simulation.PublishObjectPose Class Reference

Publish the pose of an object in tf. More...

Inheritance diagram for simulation.PublishObjectPose:
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Collaboration diagram for simulation.PublishObjectPose:
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Public Member Functions

def __init__ (self, parent, child)
 Constructor. More...
 
def broadcast (self, q)
 publish pose between parent and child frames More...
 

Public Attributes

 broadcaster
 
 ts
 

Detailed Description

Publish the pose of an object in tf.

Build class with parent and child frames and call instance with pose given as translation and quaternion (x,y,z,X,Y,Z,W)

pub = PublishObjectPose ('world', 'object/root_joint')
pub (x,y,z,X,Y,Z,W)

Constructor & Destructor Documentation

◆ __init__()

def simulation.PublishObjectPose.__init__ (   self,
  parent,
  child 
)

Constructor.

Parameters
parentname of parent frame,
childname of child frame

Member Function Documentation

◆ broadcast()

def simulation.PublishObjectPose.broadcast (   self,
  q 
)

publish pose between parent and child frames

Parameters
qpose as a 7 dimensional vector (x,y,z,X,Y,Z,W)

References simulation.PublishObjectPose.broadcaster, and simulation.PublishObjectPose.ts.

Member Data Documentation

◆ broadcaster

simulation.PublishObjectPose.broadcaster

◆ ts

simulation.PublishObjectPose.ts