laser_joint_projector: laser_joint_projector.cpp Source File

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00034 
00036 
00037 #include <cstdio>
00038 #include <laser_joint_projector/laser_joint_projector.h>
00039 #include <calibration_msgs/JointStateCalibrationPattern.h>
00040 
00041 using namespace laser_joint_projector;
00042 using namespace std;
00043 
00044 LaserJointProjector::LaserJointProjector()
00045 {
00046 
00047 }
00048 
00049 void LaserJointProjector::configure(const KDL::Tree& tree,
00050                                     const std::string& root, const std::string& tip)
00051 {
00052   bool success;
00053   success = tree.getChain(root, tip, chain_);
00054   if (!success)
00055     ROS_ERROR("Error extracting chain from [%s] to [%s]\n", root.c_str(), tip.c_str());
00056 
00057   KDL::Segment angle_segment("laser_angle_segment",
00058                              KDL::Joint("laser_angle_joint", KDL::Joint::RotZ));
00059   KDL::Segment range_segment("laser_range_segment",
00060                              KDL::Joint("laser_range_joint", KDL::Joint::TransX));
00061 
00062   chain_.addSegment(angle_segment);
00063   chain_.addSegment(range_segment);
00064 
00065   for (unsigned int i=0; i < chain_.segments.size(); i++)
00066   {
00067     printf("%2u) %s -> %s\n", i, chain_.segments[i].getName().c_str(),
00068                                   chain_.segments[i].getJoint().getName().c_str());
00069   }
00070 
00071   solver_.reset(new KDL::ChainFkSolverPos_recursive(chain_));
00072 }
00073 
00074 sensor_msgs::PointCloud LaserJointProjector::project(const vector<sensor_msgs::JointState>& joint_state_vec, const ros::Duration& time_shift)
00075 {
00076   sensor_msgs::PointCloud cloud;
00077   cloud.points.clear();
00078 
00079   for (unsigned int i=0; i<joint_state_vec.size(); i++)
00080   {
00081     map<string, double> joint_map;
00082     for (unsigned int j=0; j<joint_state_vec[i].name.size(); j++)
00083     {
00084       joint_map.insert(make_pair(joint_state_vec[i].name[j],
00085                                  joint_state_vec[i].position[j] +  joint_state_vec[i].velocity[j]*time_shift.toSec()));
00086     }
00087     geometry_msgs::Point32 pt = project(joint_map);
00088     cloud.points.push_back(pt);
00089   }
00090 
00091   return cloud;
00092 }
00093 
00094 
00095 geometry_msgs::Point32 LaserJointProjector::project(const map<string, double>& joint_map)
00096 {
00097   KDL::JntArray joint_pos_array(chain_.getNrOfJoints());
00098 
00099   // Populate the JntArray, by looking into map, based on joint names in chain
00100   unsigned int cur_joint_num=0;
00101   for (unsigned int i=0; i<chain_.getNrOfSegments(); i++)
00102   {
00103     if (chain_.getSegment(i).getJoint().getType() != KDL::Joint::None)
00104     {
00105       string joint_name = chain_.getSegment(i).getJoint().getName();
00106       map<string, double>::const_iterator it = joint_map.find(joint_name);
00107 
00108       if (it == joint_map.end())
00109       {
00110         ROS_ERROR("Couldn't find joint [%s] in map", joint_name.c_str());
00111         joint_pos_array(cur_joint_num, 0) = 0.0;
00112       }
00113       else
00114       {
00115         joint_pos_array(cur_joint_num, 0) = (*it).second;
00116       }
00117       cur_joint_num++;
00118     }
00119   }
00120 
00121   KDL::Frame out_frame;
00122   solver_->JntToCart(joint_pos_array, out_frame);
00123 
00124   geometry_msgs::Point32 pt;
00125   pt.x = out_frame.p.data[0];
00126   pt.y = out_frame.p.data[1];
00127   pt.z = out_frame.p.data[2];
00128 
00129   return pt;
00130 }