RestoreFrame* RestoreFrame::findFrameFor(DatabasePtr db)
{
BaseFrame* bf = frameFromIdString(getFrameId(db));
if (!bf)
return 0;
return dynamic_cast<RestoreFrame*>(bf);
}
EventWatcherFrame* EventWatcherFrame::findFrameFor(DatabasePtr db)
{
BaseFrame* bf = frameFromIdString(getFrameId(db));
if (!bf)
return 0;
return dynamic_cast<EventWatcherFrame*>(bf);
}
onut::Texture* SpriteAnim::getTexture() const
{
if (m_pCurrentAnim)
{
return m_pCurrentAnim->frames[getFrameId()].pTexture;
}
return nullptr;
}
const Vector2& SpriteAnim::getOrigin() const
{
if (m_pCurrentAnim)
{
return m_pCurrentAnim->frames[getFrameId()].origin;
}
static Vector2 ret(.5f, .5f);
return ret;
}
const Vector4& SpriteAnim::getUVs() const
{
if (m_pCurrentAnim)
{
return m_pCurrentAnim->frames[getFrameId()].UVs;
}
static Vector4 ret(0, 0, 1, 1);
return ret;
}
void
Frame::computeAccelerationDep(void) const
{
if (hasParent()) {
mParentSpAccel = motionFromParent(getParentFrame()->getSpAccel());
mReferenceFrameId = getParentFrame()->getRefFrameId();
} else {
mParentSpAccel = Vector6::zeros();
mReferenceFrameId = getFrameId();
}
mDirtySpAccel = false;
}
void
Frame::computeVelocityDep(void) const
{
if (hasParent()) {
mParentSpVel = motionFromParent(getParentFrame()->getSpVel());
mRefVel = getRelVel() + motionFromParent(getParentFrame()->getRefVel());
mReferenceFrameId = getParentFrame()->getRefFrameId();
} else {
mParentSpVel = Vector6::zeros();
mRefVel = Vector6::zeros();
mReferenceFrameId = getFrameId();
}
mDirtySpVel = false;
}
void
Frame::computePositionDep(void) const
{
if (hasParent()) {
mRefOrient = getParentFrame()->getRefOrientation()*getOrientation();
mRefPos = getParentFrame()->posToRef(getPosition());
mReferenceFrameId = getParentFrame()->getRefFrameId();
} else {
mRefOrient = getOrientation();
mRefPos = getPosition();
mReferenceFrameId = getFrameId();
}
mDirtyPos = false;
}
void TXRequest::assemblePacket(){
packet.clear();
packet.append(getFrameType());
packet.append(getFrameId());
packet.append(getDestAddr64());
packet.append(getDestAddr16());
packet.append(getBroadcastRadius());
packet.append(getTransmitOptions());
packet.append(getData());
setLength(packet.size());
createChecksum(packet);
packet.append(getChecksum());
packet.insert(0, getStartDelimiter());
packet.insert(1, getLength());
}
RestoreFrame::RestoreFrame(wxWindow* parent, DatabasePtr db)
: BackupRestoreBaseFrame(parent, db)
{
setIdString(this, getFrameId(db));
wxString databaseName(db->getName_());
wxString serverName(db->getServer()->getName_());
SetTitle(wxString::Format(_("Restore Database \"%s:%s\""),
serverName.c_str(), databaseName.c_str()));
createControls();
layoutControls();
updateControls();
text_ctrl_filename->SetFocus();
}
EventWatcherFrame::EventWatcherFrame(wxWindow* parent, DatabasePtr db)
: BaseFrame(parent, -1, wxEmptyString), databaseM(db), eventsM(0)
{
wxASSERT(db);
timerM.SetOwner(this, ID_timer);
setIdString(this, getFrameId(db));
// observe database object to close on disconnect / destruction
db->attachObserver(this, false);
SetTitle(wxString::Format(_("Event Monitor for Database: %s"),
db->getName_().c_str()));
createControls();
layoutControls();
updateControls();
button_add->SetFocus();
#include "new.xpm"
wxBitmap bmp(new_xpm);
wxIcon icon;
icon.CopyFromBitmap(bmp);
SetIcon(icon);
}
void SkeletonStream::renderSkeleton(const Eigen::Matrix3Xd& skeleton)
{
visualization_msgs::MarkerArray marker_array;
visualization_msgs::Marker marker;
marker.header.frame_id = getFrameId();
marker.header.stamp = ros::Time::now();
marker.action = visualization_msgs::Marker::ADD;
marker.pose.orientation.w = 1;
marker.pose.orientation.x = 0;
marker.pose.orientation.y = 0;
marker.pose.orientation.z = 0;
marker.id = 0;
// spheres
marker.type = visualization_msgs::Marker::SPHERE_LIST;
marker.scale.x = 0.1; // 10cm
marker.scale.y = 0.1;
marker.scale.z = 0.1;
marker.color.r = 0.5;
marker.color.g = 0.5;
marker.color.b = 0.5;
marker.color.a = 1.0;
marker.pose.position.x = 0;
marker.pose.position.y = 0;
marker.pose.position.z = 0;
for (int i=0; i<joint_names_.size(); i++)
{
geometry_msgs::Point point;
marker.ns = joint_names_[i];
point.x = skeleton(0, i);
point.y = skeleton(1, i);
point.z = skeleton(2, i);
marker.points.push_back(point);
}
marker_array.markers.push_back(marker);
// texts
marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker.id = 1;
marker.scale.x = 0.1; // 10cm
marker.scale.y = 0.1;
marker.scale.z = 0.1;
marker.color.r = 1.0;
marker.color.g = 1.0;
marker.color.b = 1.0;
marker.color.a = 1.0;
for (int i=0; i<joint_names_.size(); i++)
{
marker.ns = joint_names_[i];
marker.text = joint_names_[i];
marker.pose.position.x = skeleton(0, i);
marker.pose.position.y = skeleton(1, i);
marker.pose.position.z = skeleton(2, i);
marker_array.markers.push_back(marker);
}
marker_array_publisher_.publish(marker_array);
}
