set_ref_frame.cpp

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2011, PAL Robotics, S.L.
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#include "motion_adaption/motion_adaption.h"


bool MotionAdaption::setRefFrame()
{
  try
  {
    tf_listener_.waitForTransform(robot_base_str_, robot_ref_torso_str_, ros::Time(0), ros::Duration(wait_for_tf_));
    tf_listener_.lookupTransform(robot_base_str_, robot_ref_torso_str_, ros::Time(0), tf_robot_ref_torso_);
  }
  catch (tf::TransformException const &ex)
  {
    ROS_DEBUG("%s",ex.what());
    ROS_WARN("(Step 2) Couldn't get the transformation to the robot's torso.");
    ROS_WARN("No further processing will be done!");    
    return false;
  } 

  tf_ref_frame_.setOrigin(tf_robot_ref_torso_.getOrigin()); // use the position of the chosen robot _reference_ frame
  quat_ = tf::Quaternion(tf_usr_torso_.getRotation()); // and the rotation of the user torso
  // but (manually) rotate it to align with the convention (i.e. D-H) of the robot's frames
  quat_adjust_.setRPY(ref_frame_rot_vec_[0], ref_frame_rot_vec_[1], ref_frame_rot_vec_[2]);
  quat_ = quat_adjust_ * quat_;  
  tf_ref_frame_.setRotation(quat_);
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_ref_frame_, ros::Time::now(),
  robot_base_str_, "/ref_frame"));  

  // another reference frame without the operator's torso orientation, but with its convention
  quat_.setRPY(ref_frame_rot_vec_[0], ref_frame_rot_vec_[1], ref_frame_rot_vec_[2]);
  tf_ref_frame_.setRotation(quat_);
  tf_broadcaster_.sendTransform(tf::StampedTransform(tf_ref_frame_, ros::Time::now(),
  robot_base_str_, "/fixed_ref_frame")); 

  return true;
}