moveit2
The MoveIt Motion Planning Framework for ROS 2.
round_collada_numbers.py
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1 #! /usr/bin/env python
2 
3 """
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38 """
39 # Author: Dave Coleman
40 # Desc: Rounds all the numbers to <decimal places> places
41 
42 from __future__ import print_function
43 
44 from lxml import etree
45 import shlex
46 import sys
47 
48 
49 def doRound(values, decimal_places):
50  num_vector = shlex.split(values)
51  new_vector = []
52 
53  for num in num_vector:
54  new_num = round(float(num), decimal_places)
55  print("Old:", num, "New:", new_num)
56  new_vector.append(str(new_num))
57 
58  new = " ".join(new_vector)
59  # print('Original:', values, ' Updated: ', new)
60 
61  return new
62 
63 
64 # -----------------------------------------------------------------------------
65 
66 if __name__ == "__main__":
67  # Check input arguments
68  try:
69  input_file = sys.argv[1]
70  output_file = sys.argv[2]
71  decimal_places = int(sys.argv[3])
72  assert len(sys.argv) < 5 # invalid num-arguments
73  except:
74  print(
75  "\nUsage: round_collada_numbers.py <input_dae> <output_dae> <decimal places>"
76  )
77  print("Rounds all the numbers to <decimal places> places\n")
78  sys.exit(-1)
79 
80  print("\nCollada Number Rounder")
81  print("Rounding numbers to", decimal_places, "decimal places\n")
82 
83  namespace = "http://www.collada.org/2008/03/COLLADASchema"
84  dom = etree.parse(input_file)
85 
86  # find elements of particular name
87  elements = dom.xpath("//ns:translate", namespaces={"ns": namespace})
88  for i in range(len(elements)):
89  elements[i].text = doRound(elements[i].text, decimal_places)
90 
91  # find elements of particular name
92  elements = dom.xpath("//ns:rotate", namespaces={"ns": namespace})
93  for i in range(len(elements)):
94  elements[i].text = doRound(elements[i].text, decimal_places)
95 
96  # find elements of particular name
97  elements = dom.xpath("//ns:min", namespaces={"ns": namespace})
98  for i in range(len(elements)):
99  elements[i].text = doRound(elements[i].text, decimal_places)
100 
101  # find elements of particular name
102  elements = dom.xpath("//ns:max", namespaces={"ns": namespace})
103  for i in range(len(elements)):
104  elements[i].text = doRound(elements[i].text, decimal_places)
105 
106  # find elements of particular name
107  elements = dom.xpath("//ns:float", namespaces={"ns": namespace})
108  for i in range(len(elements)):
109  elements[i].text = doRound(elements[i].text, decimal_places)
110 
111  # save changes
112  with open(output_file, "wb") as f:
113  dom.write(f, encoding="utf-8")
def doRound(values, decimal_places)
void print(PropagationDistanceField &pdf, int numX, int numY, int numZ)