Program Listing for File turtle.h
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/*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* * Neither the name of the Willow Garage, Inc. 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 OWNER 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.
*/
#ifndef TURTLESIM_TURTLE_H
#define TURTLESIM_TURTLE_H
// This prevents a MOC error with versions of boost >= 1.48
#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
# include <rclcpp/rclcpp.hpp>
# include <rclcpp_action/rclcpp_action.hpp>
# include <geometry_msgs/msg/twist.hpp>
# include <turtlesim/action/rotate_absolute.hpp>
# include <turtlesim/msg/color.hpp>
# include <turtlesim/msg/pose.hpp>
# include <turtlesim/srv/set_pen.hpp>
# include <turtlesim/srv/teleport_absolute.hpp>
# include <turtlesim/srv/teleport_relative.hpp>
#endif
#include <QImage>
#include <QPainter>
#include <QPen>
#include <QPointF>
#define PI 3.14159265
#define TWO_PI 2.0 * PI
namespace turtlesim
{
class Turtle
{
public:
using RotateAbsoluteGoalHandle = rclcpp_action::ServerGoalHandle<turtlesim::action::RotateAbsolute>;
Turtle(rclcpp::Node::SharedPtr& nh, const std::string& real_name, const QImage& turtle_image, const QPointF& pos, float orient);
bool update(double dt, QPainter& path_painter, const QImage& path_image, qreal canvas_width, qreal canvas_height);
void paint(QPainter &painter);
private:
void velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr vel);
bool setPenCallback(const turtlesim::srv::SetPen::Request::SharedPtr, turtlesim::srv::SetPen::Response::SharedPtr);
bool teleportRelativeCallback(const turtlesim::srv::TeleportRelative::Request::SharedPtr, turtlesim::srv::TeleportRelative::Response::SharedPtr);
bool teleportAbsoluteCallback(const turtlesim::srv::TeleportAbsolute::Request::SharedPtr, turtlesim::srv::TeleportAbsolute::Response::SharedPtr);
void rotateAbsoluteAcceptCallback(const std::shared_ptr<RotateAbsoluteGoalHandle>);
void rotateImage();
rclcpp::Node::SharedPtr nh_;
QImage turtle_image_;
QImage turtle_rotated_image_;
QPointF pos_;
qreal orient_;
qreal lin_vel_x_;
qreal lin_vel_y_;
qreal ang_vel_;
bool pen_on_;
QPen pen_;
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtr pose_pub_;
rclcpp::Publisher<turtlesim::msg::Color>::SharedPtr color_pub_;
rclcpp::Service<turtlesim::srv::SetPen>::SharedPtr set_pen_srv_;
rclcpp::Service<turtlesim::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
rclcpp::Service<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
rclcpp_action::Server<turtlesim::action::RotateAbsolute>::SharedPtr rotate_absolute_action_server_;
std::shared_ptr<RotateAbsoluteGoalHandle> rotate_absolute_goal_handle_;
std::shared_ptr<turtlesim::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
std::shared_ptr<turtlesim::action::RotateAbsolute::Result> rotate_absolute_result_;
qreal rotate_absolute_start_orient_;
rclcpp::Time last_command_time_;
float meter_;
struct TeleportRequest
{
TeleportRequest(float x, float y, qreal _theta, qreal _linear, bool _relative)
: pos(x, y)
, theta(_theta)
, linear(_linear)
, relative(_relative)
{}
QPointF pos;
qreal theta;
qreal linear;
bool relative;
};
typedef std::vector<TeleportRequest> V_TeleportRequest;
V_TeleportRequest teleport_requests_;
};
typedef std::shared_ptr<Turtle> TurtlePtr;
}
#endif