bool FrameManager::getTransform(const std::string& frame, ros::Time time, osg::Vec3d& position, osg::Quat& orientation)
{
boost::mutex::scoped_lock lock(cache_mutex_);
position = osg::Vec3d(9999999, 9999999, 9999999);
orientation.set(0,0,0,1);
if (fixed_frame_.empty())
{
return false;
}
M_Cache::iterator it = cache_.find(CacheKey(frame, time));
if (it != cache_.end())
{
position = it->second.position;
orientation = it->second.orientation;
return true;
}
geometry_msgs::Pose pose;
pose.orientation.w = 1.0f;
if (!transform(frame, time, pose, position, orientation))
{
return false;
}
cache_.insert(std::make_pair(CacheKey(frame, time), CacheEntry(position, orientation)));
return true;
}
void ComputeOrientation(const osg::Vec3& lv,const osg::Vec3& up, osg::Quat &rotationDest)
{
osg::Vec3 f(lv);
f.normalize();
osg::Vec3 s(f^up);
s.normalize();
osg::Vec3 u(s^f);
u.normalize();
{
__asm NOP
}
osg::Matrix rotation_matrix(s[0], u[0], -f[0], 0.0f,
s[1], u[1], -f[1], 0.0f,
s[2], u[2], -f[2], 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
rotationDest.set(rotation_matrix);
//debug_matrix = rotation_matrix;
//debug_quat = rotationDest;
rotationDest = rotationDest.inverse();
} // ComputeOrientation
void vehiclePoseCallback(const nav_msgs::Odometry& odom) {
if (!firstpass) {
initialT.set(odom.pose.pose.position.x,odom.pose.pose.position.y,odom.pose.pose.position.z);
initialQ.set(odom.pose.pose.orientation.x, odom.pose.pose.orientation.y, odom.pose.pose.orientation.z, odom.pose.pose.orientation.w);
wMv_initial.setTrans(initialT);
wMv_initial.setRotate(initialQ);
firstpass=true;
}
}
bool FrameManager::transform(const std::string& frame, ros::Time time, const geometry_msgs::Pose& pose_msg, osg::Vec3d& position, osg::Quat& orientation)
{
position.set(0,0,0);
orientation.set(0,0,0,1);
// put all pose data into a tf stamped pose
btQuaternion bt_orientation(pose_msg.orientation.x, pose_msg.orientation.y, pose_msg.orientation.z, pose_msg.orientation.w);
btVector3 bt_position(pose_msg.position.x, pose_msg.position.y, pose_msg.position.z);
if (bt_orientation.x() == 0.0 && bt_orientation.y() == 0.0 && bt_orientation.z() == 0.0 && bt_orientation.w() == 0.0)
{
bt_orientation.setW(1.0);
}
tf::Stamped<tf::Pose> pose_in(btTransform(bt_orientation,bt_position), time, frame);
tf::Stamped<tf::Pose> pose_out;
// convert pose into new frame
try
{
tf_->transformPose( fixed_frame_, pose_in, pose_out );
}
catch(tf::TransformException& e)
{
ROS_DEBUG("Error transforming from frame '%s' to frame '%s': %s", frame.c_str(), fixed_frame_.c_str(), e.what());
return false;
}
#if ROS_VERSION_MINIMUM(1, 8, 0)
//ROS Fuerte version
bt_position = pose_out.asBt().getOrigin();
bt_orientation = pose_out.asBt().getRotation();
#else
bt_position = pose_out.getOrigin();
bt_orientation = pose_out.getRotation();
#endif
position = osg::Vec3d(bt_position.x(), bt_position.y(), bt_position.z());
orientation = osg::Quat( bt_orientation.x(), bt_orientation.y(), bt_orientation.z(), bt_orientation.w() );
return true;
}
void osg::av_popMsg(av::Msg& netMsg, ::osg::Quat& buf)
{
::osg::Vec4d vec;
av_popMsg(netMsg, vec);
buf.set(vec);
}
