laser_joint_projector: laser_joint_projector: laser_joint

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00034 
00036 
00037 #include <cstdio>
00038 #include <ros/console.h>
00039 #include <laser_joint_projector/laser_joint_projector.h>
00040 #include <calibration_msgs/JointStateCalibrationPattern.h>
00041 
00042 using namespace laser_joint_projector;
00043 using namespace std;
00044 
00045 LaserJointProjector::LaserJointProjector()
00046 {
00047 
00048 }
00049 
00050 void LaserJointProjector::configure(const KDL::Tree& tree,
00051                                     const std::string& root, const std::string& tip)
00052 {
00053   bool success;
00054   success = tree.getChain(root, tip, chain_);
00055   if (!success)
00056     ROS_ERROR("Error extracting chain from [%s] to [%s]\n", root.c_str(), tip.c_str());
00057 
00058   KDL::Segment angle_segment("laser_angle_segment",
00059                              KDL::Joint("laser_angle_joint", KDL::Joint::RotZ));
00060   KDL::Segment range_segment("laser_range_segment",
00061                              KDL::Joint("laser_range_joint", KDL::Joint::TransX));
00062 
00063   chain_.addSegment(angle_segment);
00064   chain_.addSegment(range_segment);
00065 
00066   for (unsigned int i=0; i < chain_.segments.size(); i++)
00067   {
00068     printf("%2u) %s -> %s\n", i, chain_.segments[i].getName().c_str(),
00069                                   chain_.segments[i].getJoint().getName().c_str());
00070   }
00071 
00072   solver_.reset(new KDL::ChainFkSolverPos_recursive(chain_));
00073 }
00074 
00075 sensor_msgs::PointCloud LaserJointProjector::project(const vector<sensor_msgs::JointState>& joint_state_vec, const ros::Duration& time_shift)
00076 {
00077   sensor_msgs::PointCloud cloud;
00078   cloud.points.clear();
00079 
00080   for (unsigned int i=0; i<joint_state_vec.size(); i++)
00081   {
00082     map<string, double> joint_map;
00083     for (unsigned int j=0; j<joint_state_vec[i].name.size(); j++)
00084     {
00085       joint_map.insert(make_pair(joint_state_vec[i].name[j],
00086                                  joint_state_vec[i].position[j] +  joint_state_vec[i].velocity[j]*time_shift.toSec()));
00087     }
00088     geometry_msgs::Point32 pt = project(joint_map);
00089     cloud.points.push_back(pt);
00090   }
00091 
00092   return cloud;
00093 }
00094 
00095 
00096 geometry_msgs::Point32 LaserJointProjector::project(const map<string, double>& joint_map)
00097 {
00098   KDL::JntArray joint_pos_array(chain_.getNrOfJoints());
00099 
00100   // Populate the JntArray, by looking into map, based on joint names in chain
00101   unsigned int cur_joint_num=0;
00102   for (unsigned int i=0; i<chain_.getNrOfSegments(); i++)
00103   {
00104     if (chain_.getSegment(i).getJoint().getType() != KDL::Joint::None)
00105     {
00106       string joint_name = chain_.getSegment(i).getJoint().getName();
00107       map<string, double>::const_iterator it = joint_map.find(joint_name);
00108 
00109       if (it == joint_map.end())
00110       {
00111         ROS_ERROR("Couldn't find joint [%s] in map", joint_name.c_str());
00112         joint_pos_array(cur_joint_num, 0) = 0.0;
00113       }
00114       else
00115       {
00116         joint_pos_array(cur_joint_num, 0) = (*it).second;
00117       }
00118       cur_joint_num++;
00119     }
00120   }
00121 
00122   KDL::Frame out_frame;
00123   solver_->JntToCart(joint_pos_array, out_frame);
00124 
00125   geometry_msgs::Point32 pt;
00126   pt.x = out_frame.p.data[0];
00127   pt.y = out_frame.p.data[1];
00128   pt.z = out_frame.p.data[2];
00129 
00130   return pt;
00131 }
laser_joint_projector.cpp
