adeck/python-urx-getl-rt
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Merge branch 'master' into dev

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This commit is contained in:
Olivier R-D 2013-04-03 10:08:45 +02:00
commit a6ae969769
1 changed files with 15 additions and 7 deletions
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22
urx/tracker.py
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@ -2,8 +2,13 @@ import time
from multiprocessing import Process, Queue, Event from multiprocessing import Process, Queue, Event
from urx import urrtmon from urx import urrtmon
from math3d import Transform
MATH3D = True
try:
import math3d
except ImportError:
MATH3D = False
print("pymath3d library could not be found on this computer, disabling use of matrices")
class Tracker(Process): class Tracker(Process):
def __init__(self, robot_host): def __init__(self, robot_host):
@ -13,19 +18,22 @@ class Tracker(Process):
self._stop = Event() self._stop = Event()
self._finished = Event() self._finished = Event()
self._data = [] self._data = []
self.calibration = Transform() if MATH3D:
self.inverse = self.calibration.inverse() self.calibration = Transform()
self.inverse = self.calibration.inverse()
def _log(self, *args): def _log(self, *args):
print(self.__class__.__name__, ": ".join([str(i) for i in args])) print(self.__class__.__name__, ": ".join([str(i) for i in args]))
def set_calibration_matrix(self, cal): def set_calibration_matrix(self, cal):
self.calibration = cal if MATH3D:
self.inverse = self.calibration.inverse() self.calibration = cal
self.inverse = self.calibration.inverse()
def _save_data(self): def _save_data(self):
for data in self._data: if MATH3D:
data["transform"] = self.inverse * Transform(data["tcp"]) for data in self._data:
data["transform"] = self.inverse * Transform(data["tcp"])
self._queue.put(self._data) self._queue.put(self._data)