“Convertir la matriz de transformación para plantear ROS” Código de respuesta

Convertir la matriz de transformación para plantear ROS

#!/usr/bin/env python

import numpy

from geometry_msgs.msg import Quaternion, Pose, Point
from transforms3d.quaternions import quat2mat, mat2quat

def transform_matrix_to_ros_pose(mat):
    """
    Convert a transform matrix to a ROS pose.
    """
    quat = mat2quat(mat[:3, :3])
    msg = Pose()
    msg.position = Point(x=mat[0, 3], y=mat[1, 3], z=mat[2, 3])
    msg.orientation = Quaternion(w=quat[0], x=quat[1], y=quat[2], z=quat[3])
    return msg


def ros_pose_to_transform_matrix(msg):
    """
    Convert a ROS pose to a transform matrix
    """
    mat44 = numpy.eye(4)
    mat44[:3, :3] = quat2mat([msg.orientation.w, msg.orientation.x,
                              msg.orientation.y, msg.orientation.z])
    mat44[0:3, -1] = [msg.position.x, msg.position.y, msg.position.z]
    return mat44