void PublishTransform(ros::Time stamp, float fX, float fY, float fZ, float fYaw, float fPitch, float fRoll)
{
static tf::TransformBroadcaster tfBroadcaster;
static tf::Transform transform;
//from world to vehile;
transform.setOrigin(tf::Vector3(fX, fY, fZ));
transform.setRotation(tf::Quaternion(fYaw, fPitch, fRoll));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, stamp, "/world", "/vehicle"));
//from vehile to lms1;
transform.setOrigin(tf::Vector3(1.26, 0.485, 2.196));
//transform.setRotation(tf::Quaternion(0.0125+0.0026+0.0034, 0.183011, 0.0+0.0017*7));//roll, pitch, yaw
transform.setRotation(tf::Quaternion(0.0, 0.183, 0.0));//roll, pitch, yaw
tfBroadcaster.sendTransform(tf::StampedTransform(transform, stamp, "/vehicle", "/lms1"));
//from vehicle to lms2;
transform.setOrigin(tf::Vector3(1.26, -0.467, 2.208));
//transform.setRotation(tf::Quaternion(0.0125003, 0.142386, 6.27694+0.0017*5));
transform.setRotation(tf::Quaternion(0.0, 0.142386, 0.0));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, stamp, "/vehicle", "/lms2"));
//from vehicle to velodyne1;
transform.setOrigin(tf::Vector3(1.147, 0.477, 2.405));
//transform.setRotation(tf::Quaternion(0.0, 0.0017, 0.0)); //yaw, pitch, roll
transform.setRotation(tf::Quaternion(0.0, 0.0, 0.0)); //yaw, pitch, roll
tfBroadcaster.sendTransform(tf::StampedTransform(transform, stamp, "/vehicle", "/velodyne1"));
//from vehicle to velodyne2;
transform.setOrigin(tf::Vector3(1.152, -0.445,2.45));
//transform.setRotation(tf::Quaternion(6.28006,0.000175, 0.0));
transform.setRotation(tf::Quaternion(0.0, 0.0, 0.0));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, stamp, "/vehicle", "/velodyne2"));
}
void userTracker::loadTfTransformFromFile(string file, tf::Transform &transform) {
ifstream in(file.data());
if (!in) {
cout << "No file found: " << file << endl;
transform.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
transform.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
return;
}
int columns = 6;
double tmpVec[6];
for (int j = 0; j < columns; j++) {
in >> tmpVec[j];
}
in.close();
// translation
transform.setOrigin(tf::Vector3(tmpVec[0], tmpVec[1], tmpVec[2]));
// rotation vector (Rodriguez)
tf::Vector3 tmpTrans(tmpVec[3], tmpVec[4], tmpVec[5]);
tf::Quaternion tmpQuat;
if(tmpTrans.length() > 1e-6)
tmpQuat.setRotation(tmpTrans.normalized(), tmpTrans.length());
else {
tmpQuat.setX(0.); tmpQuat.setY(0.); tmpQuat.setZ(0.); tmpQuat.setW(1.);
}
transform.setRotation(tmpQuat);
return;
}
void imuCallback(const boost::shared_ptr<const sensor_msgs::Imu>& msg)
{
//imu_msg = *msg;
geometry_msgs::PoseStamped pose;
pose.header.frame_id = msg->header.frame_id;
pose.header.stamp = msg->header.stamp;
pose.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
geometry_msgs::PoseStamped imu_pose;
try
{
tf_listener->transformPose(odom_frame_id, pose, imu_pose);
}
catch(tf::TransformException &ex)
{
ROS_ERROR("Squirtle Localization - %s - Error: %s", __FUNCTION__, ex.what());
return;
}
tf::Quaternion q_imu;
tf::quaternionMsgToTF(msg->orientation, q_imu);
t_world_imu.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
tf::Quaternion temp = q_imu * tf::createQuaternionFromYaw(M_PI/2.0 + true_north_compensation);
t_world_imu.setRotation(temp.normalized());
ROS_INFO("Squirtle Localization - %s - IMU yaw in UTM - yaw:%lf", __FUNCTION__, tf::getYaw(msg->orientation) + M_PI/2.0 + true_north_compensation);
tf::quaternionMsgToTF(imu_pose.pose.orientation, q_imu);
t_odom_imu.setOrigin(tf::Vector3(imu_pose.pose.position.x, imu_pose.pose.position.y, imu_pose.pose.position.z));
t_odom_imu.setRotation(q_imu);
}
void gpsCallback(const boost::shared_ptr<const sensor_msgs::NavSatFix>& msg)
{
//gps_msg = *msg;
geometry_msgs::PoseStamped pose;
pose.header.frame_id = msg->header.frame_id;
pose.header.stamp = msg->header.stamp;
pose.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
geometry_msgs::PoseStamped gps_pose;
try
{
tf_listener->transformPose(odom_frame_id, pose, gps_pose);
}
catch(tf::TransformException &ex)
{
ROS_ERROR("Squirtle Localization - %s - Error: %s", __FUNCTION__, ex.what());
return;
}
double x, y;
int zone_number; char zone_letter;
GPStoUTM(msg->latitude, msg->longitude, y, x, zone_number, zone_letter);
t_world_gps.setOrigin(tf::Vector3(x, y, 5.0));
t_world_gps.setRotation(tf::createQuaternionFromYaw(0.0));
ROS_INFO("Squirtle Localization - %s - GPS position in UTM - x:%lf y:%lf", __FUNCTION__, x, y);
t_odom_gps.setOrigin(tf::Vector3(gps_pose.pose.position.x, gps_pose.pose.position.y, gps_pose.pose.position.z));
tf::Quaternion q_gps;
tf::quaternionMsgToTF(gps_pose.pose.orientation, q_gps);
t_odom_gps.setRotation(q_gps);
}
Geometric_semantics_component_tutorial_publisher(string const& name)
: TaskContext(name)
, object_PoseCoordinatesSemantics("a","a","A","b","b","B","b")
, xpos(0)
, ypos(0)
, zpos(0)
{
object_PoseCoordinatesSemantics = PoseCoordinatesSemantics("e1","e1","E1","b1","b1","B1","b1");
transform.setOrigin( tf::Vector3(1,2,3) );
transform.setRotation(tf::createQuaternionFromRPY(0.2, 0, 0) );
object_coordinates_Pose.setOrigin( tf::Vector3(1,2, 0.0) );
object_coordinates_Pose.setRotation( tf::createQuaternionFromRPY(0.75, 0, 0) );
//geometric_semantics::Pose<tf::Pose> object_PoseCoordinatesTF(conversions_geometric_msgs::PoseTFFromMsg(*msg))
object_PoseTF = geometric_semantics::Pose<tf::Pose> (object_PoseCoordinatesSemantics, object_coordinates_Pose);
propPose= conversions_geometric_msgs::PoseTFToMsg(object_PoseTF);
/****************************
Pose
**************************/
// Pose
this->addPort( "outPortPose", outPortPose).doc( "Output Port for Pose." );
this->addProperty( "propPose", propPose).doc( "Property for Pose." );
log(Debug) << "Geometric_semantics_component_tutorial_publisher constructed !" <<endlog();
}
void
fromPose(const geometry_msgs::Pose &source, tf::Transform &dest)
{
tf::Quaternion q(source.orientation.x, source.orientation.y, source.orientation.z, source.orientation.w);
dest.setOrigin(tf::Vector3(source.position.x, source.position.y, source.position.z));
dest.setRotation(q);
}
void publish_faro_transform(tf::Transform faro_base)
{
static tf::TransformBroadcaster br;
//tf::Transform faro_base;
//base_at_table - Actual,Circle,-291.052543573765,-100.393272630778,213.8235
tf::Vector3 faro_origin(213.8235, 291.052543573765, -100.393272630778);
faro_origin = faro_origin / 1000;
faro_origin.setZ(faro_origin.z() + 0.10);
faro_base.setOrigin(faro_origin);
//+X_Coordinate System 1.i;0.9495;+Y_Coordinate System 1.i;0.3139;+Z_Coordinate System 1.i;-0.0008;
//+X_Coordinate System 1.j;0.0007;+Y_Coordinate System 1.j;0.0005;+Z_Coordinate System 1.j;1.0000;
//+X_Coordinate System 1.k;0.3139;+Y_Coordinate System 1.k-0.9495;+Z_Coordinate System 1.k;0.0002;
tf::Matrix3x3 faro_rot;
//faro_rot.setValue(0.9495, 0.3139, -0.0008, 0.0007, 0.0005, 1.0000, 0.3139, -0.9495, 0.0002);
faro_rot.setValue(0.9495, 0.0007, 0.3139, 0.3139, 0.0005, -0.9495, -0.0008, 1.0000, 0.0002);
tf::Quaternion faro_quat;
double roll, pitch, yaw;
faro_rot.getEulerYPR(yaw, pitch, roll);
faro_quat.setRPY(roll, pitch, yaw);
faro_base.setRotation(faro_quat);
br.sendTransform(tf::StampedTransform(faro_base, ros::Time::now(), world_frame_, "faro_base"));
}
void
fromPose(const geometry_msgs::Pose &source, Eigen::Matrix4f &dest, tf::Transform &tf_dest)
{
Eigen::Quaternionf q(source.orientation.w, source.orientation.x, source.orientation.y, source.orientation.z);
q.normalize();
Eigen::Vector3f t(source.position.x, source.position.y, source.position.z);
Eigen::Matrix3f R(q.toRotationMatrix());
dest(0,0) = R(0,0);
dest(0,1) = R(0,1);
dest(0,2) = R(0,2);
dest(1,0) = R(1,0);
dest(1,1) = R(1,1);
dest(1,2) = R(1,2);
dest(2,0) = R(2,0);
dest(2,1) = R(2,1);
dest(2,2) = R(2,2);
dest(3,0) = dest(3,1)= dest(3,2) = 0;
dest(3,3) = 1;
dest(0,3) = t(0);
dest(1,3) = t(1);
dest(2,3) = t(2);
tf::Quaternion qt(q.x(), q.y(), q.z(), q.w());
tf_dest.setOrigin(tf::Vector3(t(0), t(1), t(2)));
tf_dest.setRotation(qt);
}
SimObjectListener(std::string pr2_label)
{
pr2_transform.model_name = pr2_label;
sim_manipulator.getModelPose(pr2_transform);
pr2_gz_tf.setOrigin(tf::Vector3(
pr2_transform.pose.position.x,
pr2_transform.pose.position.y,
pr2_transform.pose.position.z
));
pr2_gz_tf.setRotation(tf::Quaternion(
pr2_transform.pose.orientation.x,
pr2_transform.pose.orientation.y,
pr2_transform.pose.orientation.z,
pr2_transform.pose.orientation.w
));
ROS_INFO("%s at: [%4.2f,%4.2f,%4.2f,%4.2f,%4.2f,%4.2f,%4.2f]",
pr2_transform.model_name.c_str(),
pr2_transform.pose.position.x,
pr2_transform.pose.position.y,
pr2_transform.pose.position.z,
pr2_transform.pose.orientation.x,
pr2_transform.pose.orientation.y,
pr2_transform.pose.orientation.z,
pr2_transform.pose.orientation.w
);
}
// Subscriber functions
void PoseMasterWSCallback(const geometry_msgs::PoseStamped& msg){
Tm.setOrigin(tf::Vector3(msg.pose.position.x, msg.pose.position.y, msg.pose.position.z));
Tm.setRotation(tf::Quaternion(msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z, msg.pose.orientation.w));
if (!init) init = true;
}
void PSMNode::pose2DToTf(const geometry_msgs::Pose2D& pose, tf::Transform& t)
{
t.setOrigin(tf::Vector3(pose.x, pose.y, 0.0));
tf::Quaternion q;
q.setRPY(0, 0, pose.theta);
t.setRotation(q);
}
void TeleopMaximus::poseCallback(const geometry_msgs::PoseStamped::ConstPtr & pose)
{
temp_pose.pose.position.x = pose->pose.position.x;
temp_pose.pose.position.y = pose->pose.position.y;
temp_pose.pose.orientation.x = pose->pose.orientation.x;
temp_pose.pose.orientation.y = pose->pose.orientation.y;
temp_pose.pose.orientation.z = pose->pose.orientation.z;
temp_pose.pose.orientation.w = pose->pose.orientation.w;
my_maximus_path.header.stamp = ros::Time::now();
if (my_maximus_path.poses.std::vector < geometry_msgs::PoseStamped >::size() >
(my_maximus_path.poses.std::vector < geometry_msgs::PoseStamped >::max_size() - 2)) {
my_maximus_path.poses.std::vector < geometry_msgs::PoseStamped >::pop_back();
}
my_maximus_path.poses.std::vector < geometry_msgs::PoseStamped >::push_back(*pose);
transform.setOrigin(tf::Vector3(pose->pose.position.x, pose->pose.position.y, 0.0));
transform.setRotation(tf::Quaternion(pose->pose.orientation.x, pose->pose.orientation.y, pose->pose.orientation.z, pose->pose.orientation.w));
//br.sendTransform(tf::StampedTransform(transform, pose->header.stamp, "/map", "/between_wheels"));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/map", "/between_wheels"));
i = i + 5;
if (i > 180)
i = -180;
ROS_INFO("X=%f /Y=%f /T=%f /L=%f", pose->pose.position.x, pose->pose.position.y, pose->pose.orientation.z * 180 / 3.1415, linear_value);
TeleopMaximus::path_in_map_pub.publish(my_maximus_path);
}
void inline create_transform(tf::Transform &tf, float tx, float ty, float tz, float roll, float pitch, float yaw){
tf::Quaternion q;
q.setRPY(roll, pitch, yaw);
tf.setOrigin(tf::Vector3( tx, ty, tz));
tf.setRotation(q);
}
void
load_localize_transform()
{
std::ifstream filed_transform;
std::stringstream file_name;
std::string path = ros::package::getPath("prx_localizer");
file_name << path << "/transform/localize_transform.bin";
filed_transform.open(file_name.str().c_str(), std::ofstream::binary);
if (filed_transform.is_open())
{
tfScalar x, y, z, w;
filed_transform.read((char *) &x, sizeof(tfScalar));
filed_transform.read((char *) &y, sizeof(tfScalar));
filed_transform.read((char *) &z, sizeof(tfScalar));
filed_transform.read((char *) &w, sizeof(tfScalar));
g_localize_transform.setRotation(tf::Quaternion(x, y, z, w));
filed_transform.read((char *) &x, sizeof(tfScalar));
filed_transform.read((char *) &y, sizeof(tfScalar));
filed_transform.read((char *) &z, sizeof(tfScalar));
g_localize_transform.setOrigin(tf::Vector3(x, y, z));
filed_transform.close();
}
else
g_localize_transform = tf::Transform(tf::Quaternion::getIdentity(), tf::Vector3(0.0, 0.0, 0.0));
g_localize_transform_timestamp = ros::Time(0);
}
void convertVispHMatToTF(const vpHomogeneousMatrix &HMatrix,
tf::Transform &TFtransform)
{
vpTranslationVector Trans;
HMatrix.extract(Trans);
vpThetaUVector ThetaU;
HMatrix.extract(ThetaU);
double vpAngle;
vpColVector vpAxis;
ThetaU.extract(vpAngle, vpAxis);
btVector3 btAxis;
btScalar btAngle = vpAngle;
if(fabs(vpAngle) < 1.0e-15) // the case of no rotation, prevents nan on btQuaternion
{
btAngle = 0.0;
btAxis.setValue(1.0, 0.0, 0.0);
}
else
{
btAxis.setValue(vpAxis[0], vpAxis[1], vpAxis[2]);
}
btQuaternion Quat(btAxis, btAngle);
TFtransform.setOrigin( tf::Vector3(Trans[0], Trans[1], Trans[2] ) );
TFtransform.setRotation(Quat);
}
void TeleopMaximus::get_value_and_do_computation(void) {
float rotation = 0.0;
if(ser_fd != -1) {
my_maximus_pose.pose.position.x = ((float)TeleopMaximus::read_serial_port('x')) / 10000.0;
my_maximus_pose.pose.position.y = ((float)TeleopMaximus::read_serial_port('y')) / 10000.0;
rotation = TeleopMaximus::read_serial_port('t');
TeleopMaximus::rotate(0, (( (float)rotation) / 10000.0 ), 0, &my_maximus_pose);
// reset laser scan
// my_laser_scan.ranges.std::vector<float>::clear();
// set the new values
//my_laser_scan.ranges.std::vector<float>::push_back(((float)read_serial_port('l')) / 1000.0);
//my_laser_scan.ranges.std::vector<float>::push_back(((float)read_serial_port('m')) / 1000.0);
//my_laser_scan.ranges.std::vector<float>::push_back(((float)read_serial_port('r')) / 1000.0);
}
else {
//TeleopMaximus::rotate(0, ((i)*3.1415/180), 0, &my_maximus_pose);
//rotation = -((i)*3.1415/180) *10000;
//my_maximus_pose.pose.position.y = ((float)i)/40;
heading -= (angular_value / 120000 );
rotation = heading *10000;
TeleopMaximus::rotate(0, -(heading), 0, &my_maximus_pose);
my_maximus_pose.pose.position.x += (linear_value * cos(-heading) / 100000);
my_maximus_pose.pose.position.y += (linear_value * sin(-heading) / 100000);
}
// Actualize Robot's position
my_maximus_pose.header.stamp = ros::Time::now();
// Actualize Robot's path
my_maximus_path.header.stamp = ros::Time::now();
if(my_maximus_path.poses.std::vector<geometry_msgs::PoseStamped>::size() > (my_maximus_path.poses.std::vector<geometry_msgs::PoseStamped>::max_size()-2)) {
my_maximus_path.poses.std::vector<geometry_msgs::PoseStamped>::pop_back();
}
my_maximus_path.poses.std::vector<geometry_msgs::PoseStamped>::push_back(my_maximus_pose);
marker.lifetime = ros::Duration();
// Publish the marker
//marker.header.stamp = ros::Time::now();
//marker_pub.publish(marker);
transform.setOrigin( tf::Vector3(my_maximus_pose.pose.position.x, my_maximus_pose.pose.position.y, 0.0) );
transform.setRotation( tf::Quaternion((( (float)rotation) / 10000.0 ), 0, 0) );
br.sendTransform(tf::StampedTransform(transform, my_maximus_pose.header.stamp, "/map", "/maximus_robot_tf"));
marker.header.stamp = ros::Time::now();
my_laser_scan.header.stamp = ros::Time::now();
i = i + 5;
if( i > 180)
i = -180;
ROS_INFO("X=%f /Y=%f /T=%f /L=%f", my_maximus_pose.pose.position.x, my_maximus_pose.pose.position.y, my_maximus_pose.pose.orientation.z*180/3.1415, linear_value);
}
void createTfFromXYTheta(
double x, double y, double theta, tf::Transform& t)
{
t.setOrigin(btVector3(x, y, 0.0));
tf::Quaternion q;
q.setRPY(0.0, 0.0, theta);
t.setRotation(q);
}
void CartesianComplianceControllerDebug::toTransformMatrix(double* tf, tf::Transform& trans) {
trans.setOrigin(tf::Vector3(tf[3], tf[7], tf[11]));
btMatrix3x3 rotMatrix(tf[0], tf[1], tf[2],
tf[4], tf[5], tf[6],
tf[8], tf[9], tf[10]);
btQuaternion quat;
rotMatrix.getRotation(quat);
trans.setRotation(quat);
}
void convert(const KDL::Frame &in, tf::Transform &out) {
double x,y,z,w;
in.M.GetQuaternion(x, y, z, w);
out.setOrigin(tf::Vector3(in.p.x(),
in.p.y(),
in.p.z()) );
out.setRotation(tf::Quaternion(x, y, z, w) );
}
void OriginSlaveWSCallback(const geometry_msgs::PoseStamped& msg){
Tso.setOrigin(tf::Vector3(msg.pose.position.x, msg.pose.position.y, msg.pose.position.z));
Tso.setRotation(tf::Quaternion(msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z, msg.pose.orientation.w));
// Increments absoluts
Toffset = Tmo.inverse() * Tso;
Toffset.setOrigin(tf::Vector3(0., 0., 0.));
}
void convert(const fcl::Transform3f &in, tf::Transform &out) {
out.setOrigin(tf::Vector3(in.getTranslation()[0],
in.getTranslation()[1],
in.getTranslation()[2]) );
out.setRotation(tf::Quaternion(in.getQuatRotation().getX(),
in.getQuatRotation().getY(),
in.getQuatRotation().getZ(),
in.getQuatRotation().getW()) );
}
void update_all(tf::TransformBroadcaster& tf_broadcaster)
{
transform_uav_base_link.setOrigin(tf::Vector3(0.0, 0.0, _sonar_height.range));
transform_uav_base_link.setRotation(tf::createQuaternionFromRPY(rollFilter->run(_uav_status.roll) * -M_PI / 180.0,
nickFilter->run(_uav_status.nick) * M_PI / 180.0, 0.0));//uav_status.yaw*M_PI/180.0));
tf_broadcaster.sendTransform(tf::StampedTransform(transform_uav_base_link, ros::Time::now(), "/base_stabilized",
"/uav_base_link"));
transform_uav_cam_front.setOrigin(tf::Vector3(0.05, 0, -0.1));
transform_uav_cam_front.setRotation(tf::createQuaternionFromRPY(-110 * M_PI / 180.0, 0 * M_PI / 180.0, -90 * M_PI / 180.0));//(-60 * M_PI / 180.0, 180 * M_PI / 180.0, -90 * M_PI / 180.0)
tf_broadcaster.sendTransform(tf::StampedTransform(transform_uav_cam_front, ros::Time::now(), "/uav_base_link", "/uav_cam_front"));
transform_uav_cam_down.setOrigin(tf::Vector3(0, -0.1, -0.05));
transform_uav_cam_down.setRotation(tf::createQuaternionFromRPY(0, 180 * M_PI / 180.0, 90 * M_PI / 180.0));
tf_broadcaster.sendTransform(tf::StampedTransform(transform_uav_cam_down, ros::Time::now(), "/uav_base_link", "/uav_cam_down"));
//ROS_INFO("Send Transform");
}
void PoseTransform()
{
tf::Vector3 point_vec(ARTag_pose.position.x, ARTag_pose.position.y, ARTag_pose.position.z);
tf::Quaternion quat_vec(ARTag_pose.orientation.x, ARTag_pose.orientation.y, ARTag_pose.orientation.z, ARTag_pose.orientation.w);
artag_tf.setIdentity();
artag_tf.setOrigin(point_vec);
artag_tf.setRotation(quat_vec);
tf::Vector3 point_vec_1(ARTag_pose_1.position.x, ARTag_pose_1.position.y, ARTag_pose_1.position.z);
tf::Quaternion quat_vec_1(ARTag_pose_1.orientation.x, ARTag_pose_1.orientation.y, ARTag_pose_1.orientation.z, ARTag_pose_1.orientation.w);
artag_tf_1.setIdentity();
artag_tf_1.setOrigin(point_vec_1);
artag_tf_1.setRotation(quat_vec_1);
}
bool configureHook() {
object_coordinates_Pose.setOrigin( tf::Vector3(1,2, 0.0) );
object_coordinates_Pose.setRotation( tf::createQuaternionFromRPY(0.75, 0, 0) );
object_PoseTF = geometric_semantics::Pose<tf::Pose> (object_PoseCoordinatesSemantics, object_coordinates_Pose);
object_PoseTF_msg = conversions_geometric_msgs::PoseTFToMsg(object_PoseTF);
outPortPose.setDataSample(object_PoseTF_msg);
log(Debug) << "Geometric_semantics_component_tutorial_publisher configured !" <<endlog();
return true;
}
void poseCallback2(const turtlesim::PoseConstPtr& msg)
{
// ROS_INFO_STREAM("Turtle2" << " :\n\tposition:\n\t\tx: " << msg->x << "\n\t\ty: " << msg->y <<
// "\n\torientation: " << "\n\t\tYaw: " << msg->theta << "\n\n");
transform2.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
tf::Quaternion q;
q.setRPY(0, 0, msg->theta);
transform2.setRotation(q);
}
bool serviceCallback(ws_referee::MovePlayerTo::Request &req,ws_referee::MovePlayerTo::Response &res)
{
ROS_INFO("%s: Damn %s send to me X= %f, Y=%f", _name.c_str(), req.player_that_requested.c_str(), req.new_pos_x, req.new_pos_y);
// send the transformation
transform.setOrigin( tf::Vector3(req.new_pos_x, req.new_pos_y, 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "tf_" + _name ));
res.reply ="I will have my revenge!";
return true;
}
void Match_Filter::dxlCB(const dynamixel_msgs::JointState::ConstPtr& enc){
dxl_enc_ = enc->current_pos;
dxl_ismove_ = enc->is_moving;
enc_tf_.setOrigin(tf::Vector3(0.0,0.0,0.0));
tf::Quaternion q;
//q.setRPY(dxl_enc_,0,0); // lidar mx28 axis aligned
// q.setRPY(0,0,-dxl_enc_+M_PI/2); // lidar mx28 axis perpendicular
q.setRPY(0,0,-dxl_enc_+M_PI/2); // lidar mx28 axis perpendicular
enc_tf_.setRotation(q);
enc_br_.sendTransform(tf::StampedTransform(enc_tf_, ros::Time::now(), "ChestLidar", "dxl_link"));
}
void PlaceDatabase::extractTransform(tf::Transform& xfm, int start_index) const
{
xfm.getOrigin().setValue(sqlite3_column_double(select_transforms_stmt_, start_index),
sqlite3_column_double(select_transforms_stmt_, start_index + 1),
sqlite3_column_double(select_transforms_stmt_, start_index + 2));
tf::Quaternion q(sqlite3_column_double(select_transforms_stmt_, start_index + 3),
sqlite3_column_double(select_transforms_stmt_, start_index + 4),
sqlite3_column_double(select_transforms_stmt_, start_index + 5),
sqlite3_column_double(select_transforms_stmt_, start_index + 6));
xfm.setRotation(q);
}
void MotionEstimation::constrainMotion(tf::Transform& motion)
{
// **** degree-of-freedom constraints
if (motion_constraint_ == ROLL_PITCH)
{
tf::Quaternion q;
q.setRPY(0.0, 0.0, tf::getYaw(motion.getRotation()));
motion.setRotation(q);
}
else if (motion_constraint_ == ROLL_PITCH_Z)
{
tf::Quaternion q;
q.setRPY(0.0, 0.0, tf::getYaw(motion.getRotation()));
tf::Vector3 p(motion.getOrigin().getX(), motion.getOrigin().getY(), 0.0);
motion.setOrigin(p);
motion.setRotation(q);
}
}
void TransformROSBridge::convertTformToTfTransform(tf::Transform& result_trans)
{
// Tform: x, y, z, R[0][0], R[0][1], ... , R[2][2]
double *data = m_Tform.data.get_buffer();
tf::Vector3 base_origin(data[0], data[1], data[2]);
result_trans.setOrigin(base_origin);
hrp::Matrix33 hrpsys_R;
hrp::getMatrix33FromRowMajorArray(hrpsys_R, data, 3);
hrp::Vector3 hrpsys_rpy = hrp::rpyFromRot(hrpsys_R);
tf::Quaternion base_q = tf::createQuaternionFromRPY(hrpsys_rpy(0), hrpsys_rpy(1), hrpsys_rpy(2));
result_trans.setRotation(base_q);
return;
}