pam_vicon package

Interface for the PAM Vicon system.

pam_vicon.DEFAULT_ORIGIN_SUBJECT = 'Pamy_ceiling'

Name of the default origin subject in the table tennis lab.

This value should be used as default where ever the origin subject can be specified. Update here, if the name of the origin subject used in the lab changes.

exception pam_vicon.NoFrameDataError[source]

Bases: RuntimeError

Error indicating that called method needs Vicon frame data.

class pam_vicon.PamVicon(segment_id: str)[source]

Bases: object

Wrapper around o80 FrontEnd to more easily access PAM Vicon data.

get_robot_pose() → Transformation[source]

Get pose of the robot base.

get_table_pose(yaw_only: bool = False) → Transformation[source]

Get pose of the table based on poses of the corner markers.

Parameters:

yaw_only – If true, only the yaw angle of the tables orientation is used (i.e. assume that the table is flat on the ground).

update() → None[source]

Update with latest Vicon data.

pam_vicon.get_table_pose(corner_positions_world: Sequence[ndarray], *, yaw_only: bool = False, table_length: float = 2.74, table_width: float = 1.525) → Transformation[source]

Get pose of the table based on positions of the corner markers.

Expected order of the table corners:

1┌───────────┐2
 │           │
 │   y       │     l
 │   ▲       │     e
 │   │       │     n
 │   │    x  │     g
 │   └───>   │     t
 │           │     h
 │           │
4└───────────┘3

     width

The default values for table length and width are based on the ITTF rules [1].

[1] https://documents.ittf.sport/document/284

Parameters:

  • corner_positions_world – Positions of the table corners in world frame. See above for the expected order.

  • yaw_only – If true, only the yaw angle of the tables orientation is used (i.e. assume that the table is flat on the ground).

  • table_length – Length of the table in metres.

  • table_width – Width of the table in metres.

Submodules