void ViewerWidget::setCamPose(const octomath::Pose6D& pose){ octomath::Pose6D ahead = pose * octomath::Pose6D(octomath::Vector3(1,0,0), octomath::Quaternion()); setCamPosition(pose.x(), pose.y(), pose.z(), ahead.x(), ahead.y(), ahead.z()); }
bool ReachabilityDummyInterface::isReachable(const octomath::Pose6D &pose) const { Capability cap; if (pose.y() > 0.04 && pose.y() < 0.06 && pose.z() > 0.44 && pose.z() < 0.46) { if (pose.x() > 0.14 && pose.x() < 0.16) { cap = Capability(SPHERE, 0.0, 0.0, 0.0); } else if (pose.x() > 0.34 && pose.x() < 0.36) { cap = Capability(CONE, 0.0, 90.0, 15.0); } else if (pose.x() > 0.54 && pose.x() < 0.56) { cap = Capability(CONE, 90.0, 0.0, 45.0); } else if (pose.x() > 0.74 && pose.x() < 0.76) { cap = Capability(CONE, 90.0, 0.0, 125.0); } else if (pose.x() > 0.94 && pose.x() < 0.96) { cap = Capability(CONE, 180.0, 120.0, 70.0); } else if (pose.x() > 1.14 && pose.x() < 1.16) { cap = Capability(CYLINDER_1, 0.0, 0.0, 10.0); } else if (pose.x() > 1.34 && pose.x() < 1.36) { cap = Capability(CYLINDER_1, 0.0, 0.0, 90.0); } else if (pose.x() > 1.54 && pose.x() < 1.56) { cap = Capability(CYLINDER_1, 40.0, 50.0, 45.0); } else if (pose.x() > 1.74 && pose.x() < 1.76) { cap = Capability(CYLINDER_2, 0.0, 0.0, 10.0); } else if (pose.x() > 1.94 && pose.x() < 1.96) { cap = Capability(CYLINDER_2, 0.0, 0.0, 45.0); } else if (pose.x() > 2.14 && pose.x() < 2.16) { cap = Capability(CYLINDER_2, 90.0, 90.0, 89.0); } else { return false; } } else { return false; } octomath::Vector3 unitVector(1.0, 0.0, 0.0); octomath::Vector3 rotatedVector = pose.rot().rotate(unitVector); double phi = atan2(rotatedVector.y(), rotatedVector.x()) * 180.0 / M_PI; double theta = acos(rotatedVector.z()) * 180.0 / M_PI; return cap.isDirectionPossible(phi, theta); }