bool RobotNode::initialize(SceneObjectPtr parent, const std::vector<SceneObjectPtr> &children)
{
RobotPtr rob = robot.lock();
THROW_VR_EXCEPTION_IF(!rob, "Could not init RobotNode without robot" );
// robot
if (!rob->hasRobotNode(static_pointer_cast<RobotNode>(shared_from_this())))
rob->registerRobotNode(static_pointer_cast<RobotNode>(shared_from_this()));
// update visualization of coordinate systems
if (visualizationModel && visualizationModel->hasAttachedVisualization("CoordinateSystem"))
{
VisualizationNodePtr v = visualizationModel->getAttachedVisualization("CoordinateSystem");
// not needed any more!
// this is a little hack: The globalPose is used to set the "local" position of the attached Visualization:
// Since the attached visualizations are already positioned at the global pose of the visualizationModel,
// we just need the local postJointTransform
//v->setGlobalPose(postJointTransformation);
}
checkValidRobotNodeType();
for (size_t i=0;i<sensors.size();i++)
{
sensors[i]->initialize(shared_from_this());
}
return SceneObject::initialize(parent,children);
}
bool RobotConfig::setJointValues( RobotPtr r )
{
if (!r)
return false;
WriteLockPtr lock = r->getWriteLock();
std::map < std::string, float > jv = getRobotNodeJointValueMap();
std::map< std::string, float >::const_iterator i = jv.begin();
// first check if all nodes are present
while (i != jv.end())
{
if (!r->hasRobotNode(i->first))
return false;
i++;
}
// apply jv
i = jv.begin();
while (i != jv.end())
{
RobotNodePtr rn = r->getRobotNode(i->first);
if (!rn)
return false;
rn->setJointValueNoUpdate(i->second);
i++;
}
r->applyJointValues();
return true;
}
Eigen::Matrix4f LinkedCoordinate::getCoordinateTransformation(const RobotNodePtr &origin,
const RobotNodePtr &destination, const RobotPtr &robot){
if (!destination)
THROW_VR_EXCEPTION(format("Destination RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!origin)
THROW_VR_EXCEPTION(format("Origin RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!robot)
THROW_VR_EXCEPTION(format("RobotPtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!robot->hasRobotNode( origin) )
THROW_VR_EXCEPTION(format("Origin robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % origin->getName() % robot->getName() % BOOST_CURRENT_FUNCTION);
if (!robot->hasRobotNode( destination) )
THROW_VR_EXCEPTION(format("Destination robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % robot->getName() % BOOST_CURRENT_FUNCTION);
// std::cout << "Destination: " << destination->getName() <<std::endl << "Origin: " << origin->getName() << std::endl;
// std::cout << "Destination:\n" << destination->getGlobalPose() <<std::endl << "Origin:\n" << origin->getGlobalPose() << std::endl;
return destination->getGlobalPose().inverse() * origin->getGlobalPose();
}
bool RobotConfig::setConfig( RobotNodePtr node, float value )
{
THROW_VR_EXCEPTION_IF(!node,"Null data");
RobotPtr r = robot.lock();
if (!r)
{
VR_WARNING << "Robot is already deleted, skipping update..." << endl;
return false;
}
THROW_VR_EXCEPTION_IF(!r->hasRobotNode(node),"RobotNode with name " << r->getName() << " does not belong to robot " << r->getName());
configs[node] = value;
return true;
}
