static_transform_pose_stamped.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #include <ros/ros.h>
00037 #include <geometry_msgs/PoseStamped.h>
00038 #include <eigen_conversions/eigen_msg.h>
00039 
00040 namespace jsk_topic_tools
00041 {
00042   class PoseStampedTransformer
00043   {
00044   public:
00045     typedef boost::shared_ptr<PoseStampedTransformer> Ptr;
00046     PoseStampedTransformer(double x, double y, double z,
00047                            double yaw, double pitch, double roll,
00048                            std::string from_topic,
00049                            std::string to_topic);
00050     virtual ~PoseStampedTransformer();
00051   protected:
00052     void transform(const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
00053     ros::Subscriber sub_;
00054     ros::Publisher pub_;
00055     double x_;
00056     double y_;
00057     double z_;
00058     double roll_;
00059     double pitch_;
00060     double yaw_;
00061   private:
00062     
00063   };
00064 
00065   PoseStampedTransformer::PoseStampedTransformer(
00066     double x, double y, double z,
00067     double yaw, double pitch, double roll,
00068     std::string from_topic, std::string to_topic):
00069     x_(x), y_(y), z_(z), yaw_(yaw), pitch_(pitch), roll_(roll)
00070   {
00071     ros::NodeHandle nh;
00072     pub_ = nh.advertise<geometry_msgs::PoseStamped>(
00073       to_topic, 1);
00074     sub_ = nh.subscribe(from_topic, 1,
00075                         &PoseStampedTransformer::transform, this);
00076   }
00077 
00078   PoseStampedTransformer::~PoseStampedTransformer()
00079   {
00080 
00081   }
00082 
00083   void PoseStampedTransformer::transform(
00084     const geometry_msgs::PoseStamped::ConstPtr& pose_msg)
00085   {
00086     Eigen::Affine3d input_transform;
00087     tf::poseMsgToEigen(pose_msg->pose, input_transform);
00088     Eigen::AngleAxisd roll_angle(roll_, Eigen::Vector3d::UnitZ());
00089     Eigen::AngleAxisd yaw_angle(yaw_, Eigen::Vector3d::UnitY());
00090     Eigen::AngleAxisd pitch_angle(pitch_, Eigen::Vector3d::UnitX());
00091 
00092     Eigen::Affine3d transformation
00093       = Eigen::Translation3d(x_, y_, z_) * roll_angle * yaw_angle * pitch_angle;
00094     Eigen::Affine3d output_transform = input_transform * transformation;
00095     geometry_msgs::PoseStamped output_pose_msg;
00096     tf::poseEigenToMsg(output_transform, output_pose_msg.pose);
00097     output_pose_msg.header = pose_msg->header;
00098     pub_.publish(output_pose_msg);
00099   }
00100   
00101 }
00102 
00103 int usage(char** argv)
00104 {
00105   std::cerr << "Usage:: " << argv[0]
00106             << " x y z yaw pitch roll from_topic to_topic"
00107             << std::endl;
00108 }
00109 
00110 int main(int argc, char** argv)
00111 {
00112   ros::init(argc, argv, "static_transform_pose_stamped",
00113             ros::init_options::AnonymousName);
00114   // x y z yaw pitch roll
00115   if (argc != 9) {
00116     usage(argv);
00117     exit(1);
00118   }
00119   // parse argument
00120   jsk_topic_tools::PoseStampedTransformer p(::atof(argv[1]),
00121                                             ::atof(argv[2]),
00122                                             ::atof(argv[3]),
00123                                             ::atof(argv[4]),
00124                                             ::atof(argv[5]),
00125                                             ::atof(argv[6]),
00126                                             argv[7],
00127                                             argv[8]);
00128   ros::spin();
00129 }


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 00:30:41