static void
on_pose(const lcm_recv_buf_t *rbuf, const char *channel,
const botlcm_pose_t *pose, void *user_data)
{
RendererCar *self = (RendererCar*) user_data;
ViewHandler *vhandler = self->viewer->view_handler;
double lastpos[3] = {0,0,0};
if (bot_ptr_circular_size(self->path))
memcpy(lastpos, bot_ptr_circular_index(self->path, 0),
3 * sizeof(double));
double diff[3];
bot_vector_subtract_3d(pose->pos, lastpos, diff);
if (bot_vector_magnitude_3d(diff) > 2.0) {
// clear the buffer if we jump
bot_ptr_circular_clear(self->path);
}
if (bot_vector_magnitude_3d(diff) > 0.1 ||
bot_ptr_circular_size(self->path)==0) {
double *p = (double*) calloc(3, sizeof(double));
memcpy(p, pose->pos, sizeof(double)*3);
bot_ptr_circular_add(self->path, p);
}
if (vhandler && vhandler->update_follow_target && !self->teleport_car) {
vhandler->update_follow_target(vhandler, pose->pos, pose->orientation);
}
if (!self->did_teleport)
on_find_button(NULL, self);
self->did_teleport = 1;
int64_t dt = pose->utime - self->last_pose.utime;
double r = bot_conf_get_double_or_default (self->config,
"renderer_car.wheel_radius", 0.3);
if (self->last_pose.utime) {
int i;
for (i = 0; i < 4; i++) {
self->wheelpos[i] += self->wheelspeeds[i] * dt * 1e-6 / r;
self->wheelpos[i] = bot_mod2pi (self->wheelpos[i]);
}
}
memcpy (&self->last_pose, &pose, sizeof (botlcm_pose_t));
viewer_request_redraw(self->viewer);
}
static void on_param_widget_changed(BotGtkParamWidget *pw, const char *name, void *user)
{
RendererFrames *self = (RendererFrames*) user;
if (self->updating) {
return;
}
BotViewer *viewer = self->viewer;
int activeSensorNum = bot_gtk_param_widget_get_enum(pw, PARAM_FRAME_SELECT);
if (!strcmp(name, PARAM_FRAME_SELECT)) {
if (activeSensorNum > 0) {
self->updating = 1;
bot_viewer_set_status_bar_message(self->viewer, "Modify Calibration relative to %s", bot_frames_get_relative_to(
self->frames, self->frameNames[activeSensorNum]));
bot_gtk_param_widget_set_enabled(self->pw, PARAM_X, 1);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_Y, 1);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_Z, 1);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_ROLL, 1);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_PITCH, 1);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_YAW, 1);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_SAVE, 1);
frames_update_handler(self->frames, self->frameNames[activeSensorNum], bot_frames_get_relative_to(self->frames,
self->frameNames[activeSensorNum]), bot_timestamp_now(), self);
}
else {
bot_viewer_set_status_bar_message(self->viewer, "");
bot_gtk_param_widget_set_enabled(self->pw, PARAM_X, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_Y, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_Z, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_ROLL, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_PITCH, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_YAW, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_SAVE, 0);
}
}
else if (!strcmp(name, PARAM_SAVE) && activeSensorNum > 0) {
char save_fname[1024];
sprintf(save_fname, "manual_calib_%s.cfg", self->frameNames[activeSensorNum]);
fprintf(stderr, "saving params to: %s\n", save_fname);
FILE * f = fopen(save_fname, "w");
double pos[3];
pos[0] = bot_gtk_param_widget_get_double(self->pw, PARAM_X);
pos[1] = bot_gtk_param_widget_get_double(self->pw, PARAM_Y);
pos[2] = bot_gtk_param_widget_get_double(self->pw, PARAM_Z);
double rpy[3];
rpy[0] = bot_gtk_param_widget_get_double(self->pw, PARAM_ROLL);
rpy[1] = bot_gtk_param_widget_get_double(self->pw, PARAM_PITCH);
rpy[2] = bot_gtk_param_widget_get_double(self->pw, PARAM_YAW);
double rpy_rad[3];
for (int i = 0; i < 3; i++)
rpy_rad[i] = bot_to_radians(rpy[i]);
double quat[4];
bot_roll_pitch_yaw_to_quat(rpy_rad, quat);
double rod[3];
bot_quat_to_rodrigues(quat, rod);
fprintf(f, ""
"%s {\n"
"position = [%f, %f, %f];\n"
"rpy = [%f, %f, %f];\n"
"relative_to = \"%s\";\n"
"}", self->frameNames[activeSensorNum], pos[0], pos[1], pos[2], rpy[0], rpy[1], rpy[2],
bot_frames_get_relative_to(self->frames, self->frameNames[activeSensorNum]));
fprintf(f, ""
"\n"
"%s {\n"
"position = [%f, %f, %f];\n"
"rodrigues = [%f, %f, %f];\n"
"relative_to = \"%s\";\n"
"}", self->frameNames[activeSensorNum], pos[0], pos[1], pos[2], rod[0], rod[1], rod[2],
bot_frames_get_relative_to(self->frames, self->frameNames[activeSensorNum]));
fclose(f);
bot_viewer_set_status_bar_message(self->viewer, "Calibration saved to %s", save_fname);
}
else if (activeSensorNum > 0) {
self->updating = 1;
BotTrans curr;
curr.trans_vec[0] = bot_gtk_param_widget_get_double(self->pw, PARAM_X);
curr.trans_vec[1] = bot_gtk_param_widget_get_double(self->pw, PARAM_Y);
curr.trans_vec[2] = bot_gtk_param_widget_get_double(self->pw, PARAM_Z);
double rpy[3];
rpy[0] = bot_to_radians(bot_gtk_param_widget_get_double(self->pw, PARAM_ROLL));
rpy[1] = bot_to_radians(bot_gtk_param_widget_get_double(self->pw, PARAM_PITCH));
rpy[2] = bot_to_radians(bot_gtk_param_widget_get_double(self->pw, PARAM_YAW));
bot_roll_pitch_yaw_to_quat(rpy, curr.rot_quat);
if (fabs(rpy[0]) > M_PI || fabs(rpy[1]) > M_PI || fabs(rpy[2]) > M_PI) {
bot_gtk_param_widget_set_double(self->pw, PARAM_ROLL, bot_to_degrees(bot_mod2pi(rpy[0])));
bot_gtk_param_widget_set_double(self->pw, PARAM_PITCH, bot_to_degrees(bot_mod2pi(rpy[1])));
bot_gtk_param_widget_set_double(self->pw, PARAM_YAW, bot_to_degrees(bot_mod2pi(rpy[2])));
}
//and update the link
const char * frame_name = self->frameNames[activeSensorNum];
const char * relative_to = bot_frames_get_relative_to(self->frames, frame_name);
bot_frames_update_frame(self->frames, frame_name, relative_to, &curr, bot_timestamp_now());
}
bot_viewer_request_redraw(self->viewer);
}
