agni_tf_tools: static_transform_publisher

Go to the documentation of this file.
00001 /*
00002  * Copyright (C) 2016, Bielefeld University, CITEC
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  * Author: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
00030  */
00031 
00032 #include <ros/ros.h>
00033 #include <QApplication>
00034 #include <QVBoxLayout>
00035 
00036 #include "FramesWidget.h"
00037 #include "TransformWidget.h"
00038 #include "TransformBroadcaster.h"
00039 
00040 int main(int argc, char *argv[])
00041 {
00042   ros::init(argc, argv, "static_transform_publisher_gui",
00043             ros::init_options::AnonymousName |
00044             ros::init_options::NoSigintHandler);
00045   QApplication app(argc, argv);
00046 
00047   QWidget *main = new QWidget();
00048   QVBoxLayout *l = new QVBoxLayout();
00049 
00050   FramesWidget *frames = new FramesWidget();
00051   TransformWidget *tf_widget = new TransformWidget();
00052   l->addWidget(frames);
00053   l->addWidget(tf_widget);
00054   main->setLayout(l);
00055 
00056   TransformBroadcaster *tf_pub = new TransformBroadcaster(frames->parentFrame(),
00057                                                           frames->childFrame(), main);
00058   QObject::connect(frames, SIGNAL(parentFrameChanged(QString)),
00059                    tf_pub, SLOT(setParentFrame(QString)));
00060   QObject::connect(frames, SIGNAL(childFrameChanged(QString)),
00061                    tf_pub, SLOT(setChildFrame(QString)));
00062 
00063   QObject::connect(tf_widget, SIGNAL(positionChanged(Eigen::Vector3d)),
00064                    tf_pub, SLOT(setPosition(Eigen::Vector3d)));
00065   QObject::connect(tf_widget, SIGNAL(quaternionChanged(Eigen::Quaterniond)),
00066                    tf_pub, SLOT(setQuaternion(Eigen::Quaterniond)));
00067 
00068   main->setWindowTitle("static transform publisher");
00069   main->show();
00070   int ret = app.exec();
00071   delete main;
00072   return ret;
00073 }