Lucas Coelho Figueiredo lucascoelhof

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Software Engineer

lucascoelhof / transform_pose.cpp

Created August 27, 2019 12:09

Transform a ROS Pose msg with another pose

	geometry_msgs::Pose transformPose(geometry_msgs::Pose& _origin_to_frame, geometry_msgs::Pose& _frame_to_target)
	{
	geometry_msgs::Pose result;
	tf::Transform origin_to_frame_transform;
	origin_to_frame_transform.setOrigin(tf::Vector3(_origin_to_frame.position.x, _origin_to_frame.position.y, _origin_to_frame.position.z));
	origin_to_frame_transform.setRotation(tf::Quaternion(_origin_to_frame.orientation.x, _origin_to_frame.orientation.y,
	_origin_to_frame.orientation.z, _origin_to_frame.orientation.w));

	tf::Transform frame_to_target_transform;
	frame_to_target_transform.setOrigin(tf::Vector3(_frame_to_target.position.x, _frame_to_target.position.y, _frame_to_target.position.z));

lucascoelhof / getKDLTransform.cpp

Last active February 16, 2018 16:53

How to get a transformation frame from KDL Tree ROS


	#include <geometry_msgs/Pose.h>
	#include <kdl/tree.hpp>

	bool getTransformFromKDL(KDL::Tree tree, std::string root, std::string child, geometry_msgs::Pose& pose)
	{
	try
	{
	KDL::Chain chain;
	tree.getChain(root, child, chain);

lucascoelhof / unset_vars.bash

Created January 4, 2018 22:34

How to unset all bash variables that match a prefix

unset $(echo "${!PREFIX*}")

lucascoelhof / clean_docopt_args.py

Last active January 2, 2018 12:10

If receiving a dictionary from docopt with -- and <> annoys you, this function might help

	import re

	def clean_arguments(args):
	"""Cleans docopt arguments, removing --, - and < > from arguments

	Parameters
	----------
	args : dict
	Dictionary with arguments form docopt

lucascoelhof / dict_regex_del.py

Last active January 25, 2023 04:04

How to delete a dictionary key that matches a regex (regular expression) in python

	pattern = re.compile(regex)
	matched_keys = {key for key, value in dic.iteritems() if pattern.match(key)}

	for key in matched_keys:
	dic.pop(key, None)