qglviewer::Quaternion ViewerWidget::poseToQGLQuaternion(const octomath::Pose6D& pose) {
// copying octomap::Quaternion parameters to qglviewer::Quaternion does not work (reason unknown)
// octomath::Quaternion quaternion = pose.rot().normalized();
// return qglviewer::Quaternion(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.u());
// Compute viewing direction and use code from libqglviewer's "look at" function
octomath::Vector3 dir = pose.rot().rotate(octomath::Vector3(1.,0.,0.));
qglviewer::Vec direction(dir.x(), dir.y(), dir.z());
//qglviewer::Vec xAxis = direction ^ camera()->upVector();
// useing 0, 0, 1 as upvector instead:
qglviewer::Vec xAxis = direction ^ qglviewer::Vec(0.0, 0.0, 1.0);
qglviewer::Quaternion q;
q.setFromRotatedBasis(xAxis, xAxis^direction, -direction);
return q;
}
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);
}