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
robot.py 文件源码
python
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