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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 /* 00038 * robotMeshModel.h 00039 * 00040 * Created on: Oct 7, 2010 00041 * Author: Christian Bersch 00042 */ 00043 00044 #ifndef ROBOTMESHMODEL_H_ 00045 #define ROBOTMESHMODEL_H_ 00046 00047 00048 #include <boost/shared_ptr.hpp> 00049 00050 #include <ros/ros.h> 00051 #include <image_geometry/pinhole_camera_model.h> 00052 #include <tf/transform_listener.h> 00053 #include <urdf/model.h> 00054 00055 00056 00057 #include <wrap/io_trimesh/import.h> 00058 #include <wrap/io_trimesh/additionalinfo.h> 00059 00060 #include <vcg/complex/trimesh/update/bounding.h> 00061 #include <vcg/complex/trimesh/update/normal.h> 00062 #include <vcg/complex/trimesh/create/platonic.h> 00063 00064 #define GL_GLEXT_PROTOTYPES 00065 #include <GL/gl.h> 00066 #include <GL/glext.h> 00067 #include <wrap/gl/trimesh.h> 00068 00069 #include "MeshDefinition.h" 00070 00071 00072 class RobotMeshModel 00073 { 00074 public: 00075 00076 00077 00078 tf::TransformListener tf_; 00079 ros::NodeHandle nh_; 00080 ros::NodeHandle nh_priv_; 00081 00082 sensor_msgs::CameraInfoConstPtr cam_info_; 00083 ros::ServiceServer srver_; 00084 urdf::Model urdf_; 00085 std::string description_path; 00086 00087 std::string modelframe_; 00088 std::string cameraframe_; 00089 std::string camera_topic_; 00090 std::string camera_info_topic_; 00091 00092 tf::StampedTransform cameraPose; 00093 00094 std::map<std::string, boost::shared_ptr<CMeshO> > meshes; 00095 std::map<std::string, tf::Transform > offsets_; 00096 std::map<std::string, boost::shared_ptr<vcg::GlTrimesh<CMeshO> > > mesh_wrappers; 00097 std::map<std::string, tf::StampedTransform > robotLinks_; 00098 std::vector<boost::shared_ptr<urdf::Link> > links_with_meshes; 00099 00100 ros::Time current_time_stamp_; 00101 00102 00103 RobotMeshModel(); 00104 ~RobotMeshModel(); 00105 00106 00107 void setCamera(); 00108 void setCameraInfo(sensor_msgs::CameraInfoConstPtr cam_info); 00109 bool setCameraPose(); 00110 void initRobot(); 00111 void updateRobotLinks(const ros::Time time_stamp); 00112 void paintRobot(); 00113 00114 00115 }; 00116 00117 00118 00119 #endif /* ROBOTMESHMODEL_H_ */