frame_relative_camera_controller.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#include <geometry_msgs/TransformStamped.h>
#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_render_client/camera.h>

#include "rve_common_transformers/frame_relative_camera_controller.h"

namespace rve_common_transformers
{

FrameRelativeCameraController::FrameRelativeCameraController()
  : relative_position_( 0, 0, 0 )
  , relative_orientation_( 1, 0, 0, 0 ) // Eigen's quat order is w,x,y,z
{
}

void FrameRelativeCameraController::setReferenceFrame( const std::string& frame_id )
{
  reference_frame_id_ = frame_id;
}

void FrameRelativeCameraController::onInit()
{
}

void FrameRelativeCameraController::onUpdate()
{
  // Do any subclass-specific update of relative pose members.
  updateRelativePose();

  // Read the reference frame relative to the fixed frame.
  geometry_msgs::TransformStamped reference = getManager()->getFrameManager()->lookupTransform(reference_frame_id_, ros::Time());
  
  // Compose them to get the camera relative to the fixed frame.
  geometry_msgs::Vector3 p = reference.transform.translation;
  Eigen::Vector3f reference_pos(p.x, p.y, p.z);

  geometry_msgs::Quaternion q = reference.transform.rotation;
  Eigen::Quaternionf reference_rot(q.w, q.x, q.y, q.z);

  absolute_position_ = reference_pos + reference_rot * getRelativePosition();
  absolute_orientation_ = reference_rot * getRelativeOrientation();

  if( getCamera() )
  {
    getCamera()->setPosition(rve_common::eigenToMsg( absolute_position_ ));
    getCamera()->setOrientation(rve_common::eigenToMsg( absolute_orientation_ ));
  }
}

void FrameRelativeCameraController::onCameraSet()
{
  if( getCamera() )
  {
    getCamera()->setPosition(rve_common::eigenToMsg( absolute_position_ ));
    getCamera()->setOrientation(rve_common::eigenToMsg( absolute_orientation_ ));
  }
}

}