int main(int argc, char** argv)
{
// ROS set-ups:
ros::init(argc, argv, "needle_planner_test_main"); //node name
ros::NodeHandle nh; // create a node handle; need to pass this to the class constructor
init_poses();
ROS_INFO("main: instantiating an object of type NeedlePlanner");
NeedlePlanner needlePlanner;
needlePlanner.set_affine_lcamera_to_psm_one(g_affine_lcamera_to_psm_one);
needlePlanner.set_affine_lcamera_to_psm_two(g_affine_lcamera_to_psm_two);
Eigen::Vector3d O_needle;
O_needle<< 0.0,0.0,0.092; //we can hard-code O_needle(2) (z-value) for known tissue height
double r_needle = 0.012; //0.0254/2.0;
double kvec_yaw = 0.0;
cout<<"enter kvec_yaw: (e.g. 0-2pi): ";
cin>>kvec_yaw;
vector <Eigen::Affine3d> gripper_affines_wrt_camera; //put answers here
double needle_x,needle_y,needle_z;
cout<<"enter needle center x coord (e.g. 0): ";
cin>>needle_x;
cout<<"enter needle center y coord (e.g. 0): ";
cin>>needle_y;
cout<<"enter needle center z coord (e.g. 0.112): ";
cin>>needle_z;
O_needle(0) = needle_x;
O_needle(1) = needle_y;
O_needle(2) = needle_z;
//compute the tissue frame in camera coords, based on point-cloud selections:
needlePlanner.simple_horiz_kvec_motion(O_needle, r_needle, kvec_yaw, gripper_affines_wrt_camera);
int nposes = gripper_affines_wrt_camera.size();
ROS_INFO("computed %d gripper poses w/rt camera",nposes);
Eigen::Affine3d affine_pose;
for (int i=0;i<nposes;i++) {
ROS_INFO("pose %d",i);
cout<<gripper_affines_wrt_camera[i].linear()<<endl;
cout<<"origin: "<<gripper_affines_wrt_camera[i].translation().transpose()<<endl;
}
needlePlanner.write_needle_drive_affines_to_file(gripper_affines_wrt_camera);
return 0;
}
int main(int argc, char** argv) {
// ROS set-ups:
ros::init(argc, argv, "needle_planner_test_main"); //node name
ros::NodeHandle nh; // create a node handle; need to pass this to the class constructor
ros::Subscriber pt_subscriber = nh.subscribe("/entrance_and_exit_pts", 1, inPointsCallback);
ros::Subscriber entry_pt_subscriber = nh.subscribe("/thePoint", 1, entryPointCallback);
ros::Subscriber exit_marker_subscriber = nh.subscribe("/final_point_marker",1,exitMarkerCallback);
// ros::Publisher finalPointPub = nh.advertise<visualization_msgs::Marker>("/final_point_marker", 0);
init_poses();
ROS_INFO("main: instantiating an object of type NeedlePlanner");
NeedlePlanner needlePlanner;
needlePlanner.set_affine_lcamera_to_psm_one(g_affine_lcamera_to_psm_one);
needlePlanner.set_affine_lcamera_to_psm_two(g_affine_lcamera_to_psm_two);
Eigen::Vector3d O_needle;
double r_needle = DEFAULT_NEEDLE_RADIUS; //0.012; //0.0254/2.0;
Eigen::Vector3d in_to_out_vec;
double kvec_yaw;
//cout<<"enter kvec_yaw: (e.g. 0-2pi): ";
//cin>>kvec_yaw;
/*
double needle_x,needle_y,needle_z;
cout<<"enter needle center x coord (e.g. 0): ";
cin>>needle_x;
cout<<"enter needle center y coord (e.g. 0): ";
cin>>needle_y;
cout<<"enter needle center z coord (e.g. 0.112): ";
cin>>needle_z;
O_needle(0) = needle_x;
O_needle(1) = needle_y;
O_needle(2) = needle_z;
*/
Eigen::Affine3d affine_pose;
vector <Eigen::Affine3d> gripper_affines_wrt_camera; //put answers here
ROS_INFO("entering loop...");
while (ros::ok()) {
if (g_got_new_points) {
g_got_new_points = false;
//compute O_needle from entry and exit points:
O_needle = 0.5 * (g_O_entry_point + g_O_exit_point);
O_needle(2) -= DEFAULT_NEEDLE_AXIS_HT;
in_to_out_vec = g_O_exit_point - g_O_entry_point;
//vector from entry to exit is 90-deg away from needle z-axis, so add pi/2
kvec_yaw = atan2(in_to_out_vec(1), in_to_out_vec(0))+M_PI/2.0;
ROS_INFO("using kvec_yaw = %f",kvec_yaw);
//compute the tissue frame in camera coords, based on point-cloud selections:
needlePlanner.simple_horiz_kvec_motion(O_needle, r_needle, kvec_yaw, gripper_affines_wrt_camera);
int nposes = gripper_affines_wrt_camera.size();
ROS_INFO("computed %d gripper poses w/rt camera", nposes);
for (int i = 0; i < nposes; i++) {
ROS_INFO("pose %d", i);
cout << gripper_affines_wrt_camera[i].linear() << endl;
cout << "origin: " << gripper_affines_wrt_camera[i].translation().transpose() << endl;
}
needlePlanner.write_needle_drive_affines_to_file(gripper_affines_wrt_camera);
}
ros::spinOnce();
ros::Duration(0.01).sleep();
}
return 0;
}
int main(int argc, char** argv) {
// ROS set-ups:
ros::init(argc, argv, "needle_planner_test_main"); //node name
ros::NodeHandle nh; // create a node handle; need to pass this to the class constructor
ros::Publisher exit_pt_publisher = nh.advertise<geometry_msgs::Point>("exit_points", 1);
//ros::Publisher exit_pt_score_publisher = nh.advertise<geometry_msgs::Polygon>("exit_points_score", 1);
ros::Publisher exit_pt_score_publisher = nh.advertise<std_msgs::Int32MultiArray>("exit_points_score", 1);
ros::Publisher exit_pt_array_publisher = nh.advertise<geometry_msgs::Polygon>("exit_point_array", 1);
ros::Subscriber thePoint = nh.subscribe("/thePoint", 1, inPointCallback);
Eigen::Vector3d O_needle;
Eigen::Vector3d O_entrance_pt;
Eigen::Vector3d O_exit_pt;
double x_entrance, y_entrance;
geometry_msgs::Polygon polygon_msg;
// Added by DLC
//geometry_msgs::Polygon exit_pts_score;
std_msgs::Int32MultiArray exit_pts_score;
ofstream outfile;
/*
cout<<"using tissue z = "<<z_tissue<<endl;
O_needle(2) = z_tissue - needle_height_above_tissue; // closer to camera, so smaller z
cout<<"enter entrance pt x (e.g. -0.02): ";
cin>>x_entrance;
O_entrance_pt(0) = x_entrance;
cout<<"enter entrance pt y (e.g. 0.01): ";
cin>>y_entrance;
O_entrance_pt(1) = y_entrance;
O_entrance_pt(2) = z_tissue;
cout<<"O_entrance_pt = "<<O_entrance_pt.transpose()<<endl;
//O_needle<< -0.02,0.004,0.1578; //we can hard-code O_needle(2) (z-value) for known tissue height
*/
vector <Eigen::Affine3d> gripper_affines_wrt_camera; //put answers here
vector <Eigen::Affine3d> gripper2_affines_wrt_camera;
Eigen::Vector3d gripper1_motion;
Eigen::Vector3d gripper2_motion;
Eigen::VectorXi ik_ok_array(40); //Add by DLC 5-26-2016 also in test_main, test_main_v2
int ik_score=0;
vector <geometry_msgs::Point> exit_points;
geometry_msgs::Point exitPoint;
geometry_msgs::Point32 p32;
// Add by DLC
//geometry_msgs::Point32 pscore;
double needle_x, needle_y, needle_x2, needle_y2;;
Eigen::Vector3d v_entrance_to_exit, v_entrance_to_exit0, tissue_normal;
tissue_normal << 0, 0, -1;
v_entrance_to_exit0 << 0, -1, 0;
// The vector is anti parallel to camera Y when kvec is zero
ROS_INFO("main: instantiating an object of type NeedlePlanner");
NeedlePlanner needlePlanner;
init_poses();
// set camera-to-base transforms:
needlePlanner.set_affine_lcamera_to_psm_one(g_affine_lcamera_to_psm_one);
needlePlanner.set_affine_lcamera_to_psm_two(g_affine_lcamera_to_psm_two);
while (ros::ok()) {
if (g_got_new_entry_point) {
g_got_new_entry_point = false;
// For needle driving, set need_x as desire grasping, then set Kve_yaw for one exit point
for (needle_x = 0; needle_x < 0.1; needle_x += 0.7854){
ROS_WARN("file opened");
outfile.open ("entry_exit_points_coords.txt", std::ofstream::out | std::ofstream::app);
polygon_msg.points.clear();
exit_pts_score.data.clear();
double kvec_yaw = 0.0; // rotation of needle z-axis w/rt camera x-axis
O_entrance_pt = g_O_entry_point;
//compute the tissue frame in camera coords, based0 on point-cloud selections, when test use 0.1, normal 6.28:
for (kvec_yaw = 0; kvec_yaw < 6.28; kvec_yaw += 0.1) {
v_entrance_to_exit = needlePlanner.Rotz(kvec_yaw) * v_entrance_to_exit0; //rotate the needle axis about camera z-axis
O_exit_pt = O_entrance_pt + d_to_exit_pt*v_entrance_to_exit;
O_needle = 0.5 * (O_exit_pt + O_entrance_pt);
O_needle(2) -= needle_height_above_tissue;
cout << "O_entrance_pt = " << O_entrance_pt.transpose() << endl;
cout << "O_needle = " << O_needle.transpose() << endl;
cout << "O_exit_pt = " << O_exit_pt.transpose() << endl;
gripper_affines_wrt_camera.clear();
gripper2_affines_wrt_camera.clear();
// needle_x = 0;
needle_y = 0;
ik_score = 0;
needlePlanner.compute_grasp_transform(needle_x, needle_y);
needle_x2 = 3.14;
needle_y2 = 0;
needlePlanner.compute_grasp2_transform(needle_x2, needle_y2);
needlePlanner.compute_tissue_frame_wrt_camera(O_entrance_pt, O_exit_pt, tissue_normal);
// needlePlanner.compute_needle_drive_gripper_affines is computing circular needle driving
needlePlanner.compute_needle_drive_gripper_affines(gripper_affines_wrt_camera, gripper2_affines_wrt_camera, ik_ok_array, ik_score);
// Dr. Newman's code, needlePlanner.simple_horiz_kvec_motion is special case for needle_x=0 and needle_y=0
// Add by DLC 5-26-2016 also in test_main, test_main_v3
// needlePlanner.simple_horiz_kvec_motion(O_needle, r_needle, kvec_yaw, gripper_affines_wrt_camera, ik_ok_array, ik_score);
//
int nposes = gripper_affines_wrt_camera.size();
cout<<"ik_ok_point:: "<<ik_ok_array.transpose()<<endl;
cout<<"score:: "<<ik_score<<endl;
ROS_WARN("at kvec_yaw = %f, computed %d needle-drive gripper poses, score %d ", kvec_yaw, nposes, ik_score);
if ((nposes >= g_npts_good) & (ik_score>0)){
exitPoint.x = O_exit_pt(0);
exitPoint.y = O_exit_pt(1);
exitPoint.z = O_exit_pt(2);
p32.x = O_exit_pt(0);
p32.y = O_exit_pt(1);
p32.z = O_exit_pt(2);
outfile<<ik_score<<", "<<O_entrance_pt(0)<<", "<<O_entrance_pt(1)<<", "<<O_exit_pt(0)<<", "<<O_exit_pt(1)<<endl;
exit_pt_publisher.publish(exitPoint);
polygon_msg.points.push_back(p32);
exit_pts_score.data.push_back(ik_score);
exit_points.push_back(exitPoint); //not used...
}
//
// Start from here gripper with respect to tissue
/*
ik_score = 741.0;
exit_pts_score.data.push_back(ik_score);
exit_pt_score_publisher.publish(exit_pts_score);
exitPoint.x = O_exit_pt(0);
exitPoint.y = O_exit_pt(1);
exitPoint.z = O_exit_pt(2);
p32.x = O_exit_pt(0);
p32.y = O_exit_pt(1);
p32.z = O_exit_pt(2);
polygon_msg.points.push_back(p32);
exit_points.push_back(exitPoint);
exit_pt_publisher.publish(exitPoint);
exit_pt_array_publisher.publish(polygon_msg);
gripper1_motion<<0.0,0.0,0.008;
gripper2_motion<<-0.005,0.004,0.008;
double dt=2.0;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
for(int kstep = 0; kstep < 10; kstep +=1){
gripper1_motion(0) +=0.005;
gripper1_motion(1) = 0.0;
gripper1_motion(2) = 0.008;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 9; kstep +=1){
gripper2_motion(0) +=0.005;
gripper2_motion(1) = -0.006;
gripper2_motion(2) = 0.008;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper1_motion(2) += 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 5; kstep +=1){
gripper1_motion(0) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper1_motion(2) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper2_motion(2) += 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 5; kstep +=1){
gripper2_motion(0) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper2_motion(2) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper1_motion(2) += 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 5; kstep +=1){
gripper1_motion(0) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper1_motion(2) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper2_motion(2) += 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 5; kstep +=1){
gripper2_motion(0) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
for(int kstep = 0; kstep < 3; kstep +=1){
gripper2_motion(2) -= 0.004;
dt += 0.2;
needlePlanner.compute_knottying_gripper_frame_wrt_camera(gripper1_motion, gripper2_motion, dt);
}
*/
}
if (polygon_msg.points.size()>0) {
exit_pt_score_publisher.publish(exit_pts_score);
exit_pt_array_publisher.publish(polygon_msg);// for rviz display
cout << "size of exit points: " << polygon_msg.points.size() << endl;
}
outfile.close();
ROS_WARN("file closed");
}
}
ros::spinOnce();
ros::Duration(0.01).sleep();
}
/*
Eigen::Affine3d affine_pose;
for (int i=0;i<nposes;i++) {
ROS_INFO("pose %d",i);
cout<<gripper_affines_wrt_camera[i].linear()<<endl;
cout<<"origin: "<<gripper_affines_wrt_camera[i].translation().transpose()<<endl;
}
needlePlanner.write_needle_drive_affines_to_file(gripper_affines_wrt_camera);
*/
return 0;
}
