tf_link_updater.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "tf_link_updater.h"
00031 #include "frame_manager.h"
00032 
00033 #include <tf/tf.h>
00034 
00035 #include <OgreVector3.h>
00036 #include <OgreQuaternion.h>
00037 
00038 namespace rviz
00039 {
00040 
00041 TFLinkUpdater::TFLinkUpdater(FrameManager* frame_manager, const StatusCallback& status_cb, const std::string& tf_prefix)
00042 : frame_manager_(frame_manager)
00043 , status_callback_(status_cb)
00044 , tf_prefix_(tf_prefix)
00045 {
00046 }
00047 
00048 bool TFLinkUpdater::getLinkTransforms(const std::string& _link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation,
00049                                       Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation) const
00050 {
00051   std::string link_name = _link_name;
00052   if (!tf_prefix_.empty())
00053   {
00054     link_name = tf::resolve(tf_prefix_, link_name);
00055   }
00056 
00057   Ogre::Vector3 position;
00058   Ogre::Quaternion orientation;
00059   if (!frame_manager_->getTransform(link_name, ros::Time(), position, orientation))
00060   {
00061     std::stringstream ss;
00062     ss << "No transform from [" << link_name << "] to [" << frame_manager_->getFixedFrame() << "]";
00063     setLinkStatus(StatusProperty::Error, link_name, ss.str());
00064     return false;
00065   }
00066 
00067   setLinkStatus(StatusProperty::Ok, link_name, "Transform OK");
00068 
00069   // Collision/visual transforms are the same in this case
00070   visual_position = position;
00071   visual_orientation = orientation;
00072   collision_position = position;
00073   collision_orientation = orientation;
00074 
00075   return true;
00076 }
00077 
00078 void TFLinkUpdater::setLinkStatus(StatusLevel level, const std::string& link_name, const std::string& text) const
00079 {
00080   if (status_callback_)
00081   {
00082     status_callback_(level, link_name, text);
00083   }
00084 }
00085 
00086 }


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:28