human_model.py 文件源码

def forward_kinematic(self, joint_state, base='base', links=None):
        def compute_fk_client():
            try:
                header = Header()
                header.stamp = rospy.Time.now()
                header.frame_id = self.prefix + '/base'
                rs = RobotState()
                rs.joint_state = joint_state
                res = self.compute_fk(header, links, rs)
                return res.pose_stamped
            except rospy.ServiceException, e:
                print "Service call failed: %s" % e
                # in case of troubles return 0 pose stamped
                return []

        if links is None:
            links = self.end_effectors['whole_body']
        if type(links) is not list:
            if links == "all":
                links = self.get_link_names('whole_body')
            else:
                links = [links]
        # check that the base is in links
        if base != 'base' and base not in links:
            links.append(base)
        pose_stamped_list = compute_fk_client()
        if not pose_stamped_list:
            return {}
        # transform it in a dict of poses
        pose_dict = {}
        if base != 'base':
            tr_base = transformations.pose_to_list(pose_stamped_list[links.index(base)].pose)
            inv_base = transformations.inverse_transform(tr_base)
            for i in range(len(links)):
                if links[i] != base:
                    tr = transformations.pose_to_list(pose_stamped_list[i].pose)
                    pose_dict[links[i]] = transformations.multiply_transform(inv_base, tr)
        else:
            for i in range(len(links)):
                pose_dict[links[i]] = transformations.pose_to_list(pose_stamped_list[i].pose)
        return pose_dict