src/conntact/assembly_tools.py
def matrix_to_tf(input:np.ndarray, base_frame:String, child_frame:String):
        """Converts matrix back into a TF.
        :param input: (np.Array) 4x4 homogeneous transformation matrix
        :param base_frame: (string) base frame for new pose.
        :return: (geometry_msgs.TransformStamped) Transform based on input.
        """
        pose = AssemblyTools.matrix_to_pose(input, base_frame)
        output = AssemblyTools.swap_pose_tf(pose, child_frame)
        return output
Converts matrix back into a TF.
        :param input: (np.Array) 4x4 homogeneous transformation matrix
        :param base_frame: (string) base frame for new pose.
        :return: (geometry_msgs.TransformStamped) Transform based on input.
        
Converts matrix back into a TF.
Converts matrix back into a TF .
def matrix_to_tf(input:np.ndarray, base_frame:String, child_frame:String):
        pose = AssemblyTools.matrix_to_pose(input, base_frame)
        output = AssemblyTools.swap_pose_tf(pose, child_frame)
        return output
def matrix_to_tf ( input : np . ndarray , base_frame : String , child_frame : String ) : pose = AssemblyTools . matrix_to_pose ( input , base_frame ) output = AssemblyTools . swap_pose_tf ( pose , child_frame ) return output
Converts matrix back into a TF.
Converts matrix back into a TF .
"""Converts matrix back into a TF.
        :param input: (np.Array) 4x4 homogeneous transformation matrix
        :param base_frame: (string) base frame for new pose.
        :return: (geometry_msgs.TransformStamped) Transform based on input.
        """
(geometry_msgs.TransformStamped) Transform based on input.
( geometry_msgs . TransformStamped ) Transform based on input .
input
np.ndarray
(np.Array) 4x4 homogeneous transformation matrix
( np . Array ) 4x4 homogeneous transformation matrix
base_frame
String
(string) base frame for new pose.
( string ) base frame for new pose .
child_frame
String