Program Listing for File gps_to_cartesian.cpp
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/*!*******************************************************************************************
* \file gps_to_cartesian_service.cpp
* \brief GPS to Cartesian service implementation as behavior tree node
* \authors Pedro Arias Pérez
* Miguel Fernández Cortizas
* David Pérez Saura
* Rafael Pérez Seguí
* Javier Melero Deza
*
* \copyright Copyright (c) 2022 Universidad Politécnica de Madrid
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#include "as2_behavior_tree/action/gps_to_cartesian.hpp"
namespace as2_behavior_tree {
GpsToCartesian::GpsToCartesian(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf)
: nav2_behavior_tree::BtServiceNode<as2_msgs::srv::GeopathToPath>(
xml_tag_name, conf) {}
void GpsToCartesian::on_tick() {
getInput("latitude", geopose.pose.position.latitude);
getInput("longitude", geopose.pose.position.longitude);
getInput("z", pose.position.z);
geopath.poses.push_back(geopose);
this->request_->geo_path = geopath;
}
BT::NodeStatus GpsToCartesian::on_completion() {
pose.position.x =
this->future_result_.get()->path.poses.at(0).pose.position.x;
pose.position.y =
this->future_result_.get()->path.poses.at(0).pose.position.y;
setOutput("out_pose", pose);
return this->future_result_.get()->success ? BT::NodeStatus::SUCCESS
: BT::NodeStatus::FAILURE;
}
} // namespace as2_behavior_tree