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from director import transformUtils import bot_core
def frameFromPositionMessage(msg): ''' Given an bot_core.position_t message, returns a vtkTransform ''' trans = msg.translation quat = msg.rotation
trans = [trans.x, trans.y, trans.z] quat = [quat.w, quat.x, quat.y, quat.z]
return transformUtils.transformFromPose(trans, quat)
def frameFromRigidTransformMessage(msg): ''' Given an bot_core.rigid_transform_t message, returns a vtkTransform ''' trans = msg.trans quat = msg.quat return transformUtils.transformFromPose(trans, quat)
def positionMessageFromFrame(transform): ''' Given a vtkTransform, returns a bot_core.position_t message '''
pos, wxyz = transformUtils.poseFromTransform(transform)
trans = bot_core.vector_3d_t() trans.x, trans.y, trans.z = pos
quat = bot_core.quaternion_t() quat.w, quat.x, quat.y, quat.z = wxyz
pose = bot_core.position_3d_t() pose.translation = trans pose.rotation = quat return pose
def rigidTransformMessageFromFrame(transform): ''' Given a vtkTransform, returns a bot_core.rigid_transform_t message ''' msg = bot_core.rigid_transform_t() msg.trans, msg.quat = transformUtils.poseFromTransform(transform) return msg |