ros.py 文件源码

def get(self, state):
        """
        Get the FK
        :param state: RobotState message to get the forward kinematics for
        :return: [[x, y, z], [x, y, z, w]]
        """
        if isinstance(state, RobotState):
            state = state.joint_state
        elif not isinstance(state, JointState):
            raise TypeError('ros.FK.get only accepts RS or JS, got {}'.format(type(state)))

        return self._fk.get([state.position[state.name.index(joint)] for joint in self.joints])