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Viewing changes to mrol_mapping/trajectory.py

  • Committer: Julian Ryde
  • Date: 2012-02-29 04:28:57 UTC
  • mto: (16.1.12 trunk) (29.1.2 trunk)
  • mto: This revision was merged to the branch mainline in revision 21.
  • Revision ID: julian_ryde-20120229042857-2omi9vjjezsdenif
Trying to improve the speed of transformPoints by combining operations. Refactor of transformPoints and related functions.

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mrol_mapping/trajectory.py
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    #        guess_pose = key_pose
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    #    assert traj_ts > 0, "no valid trajectory timestamps to align against"
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    #    traj_points = self.trajectory[key_pose][0]
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    #    traj_points = poseutil.transformPointsTuple(traj_points,key_pose)
 
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    #    traj_points = poseutil.transformPoints(traj_points,key_pose)
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    #    for lev in range(levels)[::-1]:
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    #        resolution = pow(2,lev)*self.res
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    #        if self.verbose > 1: