如何在python中的兩個函數之間傳遞數組？

Question

我希望通過三個數組： xLinespace ， yLinespace和zLinespace從功能cubicSplineInterpolate的功能trajectoryMover 。 但是我不確定如何使用python實現此目的。 將數組傳遞給第二個函數后，我打算同時遍歷每個數組以更改機器人的位置。 我是否需要在每個函數中將數組設置為參數？

class example_application:

    def cubicSplineInterpolate(self, x_axis, y_axis, z_axis):

        m=1
        xLinespace=[]
        yLinespace=[]
        zLinespace=[]
        while m<len(x_axis):
            for t in np.arange(m-1,m,1/float(100)):
                xLinespace.append(self.func(x_axis[m-1],x_axis[m],t,U[m-1],U[m],m-1,m))
                yLinespace.append(self.func(y_axis[m-1],y_axis[m],t,V[m-1],V[m],m-1,m))
                zLinespace.append(self.func(z_axis[m-1],z_axis[m],t,W[m-1],W[m],m-1,m))
            m=m+1

    def trajectoryMover(self):
        newPose = Pose()
        xLinespace=[]
        yLinespace=[]
        zLinespace=[]
        x_axis = [0.01, 0.02, 0.033, 0.0044, 0.0001, 0.10]
        y_axis = [0.002, 0.00033, 0.1014, 0.01512, 0.14316, 0.015143]
        z_axis = [0.003, 0.2124, 0.15417, 0.15615, 0.01241, 0.151561]
        self.cubicSplineInterpolate(x_axis,y_axis,z_axis)
        print(self.cubicSplineInterpolate.xLinespace)

        for x, y, z in zip(x_axis, y_axis, z_axis):

            newPose.position.x = x
            newPose.position.y = y
            newPose.position.z = z
            newPose.orientation.x = -0.907106781172
            newPose.orientation.y = -0.0707106781191
            newPose.orientation.z = 2.59734823723e-06
            newPose.orientation.w = -2.59734823723e-06
            self.set_position_cartesian.publish(newPose)
            rospy.loginfo(newPose)
            rospy.sleep(1)

Answer 1

從評論：如果trajectoryMover調用cubicSplineInterpolate

類example_application：

def cubicSplineInterpolate(self, x_axis, y_axis, z_axis):

    m=1
    xLinespace=[]
    yLinespace=[]
    zLinespace=[]
    while m<len(x_axis):
        for t in np.arange(m-1,m,1/float(100)):
            xLinespace.append(self.func(x_axis[m-1],x_axis[m],t,U[m-1],U[m],m-1,m))
            yLinespace.append(self.func(y_axis[m-1],y_axis[m],t,V[m-1],V[m],m-1,m))
            zLinespace.append(self.func(z_axis[m-1],z_axis[m],t,W[m-1],W[m],m-1,m))
        m=m+1

        return(xLinespace, yLinespace, zLinespace)

def trajectoryMover(self):
    newPose = Pose()
    x_axis = [0.01, 0.02, 0.033, 0.0044, 0.0001, 0.10]
    y_axis = [0.002, 0.00033, 0.1014, 0.01512, 0.14316, 0.015143]
    z_axis = [0.003, 0.2124, 0.15417, 0.15615, 0.01241, 0.151561]
    xLinespace, yLinespace, zLinespace = self.cubicSplineInterpolate(x_axis,y_axis,z_axis)
    print(self.cubicSplineInterpolate.xLinespace)

    for x, y, z in zip(x_axis, y_axis, z_axis):

        newPose.position.x = x
        newPose.position.y = y
        newPose.position.z = z
        newPose.orientation.x = -0.907106781172
        newPose.orientation.y = -0.0707106781191
        newPose.orientation.z = 2.59734823723e-06
        newPose.orientation.w = -2.59734823723e-06
        self.set_position_cartesian.publish(newPose)
        rospy.loginfo(newPose)
        rospy.sleep(1)

還要注意（盡管不是很重要）：我相信PEP8表示函數應使用下划線分隔，即trajectory_mover和cubic_spline_interpolate（）