initial_pose_tool.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
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  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "initial_pose_tool.h"
00031 #include "visualization_manager.h"
00032 #include "properties/property.h"
00033 #include "properties/property_manager.h"
00034 
00035 #include "ogre_helpers/camera_base.h"
00036 #include "ogre_helpers/arrow.h"
00037 #include "ogre_helpers/qt_ogre_render_window.h"
00038 
00039 #include <geometry_msgs/PoseStamped.h>
00040 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00041 
00042 #include <OGRE/OgreRay.h>
00043 #include <OGRE/OgrePlane.h>
00044 #include <OGRE/OgreCamera.h>
00045 #include <OGRE/OgreSceneNode.h>
00046 #include <OGRE/OgreViewport.h>
00047 
00048 #include <tf/transform_listener.h>
00049 
00050 namespace rviz
00051 {
00052 
00053 InitialPoseTool::InitialPoseTool( const std::string& name, char shortcut_key, VisualizationManager* manager )
00054 : PoseTool( name, shortcut_key, manager )
00055 {
00056   setTopic("initialpose");
00057 }
00058 
00059 InitialPoseTool::~InitialPoseTool()
00060 {
00061 }
00062 
00063 void InitialPoseTool::setTopic(const std::string& topic)
00064 {
00065   topic_ = topic;
00066   pub_ = nh_.advertise<geometry_msgs::PoseWithCovarianceStamped>(topic, 1);
00067 }
00068 
00069 void InitialPoseTool::onPoseSet(double x, double y, double theta)
00070 {
00071   std::string fixed_frame = manager_->getFixedFrame();
00072   geometry_msgs::PoseWithCovarianceStamped pose;
00073   pose.header.frame_id = fixed_frame;
00074   pose.pose.pose.position.x = x;
00075   pose.pose.pose.position.y = y;
00076 
00077   tf::Quaternion quat;
00078   quat.setRPY(0.0, 0.0, theta);
00079   tf::quaternionTFToMsg(quat,
00080                         pose.pose.pose.orientation);
00081   pose.pose.covariance[6*0+0] = 0.5 * 0.5;
00082   pose.pose.covariance[6*1+1] = 0.5 * 0.5;
00083   pose.pose.covariance[6*5+5] = M_PI/12.0 * M_PI/12.0;
00084   ROS_INFO("Setting pose: %.3f %.3f %.3f [frame=%s]", x, y, theta, fixed_frame.c_str());
00085   pub_.publish(pose);
00086 }
00087 
00088 void InitialPoseTool::enumerateProperties(PropertyManager* property_manager, const CategoryPropertyWPtr& parent)
00089 {
00090   topic_property_ = property_manager->createProperty<StringProperty>("Topic", "Tool " + getName(), boost::bind(&InitialPoseTool::getTopic, this), boost::bind(&InitialPoseTool::setTopic, this, _1), parent, this);
00091 }
00092 
00093 }
00094 


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32