niryo_libraries.niryo_robot_arm_commander.utils

module documentation

Undocumented

Function angle_between_2_points Undocumented
Function diff_quat Undocumented
Function dist_2_points No summary
Function dist_2_poses No summary
Function invert_quat Undocumented
Function list_to_pose Take a Pose as a Python list [x, y, z, roll, pitch, yaw] and return a ROS Pose
Function pose_to_list Take a ROS Pose and return it as a Python list [x, y, z, roll, pitch, yaw]
Function poses_too_close Check that distance between p1 and p2 is bigger than the minimal required distance for a move.
def angle_between_2_points(p1, p2):

Undocumented

def diff_quat(q1, q2):

Undocumented

def dist_2_points(p1, p2):
Parameters
p1:Pose
p2:Pose
Returns
floatThe distance (in meters) between the two poses
def dist_2_poses(p1, p2):
Parameters
p1:Pose
p2:Pose
Returns
floatThe distance (in meters) between the two poses
def invert_quat(q):

Undocumented

def list_to_pose(list_):

Take a Pose as a Python list [x, y, z, roll, pitch, yaw] and return a ROS Pose

Parameters
list_:list[float]a pose in a list
Returns
Posea ROS Pose
def pose_to_list(pose):

Take a ROS Pose and return it as a Python list [x, y, z, roll, pitch, yaw]

Parameters
pose:Posea Pose
Returns
list[float]The pose as a list
def poses_too_close(p1, p2):

Check that distance between p1 and p2 is bigger than the minimal required distance for a move.

Parameters
p1:Pose
p2:Pose
Returns
boolTrue if the distance between p1 and p2 is smaller than 1mm