00001 00010 #include <iostream> 00011 #include <ros/ros.h> 00012 #include <youbot_overhead_vision/CoordConversion.h> 00013 00014 //Conversion types 00015 #define PIXEL_TO_METER 1 00016 #define METER_TO_PIXEL 2 00017 #define OCC_GRID_TO_METER 3 00018 00019 //Conversion constants 00020 #define SIM_M .003905 00021 #define SIM_X_B -.1796 00022 #define SIM_Y_B -.1601 00023 #define REAL_M .00403297 00024 #define REAL_X_B -.088725 00025 #define REAL_Y_B -.370941 00026 #define OCC_GRID_REDUCTION .25 00027 00028 class coordConversion 00029 { 00030 public: 00031 ros::NodeHandle n; 00032 ros::ServiceServer conversionService; 00033 00034 bool useSim; 00035 00039 coordConversion(); 00040 00047 bool convertCoordinates(youbot_overhead_vision::CoordConversion::Request &req, 00048 youbot_overhead_vision::CoordConversion::Response &res); 00049 };