robot.py 文件源码

def translate(self, pose, direction, distance):
        """Get an PoseStamped msg and apply a translation direction * distance

        """
        # Let's get the pose, move it to the tf frame, and then
        # translate it
        base_pose = self.tl.transformPose(self.base, pose)
        base_pose.pose.position = Point(*np.array(direction) * distance +
                                        Point2list(base_pose.pose.position))
        return base_pose