HectorDrawings.h
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00001 //=================================================================================================
00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
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 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #include "DrawInterface.h"
00030 //#include "util/UtilFunctions.h"
00031 
00032 #include "ros/ros.h"
00033 
00034 #include <Eigen/Geometry>
00035 #include <Eigen/Dense>
00036 
00037 
00038 #include <visualization_msgs/MarkerArray.h>
00039 
00040 class HectorDrawings : public DrawInterface
00041 {
00042 public:
00043 
00044   HectorDrawings()
00045   {
00046     idCounter = 0;
00047     maxId = 0;
00048 
00049     ros::NodeHandle nh_;
00050 
00051     markerPublisher_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1, true);
00052     markerArrayPublisher_ = nh_.advertise<visualization_msgs::MarkerArray>("visualization_marker_array", 1, true);
00053 
00054     tempMarker.header.frame_id = "map";
00055     tempMarker.ns = "marker";
00056 
00057     this->setScale(1.0);
00058     this->setColor(1.0, 1.0, 1.0);
00059 
00060     tempMarker.action = visualization_msgs::Marker::ADD;
00061   };
00062 
00063   virtual void setNamespace(const std::string& ns)
00064   {
00065     tempMarker.ns = ns;
00066   }
00067 
00068   virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame)
00069   {
00070     tempMarker.id = idCounter++;
00071 
00072     tempMarker.pose.position.x = pointWorldFrame.x();
00073     tempMarker.pose.position.y = pointWorldFrame.y();
00074 
00075     tempMarker.pose.orientation.w = 0.0;
00076     tempMarker.pose.orientation.z = 0.0;
00077     tempMarker.type = visualization_msgs::Marker::CUBE;
00078 
00079     //markerPublisher_.publish(tempMarker);
00080 
00081     markerArray.markers.push_back(tempMarker);
00082   }
00083 
00084   virtual void drawArrow(const Eigen::Vector3f& poseWorld)
00085   {
00086     tempMarker.id = idCounter++;
00087 
00088     tempMarker.pose.position.x = poseWorld.x();
00089     tempMarker.pose.position.y = poseWorld.y();
00090 
00091     tempMarker.pose.orientation.w = cos(poseWorld.z()*0.5f);
00092     tempMarker.pose.orientation.z = sin(poseWorld.z()*0.5f);
00093 
00094     tempMarker.type = visualization_msgs::Marker::ARROW;
00095 
00096     //markerPublisher_.publish(tempMarker);
00097 
00098     markerArray.markers.push_back(tempMarker);
00099 
00100   }
00101 
00102   virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& covMatrix)
00103   {
00104 
00105     tempMarker.pose.position.x = mean[0];
00106     tempMarker.pose.position.y = mean[1];
00107 
00108     Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> eig(covMatrix);
00109 
00110     const Eigen::Vector2f& eigValues (eig.eigenvalues());
00111     const Eigen::Matrix2f& eigVectors (eig.eigenvectors());
00112 
00113     float angle = (atan2(eigVectors(1, 0), eigVectors(0, 0)));
00114 
00115     tempMarker.type = visualization_msgs::Marker::CYLINDER;
00116 
00117     double lengthMajor = sqrt(eigValues[0]);
00118     double lengthMinor = sqrt(eigValues[1]);
00119 
00120     tempMarker.scale.x = lengthMajor;
00121     tempMarker.scale.y = lengthMinor;
00122     tempMarker.scale.z = 0.001;
00123 
00124 
00125     tempMarker.pose.orientation.w = cos(angle*0.5);
00126     tempMarker.pose.orientation.z = sin(angle*0.5);
00127 
00128     tempMarker.id = idCounter++;
00129     markerArray.markers.push_back(tempMarker);
00130   }
00131 
00132   virtual void drawCovariance(const Eigen::Vector3f& mean, const Eigen::Matrix3f& covMatrix)
00133   {
00134     tempMarker.type = visualization_msgs::Marker::SPHERE;
00135 
00136     tempMarker.color.r = 0.0;
00137     tempMarker.color.a = 0.5;
00138 
00139     tempMarker.pose.position.x = mean[0];
00140     tempMarker.pose.position.y = mean[1];
00141     tempMarker.pose.position.z = mean[2];
00142 
00143     Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> eig(covMatrix);
00144 
00145     const Eigen::Vector3f& eigValues (eig.eigenvalues());
00146     const Eigen::Matrix3f& eigVectors (eig.eigenvectors());
00147 
00148 
00149     Eigen::Matrix3f eigVectorsFlipped;
00150     eigVectorsFlipped.col(0) = eigVectors.col(2);
00151     eigVectorsFlipped.col(1) = eigVectors.col(1);
00152     eigVectorsFlipped.col(2) = eigVectors.col(0);
00153 
00154     if (eigVectorsFlipped.determinant() < 0){
00155       eigVectorsFlipped.col(2) = -eigVectorsFlipped.col(2);
00156     }
00157 
00158     Eigen::Quaternionf quaternion (eigVectorsFlipped);
00159 
00160     //std::cout << "\neigVec:\n" << eigVectors << "\n";
00161     //std::cout << "\neigVecFlipped:\n" << eigVectorsFlipped << "\n";
00162 
00163     //std::cout << "\now:" << quaternion.w() << " x:" << quaternion.x() << " y:" << quaternion.y() << " z:" << quaternion.z() << "\n";
00164 
00165 
00166     tempMarker.pose.orientation.w = quaternion.w();
00167     tempMarker.pose.orientation.x = quaternion.x();
00168     tempMarker.pose.orientation.y = quaternion.y();
00169     tempMarker.pose.orientation.z = quaternion.z();
00170 
00171     tempMarker.scale.x = sqrt(eigValues[2]);
00172     tempMarker.scale.y = sqrt(eigValues[1]);
00173     tempMarker.scale.z = sqrt(eigValues[0]);
00174 
00175     tempMarker.id = idCounter++;
00176     markerArray.markers.push_back(tempMarker);
00177 
00178 
00179   }
00180 
00181   virtual void setScale(double scale)
00182   {
00183     tempMarker.scale.x = scale;
00184     tempMarker.scale.y = scale;
00185     tempMarker.scale.z = scale;
00186   }
00187 
00188   virtual void setColor(double r, double g, double b, double a = 1.0)
00189   {
00190     tempMarker.color.r = r;
00191     tempMarker.color.g = g;
00192     tempMarker.color.b = b;
00193     tempMarker.color.a = a;
00194   }
00195 
00196   virtual void addMarker(visualization_msgs::Marker marker) {
00197     if (marker.id == 0) marker.id = idCounter++;
00198     if (marker.ns.empty()) marker.ns = tempMarker.ns;
00199     markerArray.markers.push_back(marker);
00200   }
00201 
00202   virtual void addMarkers(visualization_msgs::MarkerArray markers) {
00203     for(visualization_msgs::MarkerArray::_markers_type::iterator it = markers.markers.begin(); it != markers.markers.end(); ++it) {
00204       visualization_msgs::Marker &marker = *it;
00205       addMarker(marker);
00206     }
00207   }
00208 
00209   virtual void sendAndResetData()
00210   {
00211     allMarkers.markers.insert(allMarkers.markers.end(), markerArray.markers.begin(), markerArray.markers.end());
00212     markerArrayPublisher_.publish(markerArray);
00213     markerArray.markers.clear();
00214     if (idCounter > maxId) maxId = idCounter;
00215     idCounter = 0;
00216   }
00217 
00218   void setTime(const ros::Time& time)
00219   {
00220     tempMarker.header.stamp = time;
00221   }
00222 
00223   void reset()
00224   {
00225     for(visualization_msgs::MarkerArray::_markers_type::iterator it = allMarkers.markers.begin(); it != allMarkers.markers.end(); ++it)
00226     {
00227       it->action = visualization_msgs::Marker::DELETE;
00228     }
00229     markerArrayPublisher_.publish(allMarkers);
00230     allMarkers.markers.clear();
00231   }
00232 
00233   ros::Publisher markerPublisher_;
00234   ros::Publisher markerArrayPublisher_;
00235 
00236   visualization_msgs::Marker tempMarker;
00237   visualization_msgs::MarkerArray markerArray;
00238   visualization_msgs::MarkerArray allMarkers;
00239 
00240   int idCounter;
00241   int maxId;
00242 };
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hector_marker_drawing
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:50:31