Cristian Carrera Zzzonkeed
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| // | |
| // qe.c | |
| // hidtest | |
| // | |
| // Created by Albin Stigö on 09/09/2017. | |
| // Copyright © 2017 Albin Stigo. All rights reserved. | |
| // | |
| // License BSD | |
| // https://opensource.org/licenses/BSD-2-Clause |
Zzzonkeed
/ compare_poses.py
Created
November 3, 2022 14:23
— forked from awesomebytes/compare_poses.py
Compare poses to be equal within a tolerance
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| from geometry_msgs.msg import Pose | |
| def are_poses_equal(p1, p2): | |
| pos1 = p1.position | |
| pos2 = p2.position | |
| if isclose(pos1.x, pos2.x) and isclose(pos1.y, pos2.y) and isclose(pos1.z, pos2.z): | |
| o1 = p1.orientation | |
| o2 = p2.orientation | |
| r1, p1, y1 = euler_from_quaternion([o1.x, o1.y, o1.z, o1.w]) | |
| r2, p2, y2 = euler_from_quaternion([o2.x, o2.y, o2.z, o2.w]) |