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Check kinematics of the top baselines

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Michel Breyer
2021-09-11 12:00:52 +02:00
parent 7e6eb53fa7
commit 0203f93d7e
4 changed files with 29 additions and 19 deletions
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2
active_grasp/baselines.py
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@@ -17,6 +17,7 @@ class TopView(SingleViewPolicy):
eye = np.r_[self.center[:2], self.bbox.max[2] + self.min_z_dist]
up = np.r_[1.0, 0.0, 0.0]
self.x_d = look_at(eye, self.center, up)
self.done = False if self.is_view_feasible(self.x_d) else True
class TopTrajectory(MultiViewPolicy):
@@ -25,6 +26,7 @@ class TopTrajectory(MultiViewPolicy):
eye = np.r_[self.center[:2], self.bbox.max[2] + self.min_z_dist]
up = np.r_[1.0, 0.0, 0.0]
self.x_d = look_at(eye, self.center, up)
self.done = False if self.is_view_feasible(self.x_d) else True
def update(self, img, x):
self.integrate(img, x)