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How do you use inverseTimes()?

asked 2015-06-15 08:43:32 -0500

CatherineH gravatar image

How do you use inverseTimes?

From reading the docs, it looks like it should be a member function of Transform(), and take another Transform() as the argument.

However, the following code:

from geometry_msgs.msg import Transform
my_tf1 = Transform()
my_tf2 = Transform()
my_tf1.translation.x = 2
my_tf2.translation.x = 5
my_tf1.inverseTimes(my_tf2)

produces the error:

AttributeError: 'Transform' object has no attribute 'inverseTimes'

Is there a different object in tf called Transform that I should be using instead?

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I've noticed that some tf functions from c++ are not available in python... I can't think of a workaround that is quicker than implementing this function yourself :-(

timster gravatar imagetimster ( 2015-06-15 10:05:55 -0500 )edit

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answered 2015-06-15 09:58:09 -0500

inverseTimes is a member of tf::Transform in the C++ API. I don't see any equivalent in Python. I'm sure you can do the same thing with numpy (or possibly PyKDL) though.

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Asked: 2015-06-15 08:43:32 -0500

Seen: 985 times

Last updated: Jun 15 '15