#!/usr/bin/env python
import rospy
import tf
import time
from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
from math import radians
from numpy import matmul

def tf_lookup(object_name):
	do_try = True
	listener = tf.TransformListener()

	while not rospy.is_shutdown() and do_try:
		try:
			(trans,rot) = listener.lookupTransform('base', object_name, rospy.Time(0))
			do_try = False
		except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
			print('Failed to get frame data, retrying...')
			time.sleep(0.1)
			continue

		print('@@@@@@@@@@@@@@@@')
		print(rot)
		print('@@@@@@@@@@@@@@@@')
		object_angles = tf.transformations.quaternion_matrix([rot[0] , rot[1], rot[2], rot[3]])
		print('@@@@@@@@@@@@@@@@')
		print(object_angles)
		print('@@@@@@@@@@@@@@@@')
		Re = euler_matrix(radians(180), radians(0), radians(-270), 'rxyz')
		updated_angles = matmul(Re, object_angles)
		target_quat = tf.transformations.quaternion_from_matrix(updated_angles)
		target_pose = Pose()
		target_pose.position.x = trans[0]
		target_pose.position.y = trans[1]
		target_pose.position.z = trans[2]
		target_pose.orientation.x = target_quat[0]
		target_pose.orientation.y = target_quat[1]
		target_pose.orientation.z = target_quat[2]
		target_pose.orientation.w = target_quat[3]
		print('#############')
		print(target_pose.orientation)
		print('#############')

		return target_pose

if __name__ == "__main__":
	rospy.init_node('example_tf_listener')
	print(tf_lookup('c1'))


#      
#      TARGET TOP PICKING EULER ANGLES
#      LAYING MODIFIERS:
#      Pitch(0): +180 deg.
#      Roll(1):     ? deg.
#      Yaw(2):   -270 deg.
#      
#      FINAL VALUES:
#      Pitch(0): +180 deg.
#      Roll(1):     0 deg.
#      Yaw(2):   -180 deg.
#      
#      INITIAL STANDING VALUES
#      
#      -0.28    -16 +196
#      -1.57    -90 +90
#      +0.28    +16 -196
#      
#