dvs_simulator.py 文件源码

def make_pose_msg(position, orientation, timestamp):
    pose_msg = PoseStamped()
    pose_msg.header.stamp = timestamp
    pose_msg.header.frame_id = '/dvs_simulator'
    pose_msg.pose.position.x = position[0]
    pose_msg.pose.position.y = position[1]
    pose_msg.pose.position.z = position[2]
    pose_msg.pose.orientation.x = orientation[0]
    pose_msg.pose.orientation.y = orientation[1]
    pose_msg.pose.orientation.z = orientation[2]
    pose_msg.pose.orientation.w = orientation[3]
    return pose_msg