void
NavGraph::edge_add_no_intersection(const NavGraphEdge &edge)
{
try {
const NavGraphNode &n1 = node(edge.from());
const NavGraphNode &n2 = node(edge.to());
for (const NavGraphEdge &ne : edges_) {
if (edge.from() == ne.from() || edge.from() == ne.to() ||
edge.to() == ne.to() || edge.to() == ne.from()) continue;
if (ne.intersects(n1.x(), n1.y(), n2.x(), n2.y())) {
throw Exception("Edge %s-%s%s not added: intersects with %s-%s%s",
edge.from().c_str(), edge.is_directed() ? ">" : "-", edge.to().c_str(),
ne.from().c_str(), ne.is_directed() ? ">" : "-", ne.to().c_str());
}
}
add_edge(edge, EDGE_FORCE);
} catch (Exception &ex) {
throw Exception("Failed to add edge %s-%s%s: %s",
edge.from().c_str(), edge.is_directed() ? ">" : "-", edge.to().c_str(),
ex.what_no_backtrace());
}
}
void
NavGraphInteractiveThread::process_node_feedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
{
switch ( feedback->event_type )
{
case visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK:
break;
case visualization_msgs::InteractiveMarkerFeedback::MENU_SELECT:
logger->log_debug(name(), "%s/%s: menu item %u clicked",
feedback->marker_name.c_str(), feedback->control_name.c_str(),
feedback->menu_entry_id);
{
visualization_msgs::InteractiveMarker int_marker;
if (server_->get(feedback->marker_name, int_marker)) {
if (node_menus_.find(int_marker.name) != node_menus_.end()) {
NodeMenu &menu = node_menus_[int_marker.name];
if (feedback->menu_entry_id == menu.ori_handle) {
process_node_ori_feedback(feedback, menu, int_marker);
} else if (feedback->menu_entry_id == menu.goto_handle) {
if (nav_if_->has_writer()) {
NavigatorInterface::PlaceGotoMessage *gotomsg =
new NavigatorInterface::PlaceGotoMessage(int_marker.name.c_str());
nav_if_->msgq_enqueue(gotomsg);
} else {
logger->log_error(name(), "Cannot goto %s, no writer for interface",
int_marker.name.c_str());
}
} else if (feedback->menu_entry_id == menu.remove_handle) {
navgraph.lock();
navgraph->remove_node(feedback->marker_name);
navgraph->calc_reachability(true);
navgraph.unlock();
server_->erase(feedback->marker_name);
server_->applyChanges();
} else if (menu.undir_connect_nodes.find(feedback->menu_entry_id) != menu.undir_connect_nodes.end()) {
std::string to_node = menu.undir_connect_nodes[feedback->menu_entry_id];
NavGraphEdge edge(int_marker.name, to_node);
navgraph.lock();
try {
navgraph->add_edge(edge);
navgraph->calc_reachability(true);
} catch (Exception &e) {
navgraph.unlock();
logger->log_error(name(), "Failed to insert edge %s--%s as requested, exception follows",
int_marker.name.c_str(), to_node.c_str());
logger->log_error(name(), e);
}
server_->erase(int_marker.name);
add_node(navgraph->node(int_marker.name), *navgraph);
server_->erase(to_node);
add_node(navgraph->node(to_node), *navgraph);
navgraph.unlock();
server_->applyChanges();
} else if (menu.dir_connect_nodes.find(feedback->menu_entry_id) != menu.dir_connect_nodes.end()) {
NavGraphEdge edge(int_marker.name,
menu.dir_connect_nodes[feedback->menu_entry_id]);
edge.set_directed(true);
navgraph.lock();
try {
navgraph->add_edge(edge);
navgraph->calc_reachability(true);
} catch (Exception &e) {
navgraph.unlock();
logger->log_error(name(), "Failed to insert edge %s->%s as requested, "
"exception follows", int_marker.name.c_str(),
menu.dir_connect_nodes[feedback->menu_entry_id].c_str());
logger->log_error(name(), e);
}
server_->erase(int_marker.name);
add_node(navgraph->node(int_marker.name), *navgraph);
navgraph.unlock();
server_->applyChanges();
} else if (menu.disconnect_nodes.find(feedback->menu_entry_id) != menu.disconnect_nodes.end()) {
navgraph.lock();
std::string to_node = menu.disconnect_nodes[feedback->menu_entry_id];
NavGraphEdge edge = navgraph->edge(feedback->marker_name, to_node);
if (! edge) {
logger->log_error(name(), "Failed to find edge %s--%s",
feedback->marker_name.c_str(), to_node.c_str());
}
navgraph->remove_edge(edge);
navgraph->calc_reachability(true);
server_->erase(feedback->marker_name);
add_node(navgraph->node(feedback->marker_name), *navgraph);
if (! edge.is_directed()) {
server_->erase(to_node);
add_node(navgraph->node(to_node), *navgraph);
}
navgraph.unlock();
server_->applyChanges();
} else {
logger->log_warn(name(), "Got menu feedback for %s/%s, but marker not known",
feedback->marker_name.c_str(), feedback->control_name.c_str());
}
} else {
logger->log_warn(name(), "Got feedback for %s/%s, but marker not known",
feedback->marker_name.c_str(), feedback->control_name.c_str());
}
}
}
break;
case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:
if (feedback->header.frame_id == cfg_global_frame_) {
navgraph.lock();
NavGraphNode node = navgraph->node(feedback->marker_name);
if (node) {
if (feedback->control_name == "rot_z") {
// orientation update
tf::Quaternion q(feedback->pose.orientation.x, feedback->pose.orientation.y,
feedback->pose.orientation.z, feedback->pose.orientation.w);
node.set_property(navgraph::PROP_ORIENTATION, (float)tf::get_yaw(q));
} else {
// position update
node.set_x(feedback->pose.position.x);
node.set_y(feedback->pose.position.y);
}
navgraph->update_node(node);
} else {
logger->log_warn(name(), "Position update for %s, but not unknown",
feedback->marker_name.c_str());
}
navgraph.unlock();
navgraph->notify_of_change();
} else {
logger->log_warn(name(), "Interactive marker feedback in non-global frame %s, ignoring",
feedback->header.frame_id.c_str());
}
break;
case visualization_msgs::InteractiveMarkerFeedback::MOUSE_DOWN:
case visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP:
break;
}
server_->applyChanges();
}
void
NavGraph::edge_add_split_intersection(const NavGraphEdge &edge)
{
std::list<std::pair<cart_coord_2d_t, NavGraphEdge>> intersections;
const NavGraphNode &n1 = node(edge.from());
const NavGraphNode &n2 = node(edge.to());
try {
for (const NavGraphEdge &e : edges_) {
cart_coord_2d_t ip;
if (e.intersection(n1.x(), n1.y(), n2.x(), n2.y(), ip)) {
// we need to split the edge at the given intersection point,
// and the new line segments as well
intersections.push_back(std::make_pair(ip, e));
}
}
std::list<std::list<std::pair<cart_coord_2d_t, NavGraphEdge> >::iterator> deletions;
for (auto i1 = intersections.begin(); i1 != intersections.end(); ++i1) {
const std::pair<cart_coord_2d_t, NavGraphEdge> &p1 = *i1;
const cart_coord_2d_t &c1 = p1.first;
const NavGraphEdge &e1 = p1.second;
const NavGraphNode &n1_from = node(e1.from());
const NavGraphNode &n1_to = node(e1.to());
for (auto i2 = std::next(i1); i2 != intersections.end(); ++i2) {
const std::pair<cart_coord_2d_t, NavGraphEdge> &p2 = *i2;
const cart_coord_2d_t &c2 = p2.first;
const NavGraphEdge &e2 = p2.second;
if (points_different(c1.x, c1.y, c2.x, c2.y)) continue;
float d = 1.;
if (e1.from() == e2.from() || e1.from() == e2.to()) {
d = point_dist(n1_from.x(), n1_from.y(), c1.x, c1.y);
} else if (e1.to() == e2.to() || e1.to() == e2.from()) {
d = point_dist(n1_to.x(), n1_to.y(), c1.x, c1.y);
}
if (d < 1e-4) {
// the intersection point is the same as a common end
// point of the two edges, only keep it once
deletions.push_back(i1);
break;
}
}
}
for (auto d = deletions.rbegin(); d != deletions.rend(); ++d) {
intersections.erase(*d);
}
if (intersections.empty()) {
NavGraphEdge e(edge);
e.set_property("created-for", edge.from() + "--" + edge.to());
add_edge(e, EDGE_FORCE);
} else {
Eigen::Vector2f e_origin(n1.x(), n1.y());
Eigen::Vector2f e_target(n2.x(), n2.y());
Eigen::Vector2f e_dir = (e_target - e_origin).normalized();
intersections.sort([&e_origin, &e_dir](const std::pair<cart_coord_2d_t, NavGraphEdge> &p1,
const std::pair<cart_coord_2d_t, NavGraphEdge> &p2)
{
const Eigen::Vector2f p1p(p1.first.x, p1.first.y);
const Eigen::Vector2f p2p(p2.first.x, p2.first.y);
const float k1 = e_dir.dot(p1p - e_origin);
const float k2 = e_dir.dot(p2p - e_origin);
return k1 < k2;
});
std::string en_from = edge.from();
cart_coord_2d_t ec_from(n1.x(), n1.y());
std::string prev_to;
for (const auto &i : intersections) {
const cart_coord_2d_t &c = i.first;
const NavGraphEdge &e = i.second;
// add intersection point (if necessary)
NavGraphNode ip = closest_node(c.x, c.y);
if (! ip || points_different(c.x, c.y, ip.x(), ip.y())) {
ip = NavGraphNode(gen_unique_name(), c.x, c.y);
add_node(ip);
}
// if neither edge end node is the intersection point, split the edge
if (ip.name() != e.from() && ip.name() != e.to()) {
NavGraphEdge e1(e.from(), ip.name(), e.is_directed());
NavGraphEdge e2(ip.name(), e.to(), e.is_directed());
remove_edge(e);
e1.set_properties(e.properties());
e2.set_properties(e.properties());
add_edge(e1, EDGE_FORCE, /* allow existing */ true);
add_edge(e2, EDGE_FORCE, /* allow existing */ true);
// this is a special case: we might intersect an edge
// which has the same end node and thus the new edge
// from the intersection node to the end node would
// be added twice
prev_to = e.to();
}
// add segment edge
if (en_from != ip.name() && prev_to != ip.name()) {
NavGraphEdge e3(en_from, ip.name(), edge.is_directed());
e3.set_property("created-for", en_from + "--" + ip.name());
add_edge(e3, EDGE_FORCE, /* allow existing */ true);
}
en_from = ip.name();
ec_from = c;
}
if (en_from != edge.to()) {
NavGraphEdge e3(en_from, edge.to(), edge.is_directed());
e3.set_property("created-for", en_from + "--" + edge.to());
add_edge(e3, EDGE_FORCE, /* allow existing */ true);
}
}
} catch (Exception &ex) {
throw Exception("Failed to add edge %s-%s%s: %s",
edge.from().c_str(), edge.is_directed() ? ">" : "-", edge.to().c_str(),
ex.what_no_backtrace());
}
}
