pycram.local_transformer

Module Contents

Classes

LocalTransformer

This class allows to use the TF class TransformerROS without using the ROS

class pycram.local_transformer.LocalTransformer

Bases: tf.TransformerROS

This class allows to use the TF class TransformerROS without using the ROS network system or the topic /tf, where transforms are usually published to. Instead, a local transformer is saved and allows to publish local transforms, as well the use of TFs convenient lookup functions (see functions below).

This class uses the robots (currently only one! supported) URDF file to initialize the tfs for the robot. Moreover, the function update_local_transformer_from_btr updates these tfs by copying the tfs state from the world.

This class extends the TransformerRos, you can find documentation for TransformerROS here: TFDoc

_instance

transform_to_object_frame(pose: pycram.datastructures.pose.Pose, world_object: world_concepts.world_object.Object, link_name: str = None) → typing_extensions.Union[pycram.datastructures.pose.Pose, None]

Transforms the given pose to the coordinate frame of the given World object. If no link name is given the base frame of the Object is used, otherwise the link frame is used as target for the transformation.

Parameters:

• pose – Pose that should be transformed

• world_object – BulletWorld Object in which frame the pose should be transformed

• link_name – A link of the BulletWorld Object which will be used as target coordinate frame instead

Returns:

The new pose the in coordinate frame of the object

transform_pose(pose: pycram.datastructures.pose.Pose, target_frame: str) → typing_extensions.Union[pycram.datastructures.pose.Pose, None]

Transforms a given pose to the target frame after updating the transforms for all objects in the current world.

Parameters:

• pose – Pose that should be transformed

• target_frame – Name of the TF frame into which the Pose should be transformed

Returns:

A transformed pose in the target frame

lookup_transform_from_source_to_target_frame(source_frame: str, target_frame: str, time: typing_extensions.Optional[rospy.rostime.Time] = None) → pycram.datastructures.pose.Transform

Update the transforms for all world objects then Look up for the latest known transform that transforms a point

from source frame to target frame. If no time is given the last common time between the two frames is used.

Parameters:

time – Time at which the transform should be looked up

update_transforms(transforms: typing_extensions.Iterable[pycram.datastructures.pose.Transform], time: rospy.Time = None) → None

Updates transforms by updating the time stamps of the header of each transform. If no time is given the current time is used.

get_all_frames() → typing_extensions.List[str]

Returns all know coordinate frames as a list with human-readable entries.

Returns:

A list of all know coordinate frames.

transformPose(target_frame, ps) → pycram.datastructures.pose.Pose

Alias for transform_pose_to_target_frame() to avoid confusion since a similar method

exists in the super class.