robot_info.cpp

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#define POT_HIGH 1.0e10
 
#include <tuw_global_router/robot_info.h>
#include <tuw_global_router/mrr_utils.h>
#include <tuw_global_router/srr_utils.h>
#include <tuw_multi_robot_msgs/Route.h>
#include <chrono>
#include <boost/functional/hash.hpp>
#include <boost/regex.hpp>
#include <tf/tf.h>
 
//TODO add Weights from robots...
 
 
namespace multi_robot_router {
 
 
void RobotInfo::callback_odom ( const nav_msgs::Odometry &msg ) {
    // ToDo
}
 
bool RobotInfo::compareName(const std::shared_ptr<RobotInfo> robot) const{
        std::string a = boost::regex_replace( this->robot_name,  boost::regex("[^0-9]*([0-9]+).*"), std::string("\\1"));
        std::string b = boost::regex_replace( robot->robot_name, boost::regex("[^0-9]*([0-9]+).*"), std::string("\\1"));
        return std::stoi ( a ) <  std::stoi ( b );    
}
void RobotInfo::initTopics ( ros::NodeHandle &n,  bool robot_name_as_namespace) {
 
    //Not existant subscribe robots
    std::string ns;
    if( robot_name_as_namespace ) {
        ns = robot_name + "/";
    }
    std::string topic_odom_name = ns + "odom";
    ROS_DEBUG ( "Multi Robot Router: subscribing to %s", topic_odom_name.c_str() );
    subOdom_ = n.subscribe ( topic_odom_name, 1, &RobotInfo::callback_odom, this );
 
    std::string topic_path_name = ns + "path_unsynced";
    ROS_DEBUG ( "Multi Robot Router: advertising on %s", topic_path_name.c_str() );
    pubPaths_ = n.advertise<nav_msgs::Path> ( topic_path_name, 1, true );
 
 
    std::string topic_route_name = ns + "route";
    ROS_DEBUG ( "Multi Robot Router: advertising on %s", topic_route_name.c_str() );
    pubRoute_ = n.advertise<tuw_multi_robot_msgs::Route> ( topic_route_name, 1, true );
}
 
void RobotInfo::updateInfo ( const tuw_multi_robot_msgs::RobotInfo &info ) {
    tuw_multi_robot_msgs::RobotInfo &des = *this;
    des = info;
}
 
size_t RobotInfo::findIdx ( const std::vector<std::shared_ptr<RobotInfo> > &data, const std::string &name ) {
    for ( size_t i = 0; i < data.size(); i++ ) {
        if ( data[i]->robot_name == name ) return i;
    }
    return data.size();
}
 
std::vector<std::shared_ptr<RobotInfo> >::iterator RobotInfo::findObj ( std::vector<std::shared_ptr<RobotInfo> > &data, const std::string &name ) {
    return std::find_if ( data.begin(), data.end(),  [&] ( auto & r ) {
        return r->robot_name == name;
    } );
}
 
Eigen::Vector3d RobotInfo::getPose() const {
    double roll, pitch, yaw;
    tf::Quaternion q ( pose.pose.orientation.x, pose.pose.orientation.y, pose.pose.orientation.z, pose.pose.orientation.w );
    tf::Matrix3x3 ( q ).getRPY ( roll, pitch, yaw );
    Eigen::Vector3d p ( pose.pose.position.x, pose.pose.position.y, yaw );
    return p;
}
 
float RobotInfo::radius() const {
    if ( shape == SHAPE_CIRCLE ) {
        return shape_variables[0];
    }
 
    return -1;
}
 
RobotInfo::Online RobotInfo::getOnlineStatus() const {
    return online_;
}
 
void RobotInfo::updateOnlineStatus ( const float _updateTime ) {
    if ( activeTime_ > 0 )
        activeTime_ -= _updateTime;
 
    if ( activeTime_ < 0 )
        activeTime_ = 0;
 
    if ( activeTime_ == 0 && online_ != Online::fixed )
        online_ = Online::inactive;
}
 
} // namespace multi_robot_router