lucascoelhof

import re

def clean_arguments(args):
    """Cleans docopt arguments, removing --, - and < > from arguments

    Parameters
    ----------
    args : dict
        Dictionary with arguments form docopt

lucascoelhof

unset $(echo "${!PREFIX*}")

lucascoelhof

#include <geometry_msgs/Pose.h>
#include <kdl/tree.hpp>

bool getTransformFromKDL(KDL::Tree tree, std::string root, std::string child, geometry_msgs::Pose& pose)
{
    try 
    {
        KDL::Chain chain;
        tree.getChain(root, child, chain);

lucascoelhof

geometry_msgs::Pose transformPose(geometry_msgs::Pose& _origin_to_frame, geometry_msgs::Pose& _frame_to_target)
{
    geometry_msgs::Pose result;
    tf::Transform origin_to_frame_transform;
    origin_to_frame_transform.setOrigin(tf::Vector3(_origin_to_frame.position.x, _origin_to_frame.position.y, _origin_to_frame.position.z));
    origin_to_frame_transform.setRotation(tf::Quaternion(_origin_to_frame.orientation.x, _origin_to_frame.orientation.y,
            _origin_to_frame.orientation.z, _origin_to_frame.orientation.w));

    tf::Transform frame_to_target_transform;
    frame_to_target_transform.setOrigin(tf::Vector3(_frame_to_target.position.x, _frame_to_target.position.y, _frame_to_target.position.z));

lucascoelhof

pattern = re.compile(regex)
matched_keys = {key for key, value in dic.iteritems() if pattern.match(key)}

for key in matched_keys:
    dic.pop(key, None)