void imuCallback(sensor_msgs::Imu const &imu) {
std::vector<geometry_msgs::TransformStamped> transforms;
tf::StampedTransform transform;
tf::Quaternion orientation;
tf::quaternionMsgToTF(imu.orientation, orientation);
btScalar yaw, pitch, roll;
tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
// Stabilized transform (z, yaw)
transform.frame_id_ = global_frame_id;
transform.child_frame_id_ = stabilized_frame_id;
transform.stamp_ = imu.header.stamp;
transform.setOrigin(tf::Vector3(0.0, 0.0, 1.0));
transform.setRotation(tf::createQuaternionFromRPY(0.0, 0.0, yaw));
addTransform(transforms, transform); // Add transform to the buffer
// Base transform (roll, pitch)
transform.frame_id_ = stabilized_frame_id;
transform.child_frame_id_ = base_frame_id;
transform.stamp_ = imu.header.stamp;
transform.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
transform.setRotation(tf::createQuaternionFromRPY(roll, pitch, 0.0));
addTransform(transforms, transform); // Add transform to the buffer
// Send both Transforms
transform_broadcaster->sendTransform(transforms);
}
void imuCallback(sensor_msgs::Imu const &imu) {
std::vector<geometry_msgs::TransformStamped> transforms;
tf::Quaternion orientation;
tf::quaternionMsgToTF(imu.orientation, orientation);
tfScalar yaw, pitch, roll;
tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
tf::StampedTransform tf;
tf.stamp_ = imu.header.stamp;
// footprint intermediate transform (x,y,yaw)
tf.frame_id_ = global_frame_id;
tf.child_frame_id_ = footprint_frame_id;
tf.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
tf.setRotation(tf::createQuaternionFromRPY(0.0, 0.0, yaw));
addTransform(transforms, tf); // Add transform to the buffer
// base_link transform (roll, pitch)
tf.frame_id_ = stabilized_frame_id;
tf.child_frame_id_ = base_frame_id;
tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, 0.0));
addTransform(transforms, tf); // Add transform to the buffer
g_transform_broadcaster->sendTransform(transforms);
}
void sendTransform(geometry_msgs::Pose const &pose, const std_msgs::Header& header, std::string child_frame_id = "")
{
std::vector<geometry_msgs::TransformStamped> transforms;
tf::StampedTransform tf;
tf.frame_id_ = header.frame_id;
if (!g_frame_id.empty()) tf.frame_id_ = g_frame_id;
tf.stamp_ = header.stamp;
if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id;
if (child_frame_id.empty()) child_frame_id = "base_link";
tf::Quaternion orientation;
tf::quaternionMsgToTF(pose.orientation, orientation);
tfScalar yaw, pitch, roll;
tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
tf::Point position;
tf::pointMsgToTF(pose.position, position);
// position intermediate transform (x,y,z)
if( !g_position_frame_id.empty() && child_frame_id != g_position_frame_id) {
tf.child_frame_id_ = g_position_frame_id;
tf.setOrigin(tf::Vector3(position.x(), position.y(), position.z() ));
tf.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
addTransform(transforms, tf);
}
// footprint intermediate transform (x,y,yaw)
if (!g_footprint_frame_id.empty() && child_frame_id != g_footprint_frame_id) {
tf.child_frame_id_ = g_footprint_frame_id;
tf.setOrigin(tf::Vector3(position.x(), position.y(), 0.0));
tf.setRotation(tf::createQuaternionFromRPY(0.0, 0.0, yaw));
addTransform(transforms, tf);
yaw = 0.0;
position.setX(0.0);
position.setY(0.0);
tf.frame_id_ = g_footprint_frame_id;
}
// stabilized intermediate transform (z)
if (!g_footprint_frame_id.empty() && child_frame_id != g_stabilized_frame_id) {
tf.child_frame_id_ = g_stabilized_frame_id;
tf.setOrigin(tf::Vector3(0.0, 0.0, position.z()));
tf.setBasis(tf::Matrix3x3::getIdentity());
addTransform(transforms, tf);
position.setZ(0.0);
tf.frame_id_ = g_stabilized_frame_id;
}
// base_link transform (roll, pitch)
tf.child_frame_id_ = child_frame_id;
tf.setOrigin(position);
tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, yaw));
addTransform(transforms, tf);
br->sendTransform(transforms);
}
Layout::Layout()
: _session(nullptr)
{
setFilename("layout.html");
addTransform("stylesheets", [this](tastefulframework::DomNode & node) {
node << link(type("text/css"), href("/stylesheets/blog.css"), rel("stylesheet"));
});
addTransform("login", &Layout::login);
addTransform("menu", &Layout::menu);
}
TagPartial::TagPartial(tastefulframework::DomNode node)
: Partial(node)
, _tag(nullptr)
{
addTransform("searchtagurl", [this](tastefulframework::DomNode & node) {
node("href") = url(&SearchController::find, { { "string", _tag->name() }
});
});
addTransform("tagname", [this](tastefulframework::DomNode & node) {
node.inner() = _tag->name();
});
}
void imuCallback(sensor_msgs::Imu const &imu) {
std::vector<geometry_msgs::TransformStamped> transforms;
std::string child_frame_id;
tf::StampedTransform tf;
tf.stamp_ = imu.header.stamp;
tf.frame_id_ = tf::resolve(g_tf_prefix, g_stabilized_frame_id);
if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id;
if (child_frame_id.empty()) child_frame_id = "base_link";
tf::Quaternion orientation;
tf::quaternionMsgToTF(imu.orientation, orientation);
tfScalar yaw, pitch, roll;
tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
// base_link transform (roll, pitch)
tf.child_frame_id_ = tf::resolve(g_tf_prefix, child_frame_id);
tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, 0.0));
addTransform(transforms, tf);
g_transform_broadcaster->sendTransform(transforms);
// publish pose message
if (g_pose_publisher) {
geometry_msgs::PoseStamped pose_stamped;
pose_stamped.header.stamp = imu.header.stamp;
pose_stamped.header.frame_id = g_stabilized_frame_id;
tf::quaternionTFToMsg(tf.getRotation(), pose_stamped.pose.orientation);
g_pose_publisher.publish(pose_stamped);
}
}
Tank::Tank(QObject *parent)
: QGLSceneNode(parent)
, m_texture(0)
{
QSequentialAnimationGroup *seq = new QSequentialAnimationGroup(this);
QGraphicsScale3D *scale = new QGraphicsScale3D(this);
addTransform(scale);
QPropertyAnimation *anim = new QPropertyAnimation(scale, "scale");
anim->setDuration(10000);
anim->setStartValue(QVector3D(1.0f, 0.1f, 1.0f));
anim->setEndValue(QVector3D(1.0f, 1.2f, 1.0f));
anim->setEasingCurve(QEasingCurve(QEasingCurve::InOutQuad));
seq->addAnimation(anim);
seq->addPause(2000);
anim = new QPropertyAnimation(scale, "scale");
anim->setDuration(10000);
anim->setStartValue(QVector3D(1.0f, 1.2f, 1.0f));
anim->setEndValue(QVector3D(1.0f, 0.1f, 1.0f));
anim->setEasingCurve(QEasingCurve(QEasingCurve::InOutQuad));
seq->addAnimation(anim);
seq->setLoopCount(-1);
seq->start();
addNode(tankObject());
QGLMaterial *mat = qCreateFluid();
m_texture = mat->texture();
setMaterial(mat);
}
BlogPostEdit::BlogPostEdit(Session * session, BlogPost * blogPost, unsigned id)
: BlogView(session)
, _blogPost(blogPost)
, _id(id)
{
setFilename("blogpostedit.html");
addTransform("blogeditform", [this](tastefulframework::DomNode & node) {
node("action") = url(&BlogPostController::save);
});
addTransform("blogpostid", [this](tastefulframework::DomNode & node) {
node("value") = _id;
});
addTransform("blogposttitle", [this](tastefulframework::DomNode & node) {
node("value") = _blogPost ? _blogPost->title() : "";
});
addTransform("blogposttext", [this](tastefulframework::DomNode & node) {
node.inner() = _blogPost ? _blogPost->text() : " ";
});
addTransform("savebuttontext", [this](tastefulframework::DomNode & node) {
node("value") = (_id == 0) ? "Create" : "Save";
});
addTransform("backurl", [this](tastefulframework::DomNode & node) {
node("href") = url(&BlogPostController::index);
});
addTransform("blogposttags", &BlogPostEdit::tagList);
}
DSIGTransformBase64 * DSIGReference::appendBase64Transform() {
DOMElement *txfmElt;
DSIGTransformBase64 * txfm;
XSECnew(txfm, DSIGTransformBase64(mp_env));
txfmElt = txfm->createBlankTransform(mp_env->getParentDocument());
addTransform(txfm, txfmElt);
return txfm;
}
DSIGTransformXPath * DSIGReference::appendXPathTransform(const char * expr) {
DOMElement *txfmElt;
DSIGTransformXPath * txfm;
XSECnew(txfm, DSIGTransformXPath(mp_env));
txfmElt = txfm->createBlankTransform(mp_env->getParentDocument());
txfm->setExpression(expr);
addTransform(txfm, txfmElt);
return txfm;
}
DSIGTransformXPathFilter * DSIGReference::appendXPathFilterTransform(void) {
DOMElement *txfmElt;
DSIGTransformXPathFilter * txfm;
XSECnew(txfm, DSIGTransformXPathFilter(mp_env));
txfmElt = txfm->createBlankTransform(mp_env->getParentDocument());
addTransform(txfm, txfmElt);
mp_env->doPrettyPrint(txfmElt);
return txfm;
}
DSIGTransformEnvelope * DSIGReference::appendEnvelopedSignatureTransform() {
DOMElement *txfmElt;
DSIGTransformEnvelope * txfm;
XSECnew(txfm, DSIGTransformEnvelope(mp_env));
txfmElt = txfm->createBlankTransform(mp_env->getParentDocument());
addTransform(txfm, txfmElt);
return txfm;
}
Login::Login(Session * session, const QString & email, bool loginAttempt)
: BlogView(session)
, _loginAttempt(loginAttempt)
, _email(email)
{
setFilename("login.html");
addTransform("loginform", [this](tastefulframework::DomNode & node) {
node("method") = "POST";
node("url") = url(&LoginController::login);
});
addTransform("errormessage", [this](tastefulframework::DomNode & node) {
if (_loginAttempt)
{
node << "Failed to log in.";
}
});
addTransform("emailvalue", [this](tastefulframework::DomNode & node) {
node("value") = _email;
});
}
DSIGTransformC14n * DSIGReference::appendCanonicalizationTransform(canonicalizationMethod cm) {
DOMElement *txfmElt;
DSIGTransformC14n * txfm;
XSECnew(txfm, DSIGTransformC14n(mp_env));
txfmElt = txfm->createBlankTransform(mp_env->getParentDocument());
txfm->setCanonicalizationMethod(cm);
addTransform(txfm, txfmElt);
return txfm;
}
DSIGTransformXSL * DSIGReference::appendXSLTransform(DOMNode * stylesheet) {
DOMElement *txfmElt;
DSIGTransformXSL * txfm;
XSECnew(txfm, DSIGTransformXSL(mp_env));
txfmElt = txfm->createBlankTransform(mp_env->getParentDocument());
txfm->setStylesheet(stylesheet);
addTransform(txfm, txfmElt);
return txfm;
}
Registration::Registration(Session * session, const QString & email, const QString & error)
: BlogView(session)
, _email(email)
, _error(error)
{
setFilename("registration.html");
addTransform("registrationform", [this](tastefulframework::DomNode & node) {
node("method") = "POST";
node("url") = url(&RegisterController::signup);
});
addTransform("errormessage", [this](tastefulframework::DomNode & node) {
if (!_error.isNull())
{
node << _error;
}
});
addTransform("emailvalue", [this](tastefulframework::DomNode & node) {
node("value") = _email;
});
}
void Entity::fixUp()
{
for(size_t i = 0; i < components.Size(); i++ )
{
Component* component = components[i].get();
if( !component ) continue;
component->setEntity(this);
Class* type = component->getType();
componentsMap[type] = component;
}
if( !getTransform() ) addTransform();
}
void imuCallback(sensor_msgs::Imu const &imu) {
std::vector<geometry_msgs::TransformStamped> transforms;
std::string child_frame_id;
tf::StampedTransform tf;
tf.frame_id_ = g_stabilized_frame_id;
tf.stamp_ = imu.header.stamp;
if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id;
if (child_frame_id.empty()) child_frame_id = "base_link";
tf::Quaternion orientation;
tf::quaternionMsgToTF(imu.orientation, orientation);
btScalar yaw, pitch, roll;
btMatrix3x3(orientation.asBt()).getEulerYPR(yaw, pitch, roll);
// base_link transform (roll, pitch)
tf.child_frame_id_ = child_frame_id;
tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, 0.0));
addTransform(transforms, tf);
br->sendTransform(transforms);
}
void setOrigin (int x, int y)
{
addTransform (AffineTransform::translation ((float) x, (float) y));
}
void
SampleGraph::setupGraph( int frame_w, int frame_h, int fps, int bitrate)
{
m_audioTransformChain.clear();
m_videoTransformChain.clear();
{
// Add audio mixer
const double aacPacketTime = 1024. / 44100.0;
#ifdef __APPLE__
addTransform(m_audioTransformChain, std::make_shared<videocore::Apple::AudioMixer>(2,44100,16,aacPacketTime));
#else
addTransform(m_audioTransformChain, std::make_shared<videocore::GenericAudioMixer>(2,44100,16,aacPacketTime));
#endif
}
#ifdef __APPLE__
#ifdef TARGET_OS_IPHONE
{
// Add video mixer
auto mixer = std::make_shared<videocore::iOS::GLESVideoMixer>(frame_w, frame_h, 1. / static_cast<double>(fps));
addTransform(m_videoTransformChain, mixer);
}
{
// [Optional] add splits
// Splits would be used to add different graph branches at various
// stages. For example, if you wish to record an MP4 file while
// streaming to RTMP.
auto videoSplit = std::make_shared<videocore::Split>();
m_videoSplit = videoSplit;
addTransform(m_videoTransformChain, videoSplit);
}
if(m_pbOutput) {
m_videoSplit->setOutput(m_pbOutput);
}
{
// Add encoders
addTransform(m_audioTransformChain, std::make_shared<videocore::iOS::AACEncode>(44100, 2));
addTransform(m_videoTransformChain, std::make_shared<videocore::iOS::H264Encode>(frame_w, frame_h, fps, bitrate));
}
#else
#endif // TARGET_OS_IPHONE
#endif // __APPLE__
addTransform(m_audioTransformChain, std::make_shared<videocore::rtmp::AACPacketizer>());
addTransform(m_videoTransformChain, std::make_shared<videocore::rtmp::H264Packetizer>());
m_videoTransformChain.back()->setOutput(this->m_outputSession);
m_audioTransformChain.back()->setOutput(this->m_outputSession);
const auto epoch = std::chrono::steady_clock::now();
for(auto it = m_videoTransformChain.begin() ; it != m_videoTransformChain.end() ; ++it) {
(*it)->setEpoch(epoch);
}
for(auto it = m_audioTransformChain.begin() ; it != m_audioTransformChain.end() ; ++it) {
(*it)->setEpoch(epoch);
}
// Create sources
{
// Add camera source
m_cameraSource = std::make_shared<videocore::iOS::CameraSource>(frame_w/2,frame_h/2, frame_w,frame_h, frame_w, frame_h, float(frame_w) / float(frame_h));
std::dynamic_pointer_cast<videocore::iOS::CameraSource>(m_cameraSource)->setupCamera(false);
m_cameraSource->setOutput(m_videoTransformChain.front());
}
{
// Add mic source
m_micSource = std::make_shared<videocore::iOS::MicSource>();
m_micSource->setOutput(m_audioTransformChain.front());
}
}
void sendTransform(geometry_msgs::Pose const &pose, const std_msgs::Header& header, std::string child_frame_id = "")
{
std::vector<geometry_msgs::TransformStamped> transforms;
tf::StampedTransform tf;
tf.stamp_ = header.stamp;
tf.frame_id_ = header.frame_id;
if (!g_frame_id.empty()) tf.frame_id_ = g_frame_id;
tf.frame_id_ = tf::resolve(g_tf_prefix, tf.frame_id_);
if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id;
if (child_frame_id.empty()) child_frame_id = "base_link";
tf::Quaternion orientation;
tf::quaternionMsgToTF(pose.orientation, orientation);
tfScalar yaw, pitch, roll;
tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll);
tf::Point position;
tf::pointMsgToTF(pose.position, position);
// position intermediate transform (x,y,z)
if( !g_position_frame_id.empty() && child_frame_id != g_position_frame_id) {
tf.child_frame_id_ = tf::resolve(g_tf_prefix, g_position_frame_id);
tf.setOrigin(tf::Vector3(position.x(), position.y(), position.z() ));
tf.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
addTransform(transforms, tf);
}
// footprint intermediate transform (x,y,yaw)
if (!g_footprint_frame_id.empty() && child_frame_id != g_footprint_frame_id) {
tf.child_frame_id_ = tf::resolve(g_tf_prefix, g_footprint_frame_id);
tf.setOrigin(tf::Vector3(position.x(), position.y(), 0.0));
tf.setRotation(tf::createQuaternionFromRPY(0.0, 0.0, yaw));
addTransform(transforms, tf);
yaw = 0.0;
position.setX(0.0);
position.setY(0.0);
tf.frame_id_ = tf::resolve(g_tf_prefix, g_footprint_frame_id);
}
// stabilized intermediate transform (z)
if (!g_footprint_frame_id.empty() && child_frame_id != g_stabilized_frame_id) {
tf.child_frame_id_ = tf::resolve(g_tf_prefix, g_stabilized_frame_id);
tf.setOrigin(tf::Vector3(0.0, 0.0, position.z()));
tf.setBasis(tf::Matrix3x3::getIdentity());
addTransform(transforms, tf);
position.setZ(0.0);
tf.frame_id_ = tf::resolve(g_tf_prefix, g_stabilized_frame_id);
}
// base_link transform (roll, pitch)
tf.child_frame_id_ = tf::resolve(g_tf_prefix, child_frame_id);
tf.setOrigin(position);
tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, yaw));
addTransform(transforms, tf);
g_transform_broadcaster->sendTransform(transforms);
// publish pose message
if (g_pose_publisher) {
geometry_msgs::PoseStamped pose_stamped;
pose_stamped.pose = pose;
pose_stamped.header = header;
g_pose_publisher.publish(pose_stamped);
}
// publish pose message
if (g_euler_publisher) {
geometry_msgs::Vector3Stamped euler_stamped;
euler_stamped.vector.x = roll;
euler_stamped.vector.y = pitch;
euler_stamped.vector.z = yaw;
euler_stamped.header = header;
g_euler_publisher.publish(euler_stamped);
}
}
void setOrigin (Point<int> o)
{
addTransform (AffineTransform::translation ((float) o.x, (float) o.y));
}
