set_goals.cpp

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/*
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 *  Copyright (c) 2011, PAL Robotics, S.L.
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 *     copyright notice, this list of conditions and the following
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 *     from this software without specific prior written permission.
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#include "motion_adaption/motion_adaption.h"


void MotionAdaption::setGoals()
{

  ros::Time publish_time = ros::Time::now();
   std::vector<tf::StampedTransform> tf_transforms(6);
 

  tf::StampedTransform out_tf;
  // torso goal
  tf_torso_goal_.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  //quat_.setRPY(M_PI, M_PI/2, 0);
  quat_.setRPY(torso_goal_rot_vec_[0], torso_goal_rot_vec_[1], torso_goal_rot_vec_[2]);
  tf_torso_goal_.setRotation(quat_);
  //tf_broadcaster_.sendTransform(tf::StampedTransform(tf_torso_goal_, ros::Time::now(), "/ref_frame", "/torso_goal"));
   out_tf = tf_torso_goal_;
   out_tf.stamp_ = publish_time;
   out_tf.frame_id_ = "/ref_frame"; 
   out_tf.child_frame_id_ = "/torso_goal";
   tf_transforms[0] = out_tf;
  
  // head goal
  tf_head_goal_.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  //quat_.setRPY(M_PI, M_PI/2, 0);
  quat_.setRPY(head_goal_rot_vec_[0], head_goal_rot_vec_[1], head_goal_rot_vec_[2]);
  tf_head_goal_.setRotation(quat_);
  internal_tf.setTransform(tf::StampedTransform(tf_head_goal_, calc_time, "/head_adapted", "/head_goal"));
  internal_tf.lookupTransform("/ref_frame", "/head_goal", ros::Time(0), out_tf);
  //tf_broadcaster_.sendTransform(tf::StampedTransform(out_tf, ros::Time::now(),  "/ref_frame", "/head_goal"));
   out_tf.stamp_ = publish_time;
   out_tf.frame_id_ = "/ref_frame"; 
   out_tf.child_frame_id_ = "/head_goal";
   tf_transforms[1] = out_tf;
  
  // right elbow goal
  tf_r_elbow_goal_.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  //quat_.setRPY(M_PI, 0.0, M_PI);
  quat_.setRPY(r_elbow_goal_rot_vec_[0], r_elbow_goal_rot_vec_[1], r_elbow_goal_rot_vec_[2]);
  tf_r_elbow_goal_.setRotation(quat_);
  internal_tf.setTransform(tf::StampedTransform(tf_r_elbow_goal_, calc_time, "/r_elbow_adapted", "/r_elbow_goal"));
  internal_tf.lookupTransform("/ref_frame", "/r_elbow_goal", ros::Time(0), out_tf);
 // tf_broadcaster_.sendTransform(tf::StampedTransform(out_tf, ros::Time::now(),  "/ref_frame", "/r_elbow_goal"));
   out_tf.stamp_ = publish_time;
   out_tf.frame_id_ = "/ref_frame"; 
   out_tf.child_frame_id_ = "/r_elbow_goal";
   tf_transforms[2] = out_tf;

  // left elbow goal  
  tf_l_elbow_goal_.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  //quat_.setRPY(0.0, M_PI, 0.0);
  quat_.setRPY(l_elbow_goal_rot_vec_[0], l_elbow_goal_rot_vec_[1], l_elbow_goal_rot_vec_[2]);
  tf_l_elbow_goal_.setRotation(quat_);
  internal_tf.setTransform(tf::StampedTransform(tf_l_elbow_goal_, calc_time, "/l_elbow_adapted", "/l_elbow_goal"));
  internal_tf.lookupTransform("/ref_frame", "/l_elbow_goal", ros::Time(0), out_tf);
  //tf_broadcaster_.sendTransform(tf::StampedTransform(out_tf, ros::Time::now(),  "/ref_frame", "/l_elbow_goal"));
   out_tf.stamp_ = publish_time;
   out_tf.frame_id_ = "/ref_frame"; 
   out_tf.child_frame_id_ = "/l_elbow_goal";
   tf_transforms[3] = out_tf;  

  // right hand goal
  tf_r_hand_goal_.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  //quat_.setRPY(0.0, M_PI/2, 0.0);
  quat_.setRPY(r_hand_goal_rot_vec_[0], r_hand_goal_rot_vec_[1], r_hand_goal_rot_vec_[2]);
  tf_r_hand_goal_.setRotation(quat_);
 // tf_broadcaster_.sendTransform(tf::StampedTransform(tf_r_hand_goal_, ros::Time::now(), "/r_hand_adapted", "/r_hand_goal"));
  internal_tf.setTransform(tf::StampedTransform(tf_r_hand_goal_, calc_time,  "/r_hand_adapted", "/r_hand_goal"));
  internal_tf.lookupTransform("/ref_frame", "/r_hand_goal", ros::Time(0), out_tf);
  //tf_broadcaster_.sendTransform(tf::StampedTransform(out_tf, ros::Time::now(),  "/ref_frame", "/r_hand_goal"));
   out_tf.stamp_ = publish_time;
   out_tf.frame_id_ = "/ref_frame"; 
   out_tf.child_frame_id_ = "/r_hand_goal";
   tf_transforms[4] = out_tf;

   // left hand goal
  tf_l_hand_goal_.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  //quat_.setRPY(0.0, -M_PI/2, 0.0);
  quat_.setRPY(l_hand_goal_rot_vec_[0], l_hand_goal_rot_vec_[1], l_hand_goal_rot_vec_[2]);
  tf_l_hand_goal_.setRotation(quat_);
  //tf_broadcaster_.sendTransform(tf::StampedTransform(tf_l_hand_goal_, ros::Time::now(),  "/l_hand_adapted", "/l_hand_goal"));
  internal_tf.setTransform(tf::StampedTransform(tf_l_hand_goal_, calc_time,  "/l_hand_adapted", "/l_hand_goal"));
  internal_tf.lookupTransform("/ref_frame", "/l_hand_goal", ros::Time(0), out_tf);
  // tf_broadcaster_.sendTransform(tf::StampedTransform(out_tf, ros::Time::now(),  "/ref_frame", "/l_hand_goal"));
   out_tf.stamp_ = publish_time;
   out_tf.frame_id_ = "/ref_frame"; 
   out_tf.child_frame_id_ = "/l_hand_goal";
   tf_transforms[5] = out_tf;  


   tf_broadcaster_.sendTransform(tf_transforms);

   /* un-comment this part to published unscaled but aligned transforms
  
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_torso_aligned_, ros::Time::now(),
  "/ref_frame", "/torso_aligned"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_head_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_head"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_r_shoulder_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_r_shoulder"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_r_elbow_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_r_elbow"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_r_hand_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_r_hand"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_l_shoulder_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_l_shoulder"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_l_elbow_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_l_elbow"));
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_usr_l_hand_, ros::Time::now(),
  "/torso_aligned", "/tf_usr_l_hand"));
  */
}