我希望将三个数组:xLinespace
,yLinespace
和zLinespace
从函数cubicSplineInterpolate
传递给函数trajectoryMover
。但是我不确定如何使用python实现此目的。将数组传递给第二个函数后,我打算同时遍历每个数组以更改机器人的位置。我需要在每个函数中将数组设置为参数吗?
class example_application:
def cubicSplineInterpolate(self, x_axis, y_axis, z_axis):
m=1
xLinespace=[]
yLinespace=[]
zLinespace=[]
while m<len(x_axis):
for t in np.arange(m-1,m,1/float(100)):
xLinespace.append(self.func(x_axis[m-1],x_axis[m],t,U[m-1],U[m],m-1,m))
yLinespace.append(self.func(y_axis[m-1],y_axis[m],t,V[m-1],V[m],m-1,m))
zLinespace.append(self.func(z_axis[m-1],z_axis[m],t,W[m-1],W[m],m-1,m))
m=m+1
def trajectoryMover(self):
newPose = Pose()
xLinespace=[]
yLinespace=[]
zLinespace=[]
x_axis = [0.01, 0.02, 0.033, 0.0044, 0.0001, 0.10]
y_axis = [0.002, 0.00033, 0.1014, 0.01512, 0.14316, 0.015143]
z_axis = [0.003, 0.2124, 0.15417, 0.15615, 0.01241, 0.151561]
self.cubicSplineInterpolate(x_axis,y_axis,z_axis)
print(self.cubicSplineInterpolate.xLinespace)
for x, y, z in zip(x_axis, y_axis, z_axis):
newPose.position.x = x
newPose.position.y = y
newPose.position.z = z
newPose.orientation.x = -0.907106781172
newPose.orientation.y = -0.0707106781191
newPose.orientation.z = 2.59734823723e-06
newPose.orientation.w = -2.59734823723e-06
self.set_position_cartesian.publish(newPose)
rospy.loginfo(newPose)
rospy.sleep(1)
答案 0 :(得分:1)
从评论中:如果const browser = await puppeteer.connect({browserURL: 'http://127.0.0.1:9222'});
呼叫json/version
class example_application:
trajectoryMover
还要注意(尽管不是很重要):我相信PEP8表示函数应使用下划线分隔,即trajectory_mover和cubic_spline_interpolate()