter.element_attr_array, extract_rpy_from_quat.Converter.getElementFromAttributeArray(), extract_rpy_from_quat.Converter.pub, and mock_drivers::PublisherWapper.pub.

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◆ handle_list()

def extract_rpy_from_quat.Converter.handle_list	(	self,
		msg
	)

Definition at line 81 of file extract_rpy_from_quat.py.

    def handle_list(self, msg):
      list_ele = self.getElementFromAttributeArray(self.list_attr_array, msg)
 
      pose_array_msg = PoseArray()
      for e in list_ele:
        quat = self.getElementFromAttributeArray(self.element_attr_array, e)
        fake_pose = Pose()
        fake_pose.position = self.convertQuatToVector3(quat)
        fake_pose.orientation = quat
        pose_array_msg.poses.append(fake_pose)
 
      self.pub.publish(pose_array_msg)
 

References extract_rpy_from_quat.Converter.convertQuatToVector3(), extract_rpy_from_quat.Converter.element_attr_array, extract_rpy_from_quat.Converter.getElementFromAttributeArray(), extract_rpy_from_quat.Converter.list_attr_array, extract_rpy_from_quat.Converter.pub, and mock_drivers::PublisherWapper.pub.

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◆ normalize()

def extract_rpy_from_quat.Converter.normalize	(	self,
		array
	)

Normalize a 4 element array/list/numpy.array for use as a quaternion
:param quat_array: 4 element list/array
:returns: normalized array
:rtype: numpy array

Definition at line 61 of file extract_rpy_from_quat.py.

    def normalize(self, array):
        """ 
        Normalize a 4 element array/list/numpy.array for use as a quaternion
        :param quat_array: 4 element list/array
        :returns: normalized array
        :rtype: numpy array
        """
        quat = np.array(array)
        return quat / np.sqrt(np.dot(quat, quat))
 