generic_offsetter.h

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#ifndef CAMERA_OFFSETTER_GENERIC_OFFSETTER_H_
#define CAMERA_OFFSETTER_GENERIC_OFFSETTER_H_

#include <ros/ros.h>

#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>

#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <fstream>

namespace camera_offsetter
{

class GenericOffsetter
{
public:
  GenericOffsetter() : virtual_offset_( btQuaternion(0,0,0,1))
  {
    pose_sub_ = nh_.subscribe("virtual_pose", 1, &GenericOffsetter::poseCb, this);
    twist_sub_ = nh_.subscribe("virtual_twist", 1, &GenericOffsetter::twistCb, this);

    ros::NodeHandle private_nh_("~");

    private_nh_.param("config_file", config_file_, std::string("N/A"));

    //private_nh_.param("frame_suffix", frame_suffix_, std::string("_offset"));
    frame_suffix_ = "_offset";

    readConfig();
  }

  void readConfig()
  {
    if(config_file_==std::string("N/A"))
    {
      ROS_WARN("No config file is set");
      return;
    }

    geometry_msgs::PosePtr p(new geometry_msgs::Pose());
    std::fstream f (config_file_.c_str(), std::fstream::in);
    if(!f.is_open())
    {
      ROS_WARN("Couldn't open config file");
      return;
    }
    f >> p->position.x;
    f >> p->position.y;
    f >> p->position.z;
    f >> p->orientation.x;
    f >> p->orientation.y;
    f >> p->orientation.z;
    f >> p->orientation.w;
    f >> baseline_factor_;
    ROS_INFO_STREAM(p->orientation.x);
    ROS_INFO_STREAM(p);
    poseCb(p);
  }
  void saveConfig()
  {
    if(config_file_==std::string("N/A"))
    {
      ROS_WARN("No config file is set");
      return;
    }
    printf("saveConfig (%s)\n", config_file_.c_str());
    std::fstream f (config_file_.c_str(), std::fstream::out);
    f << virtual_offset_.getOrigin().x() << " ";
    f << virtual_offset_.getOrigin().y() << " ";
    f << virtual_offset_.getOrigin().z() << std::endl;
    f << virtual_offset_.getRotation().x()<< " ";
    f << virtual_offset_.getRotation().y()<< " ";
    f << virtual_offset_.getRotation().z()<< " ";
    f << virtual_offset_.getRotation().w() << std::endl;
    f << baseline_factor_;
  }

  void poseCb(const geometry_msgs::PoseConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(offset_mutex_);
    tf::poseMsgToTF(*msg, virtual_offset_);
  }

  void twistCb(const geometry_msgs::TwistConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(offset_mutex_);

    btVector3 rot_vector(msg->angular.x, msg->angular.y, msg->angular.z);
    double angle = rot_vector.length();

    btQuaternion rot;
    if (angle < 1e-6)
    {
      rot = btQuaternion(0,0,0,1);
    }
    else
      rot = btQuaternion( rot_vector, angle);

    btVector3 trans( msg->linear.x, msg->linear.y, msg->linear.z);

    btTransform incrementalT(rot, trans);

    virtual_offset_ = virtual_offset_ * incrementalT;

    saveConfig();
  }

  void publishTransform(const ros::Time& time, const std::string frame_id, const std::string parent_id)
  {
    boost::mutex::scoped_lock lock(offset_mutex_);
                /*     printf("Sending Transform: Trans:(%.3f, %.3f, %.3f)  Q:(%.3f, %.3f , %.3f, %.3f)\n", */
                /*               virtual_offset_.getOrigin().x(), */
                /*               virtual_offset_.getOrigin().y(), */
                /*               virtual_offset_.getOrigin().z(), */
                /*               virtual_offset_.getRotation().x(), */
                /*               virtual_offset_.getRotation().y(), */
                /*               virtual_offset_.getRotation().z(), */
                /*               virtual_offset_.getRotation().w()); */
    tf_.sendTransform(tf::StampedTransform(virtual_offset_, time, parent_id, frame_id));
  }

protected:
  std::string frame_suffix_;
  double baseline_factor_;

private:
  ros::NodeHandle nh_;

  ros::Subscriber pose_sub_;
  ros::Subscriber twist_sub_;

  tf::TransformBroadcaster tf_;

  std::string config_file_;

  boost::mutex offset_mutex_;
  btTransform virtual_offset_;
};


}

#endif