void parseScoringEvents(std::string page, std::vector<ScoringEvent> *scoringEvents, Game *game, League *league){
/*
For goals, we dont' want anything above the scoring summary, or below the next </table>
*/
std::string goals = split(page, "Scoring Summary")[1];
goals = split(goals, "</table>")[0];
/*
Split by </td> to break up the periods. The first and last elements are garbage, just toss them.
*/
std::vector<std::string> goalVec = split(goals, "</td>");
goalVec.erase(goalVec.begin());
goalVec.erase(goalVec.end());
/*
Go through and remove the opening <td> tag now from every element, it's unnecessary.
*/
for(int i = 0; i < goalVec.size(); i++){
goalVec[i] = extract(goalVec[i] + "</td>", "td");
}
/*
Cycle through goals by period
*/
for(int i = 0; i < goalVec.size(); i+=2){
/*
Only if there was a goal in that period
*/
if(goalVec[i+1].find("(no scoring)") == std::string::npos ){
/*
Get the actual number for this period
*/
int per = getPeriod(goalVec[i]);
/*
If there are more than one goals in that period, split them up and process them seperately.
If there is only one goal, process it directly.
*/
if(goalVec[i+1].find("<tr>") != std::string::npos){
std::vector<std::string> firstsplit = split(goalVec[i+1], "<tr>");
for(int n = 0; n < firstsplit.size(); n++){
/*
If it wasn't the first goal of the period, there will be another <td> tag on it. We can't have that, so strip it off.
*/
if(firstsplit[n].find("<td") != std::string::npos)
firstsplit[n] = extract(firstsplit[n], "td");
scoringEvents->push_back(processGoal(game, league, per, firstsplit[n]));
}
}else{
scoringEvents->push_back(processGoal(game, league, per, goalVec[i+1]));
}
}
}
}
// Action server sends goals here
void goalCB()
{
ROS_INFO_STREAM_NAMED("pick_place_moveit","Received goal -----------------------------------------------");
pick_place_goal_ = action_server_.acceptNewGoal();
base_link_ = pick_place_goal_->frame;
processGoal(pick_place_goal_->pickup_pose, pick_place_goal_->place_pose);
}
// Skip perception
void fake_goalCB()
{
ROS_INFO_STREAM_NAMED("pick_place_moveit","Received fake goal ----------------------------------------");
// Position
geometry_msgs::Pose start_block_pose;
geometry_msgs::Pose end_block_pose;
// Does not work
start_block_pose.position.x = 0.35;
start_block_pose.position.y = 0.2;
start_block_pose.position.z = 0.02;
// Works - close
start_block_pose.position.x = 0.2;
start_block_pose.position.y = 0.0;
start_block_pose.position.z = 0.02;
// 3rd try
start_block_pose.position.x = 0.35;
start_block_pose.position.y = 0.1;
start_block_pose.position.z = 0.02;
nh_.param<double>("/block_pick_place_server/block_x", start_block_pose.position.x, 0.2);
nh_.param<double>("/block_pick_place_server/block_y", start_block_pose.position.y, 0.0);
nh_.param<double>("/block_pick_place_server/block_z", start_block_pose.position.z, 0.02);
ROS_INFO_STREAM_NAMED("pick_place_moveit","start block is \n" << start_block_pose.position);
end_block_pose.position.x = 0.25;
end_block_pose.position.y = 0.15;
end_block_pose.position.z = 0.02;
// Orientation
double angle = M_PI / 1.5;
Eigen::Quaterniond quat(Eigen::AngleAxis<double>(double(angle), Eigen::Vector3d::UnitZ()));
start_block_pose.orientation.x = quat.x();
start_block_pose.orientation.y = quat.y();
start_block_pose.orientation.z = quat.z();
start_block_pose.orientation.w = quat.w();
angle = M_PI / 1.1;
quat = Eigen::Quaterniond(Eigen::AngleAxis<double>(double(angle), Eigen::Vector3d::UnitZ()));
end_block_pose.orientation.x = quat.x();
end_block_pose.orientation.y = quat.y();
end_block_pose.orientation.z = quat.z();
end_block_pose.orientation.w = quat.w();
// Fill goal
base_link_ = "base_link";
processGoal(start_block_pose, end_block_pose);
}
