int main()
{
try
{
printf ("Starting publisher...\n");
void *context = zmq_ctx_new ();
void *pub_sock = zmq_socket (context, ZMQ_PUB);
int rc = zmq_bind (pub_sock, "tcp://*:5555");
assert (rc == 0);
while (1)
{
mrpt::poses::CPose3D my_pose(0.5f,0.5f,1.5f ,DEG2RAD(-90.0f),DEG2RAD(0),DEG2RAD(-90.0f) );
printf("Publishing pose...\n");
mrpt::comms::mrpt_send_to_zmq(pub_sock, my_pose);
std::this_thread::sleep_for(100ms);
mrpt::img::CImage my_img(800,600, CH_RGB);
printf("Publishing img...\n");
mrpt::comms::mrpt_send_to_zmq(pub_sock, my_img, 0 /* max_packet_len: 0=no max size */);
std::this_thread::sleep_for(100ms);
}
zmq_close (pub_sock);
zmq_ctx_destroy (context);
return 0;
} catch (std::exception &e)
{
std::cerr << "**Exception**: " << e.what() << std::endl;
return -1;
}
}
TEST(CPose3DInterpolator, interp)
{
using namespace mrpt::poses;
using mrpt::math::TPose3D;
using mrpt::math::CMatrixDouble44;
using mrpt::DEG2RAD;
const mrpt::system::TTimeStamp t0 = mrpt::system::now();
const mrpt::system::TTimeStamp dt = mrpt::system::secondsToTimestamp(0.10);
CPose3DInterpolator pose_path;
pose_path.insert(
t0, TPose3D(1., 2., 3., DEG2RAD(30.0), DEG2RAD(.0), DEG2RAD(.0)));
pose_path.insert(
t0 + 2 * dt, TPose3D(
1. + 3., 2. + 4., 3. + 5., DEG2RAD(30.0 + 20.0),
DEG2RAD(.0), DEG2RAD(.0)));
TPose3D interp;
bool valid;
pose_path.interpolate(t0 + dt, interp, valid);
EXPECT_TRUE(valid);
const TPose3D interp_good(
1. + 1.5, 2. + 2.0, 3. + 2.5, DEG2RAD(30.0 + 10.0), DEG2RAD(.0),
DEG2RAD(.0));
EXPECT_NEAR(
.0, (CPose3D(interp_good).getHomogeneousMatrixVal<CMatrixDouble44>() -
CPose3D(interp).getHomogeneousMatrixVal<CMatrixDouble44>())
.array()
.abs()
.sum(),
1e-4);
}
void TPose3D::fromString(const std::string& s)
{
CMatrixDouble m;
if (!m.fromMatlabStringFormat(s))
THROW_EXCEPTION("Malformed expression in ::fromString");
ASSERTMSG_(
m.rows() == 1 && m.cols() == 6, "Wrong size of vector in ::fromString");
x = m.get_unsafe(0, 0);
y = m.get_unsafe(0, 1);
z = m.get_unsafe(0, 2);
yaw = DEG2RAD(m.get_unsafe(0, 3));
pitch = DEG2RAD(m.get_unsafe(0, 4));
roll = DEG2RAD(m.get_unsafe(0, 5));
}
void TTwist3D::fromString(const std::string& s)
{
CMatrixDouble m;
if (!m.fromMatlabStringFormat(s))
THROW_EXCEPTION("Malformed expression in ::fromString");
ASSERTMSG_(
m.rows() == 1 && m.cols() == 6, "Wrong size of vector in ::fromString");
for (int i = 0; i < 3; i++) (*this)[i] = m.get_unsafe(0, i);
for (int i = 0; i < 3; i++)
(*this)[3 + i] = DEG2RAD(m.get_unsafe(0, 3 + i));
}
void TTwist2D::fromString(const std::string& s)
{
CMatrixDouble m;
if (!m.fromMatlabStringFormat(s))
THROW_EXCEPTION("Malformed expression in ::fromString");
ASSERTMSG_(
m.rows() == 1 && m.cols() == 3, "Wrong size of vector in ::fromString");
vx = m.get_unsafe(0, 0);
vy = m.get_unsafe(0, 1);
omega = DEG2RAD(m.get_unsafe(0, 2));
}
TEST(CPose3DInterpolator, interp)
{
using namespace mrpt::poses;
using mrpt::DEG2RAD;
using mrpt::math::CMatrixDouble44;
using mrpt::math::TPose3D;
auto t0 = mrpt::Clock::now();
mrpt::Clock::duration dt(std::chrono::milliseconds(100));
CPose3DInterpolator pose_path;
pose_path.insert(
t0, TPose3D(1., 2., 3., DEG2RAD(30.0), DEG2RAD(.0), DEG2RAD(.0)));
pose_path.insert(
t0 + 2 * dt, TPose3D(
1. + 3., 2. + 4., 3. + 5., DEG2RAD(30.0 + 20.0),
DEG2RAD(.0), DEG2RAD(.0)));
TPose3D interp;
bool valid;
pose_path.interpolate(t0 + dt, interp, valid);
EXPECT_TRUE(valid);
const TPose3D interp_good(
1. + 1.5, 2. + 2.0, 3. + 2.5, DEG2RAD(30.0 + 10.0), DEG2RAD(.0),
DEG2RAD(.0));
EXPECT_NEAR(
.0,
(CPose3D(interp_good).getHomogeneousMatrixVal<CMatrixDouble44>() -
CPose3D(interp).getHomogeneousMatrixVal<CMatrixDouble44>())
.array()
.abs()
.sum(),
2e-4);
}