manual_tf_alignment.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2015, PickNik LLC
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of PickNik LLC nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /*
00036  * Author : Andy McEvoy (mcevoy.andy@gmail.com), Dave Coleman
00037  * Desc   : Allows manual control of a TF through the keyboard
00038  */
00039 
00040 #ifndef TF_KEYBOARD_CAL__MANUAL_TF_ALIGNMENT_
00041 #define TF_KEYBOARD_CAL__MANUAL_TF_ALIGNMENT_
00042 
00043 #include <ros/ros.h>
00044 
00045 #include <tf/transform_broadcaster.h>
00046 
00047 #include <keyboard/Key.h>
00048 
00049 #include <Eigen/Core>
00050 
00051 #include <boost/filesystem.hpp>
00052 
00053 namespace tf_keyboard_cal
00054 {
00055 
00056 class ManualTFAlignment
00057 {
00058 public:
00059 
00060   /*
00061    * \brief
00062    */
00063   ManualTFAlignment();
00064 
00065   /*
00066    * \brief
00067    */
00068   void keyboardCallback(const keyboard::Key::ConstPtr& msg);
00069 
00070   /*
00071    * \brief
00072    */
00073   void printMenu();
00074 
00075   /*
00076    * \brief
00077    */
00078   void publishTF();
00079 
00080   /*
00081    * \brief
00082    */
00083   void setPose(Eigen::Vector3d translation, Eigen::Vector3d rotation);
00084 
00085   /*
00086    * \brief
00087    */
00088   void updateTF(int mode, double delta);
00089 
00090   /*
00091    * \brief
00092    */
00093   void writeTFToFile();
00094 
00095   // Name of class
00096   std::string name_;
00097 
00098   Eigen::Vector3d translation_;
00099   Eigen::Vector3d rotation_;
00100   std::string save_path_;
00101   int mode_;
00102   double delta_;
00103   std::string from_;
00104   std::string to_;
00105   std::string file_package_;
00106   std::string file_name_;
00107   std::string topic_name_;
00108   ros::Subscriber keyboard_sub_;
00109   ros::NodeHandle nh_;
00110 };
00111 
00112 } // end namespace
00113 
00114 #endif


tf_keyboard_cal
Author(s): Dave Coleman , Andy McEvoy
autogenerated on Thu Jun 6 2019 18:20:29