pose_view_widget.py 文件源码

def _get_slot_paths(msg_class):
        # find first Pose in msg_class
        pose_slot_paths = find_slots_by_type_bfs(msg_class, Pose)
        for path in pose_slot_paths:
            # make sure the path does not contain an array, because we don't want to deal with empty arrays...
            if '[' not in path:
                path = PoseViewWidget._make_path_list_from_path_string(pose_slot_paths[0])
                return path + ['orientation'], path + ['position']

        # if no Pose is found, find first Quaternion and Point
        quaternion_slot_paths = find_slots_by_type_bfs(msg_class, Quaternion)
        for path in quaternion_slot_paths:
            if '[' not in path:
                quaternion_slot_path = PoseViewWidget._make_path_list_from_path_string(path)
                break
        else:
            quaternion_slot_path = None

        point_slot_paths = find_slots_by_type_bfs(msg_class, Point)
        for path in point_slot_paths:
            if '[' not in path:
                point_slot_path = PoseViewWidget._make_path_list_from_path_string(path)
                break
        else:
            point_slot_path = None

        return quaternion_slot_path, point_slot_path