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