SimulatedIAUV.cpp

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/* 
 * Copyright (c) 2013 University of Jaume-I.
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the GNU Public License v3.0
 * which accompanies this distribution, and is available at
 * http://www.gnu.org/licenses/gpl.html
 * 
 * Contributors:
 *     Mario Prats
 *     Javier Perez
 */

#include <uwsim/SceneBuilder.h>
#include <uwsim/osgOceanScene.h>
#include <uwsim/SimulatorConfig.h>
#include <uwsim/SimulatedIAUV.h>
#include <uwsim/URDFRobot.h>
#include <osg/MatrixTransform>
#include <osg/PositionAttitudeTransform>

/*
 class LightUpdateCallback:public osg::NodeCallback {
 osg::Transform *trackNode;     ///< Node that the light must track

 public:
 LightUpdateCallback(osg::Transform *trackNode)
 {this->trackNode=trackNode;}

 void operator () (osg::Node *node, osg::NodeVisitor *nv) {
 //update light position to track the node
 osg::LightSource *ls=dynamic_cast<osg::LightSource*>(node);
 osg::Light *l=ls->getLight();
 osg::PositionAttitudeTransform *pat=trackNode->asPositionAttitudeTransform();
 osg::Vec3d pos=pat->getPosition();
 l->setPosition( osg::Vec4f(pos.x(),pos.y(),pos.z()-0.5, 1.f) );

 //call to standard callback
 osg::NodeCallback::operator()(node,nv);
 }
 };
 */

/*
 SimulatedIAUV::SimulatedIAUV(osgOcean::OceanScene *oscene, arm_t armtype) {
 vehicle=new SimulatedVehicle(oscene, "GIRONA500/girona500.osg");

 if (armtype==PA10)
 arm=new SimulatedPA10(oscene);
 else if (armtype==ARM5)
 arm=new SimulatedArmFromURDF5(oscene);

 baseTransform=NULL;
 if(vehicle->baseTransform!=NULL && arm->baseTransform!=NULL) {
 baseTransform=vehicle->baseTransform;
 baseTransform->addChild(arm->baseTransform);

 //Vehicle frame to Arm base frame transform
 osg::Matrix m=arm->baseTransform->getMatrix();
 if (armtype==PA10) {
 m.makeRotate(M_PI,1,0,0);
 } else if (armtype==ARM5) {
 }
 arm->baseTransform->setMatrix(m);
 }
 camview=NULL;

 //Set-up a lamp attached to the vehicle
 osg::Light *_light=new osg::Light;
 _light->setLightNum(1);
 _light->setAmbient( osg::Vec4d(1.0f, 1.0f, 1.0f, 1.0f ));
 _light->setDiffuse( osg::Vec4d( 1.0, 1.0, 1.0, 1.0 ) );
 _light->setSpecular(osg::Vec4d( 0.1f, 0.1f, 0.1f, 1.0f ) );
 _light->setDirection(osg::Vec3d(0.0, 0.0, -5.0));
 _light->setSpotCutoff(40.0);
 _light->setSpotExponent(10.0);

 lightSource = new osg::LightSource;
 lightSource->setLight(_light);
 lightSource->setLocalStateSetModes(osg::StateAttribute::ON);
 lightSource->setUpdateCallback(new LightUpdateCallback(baseTransform));
 }
 */

SimulatedIAUV::SimulatedIAUV(SceneBuilder *oscene, Vehicle vehicleChars) :
    urdf(new URDFRobot(oscene->scene->getOceanScene(), vehicleChars))
{
  name = vehicleChars.name;
  baseTransform = new osg::MatrixTransform;

  if (urdf->baseTransform != NULL /* && arm->baseTransform!=NULL*/)
  {
    baseTransform->addChild(urdf->baseTransform);
    baseTransform->setName(vehicleChars.name);
  }
  scale=osg::Vec3d(vehicleChars.scale[0],vehicleChars.scale[1],vehicleChars.scale[2]);

  //Add virtual  cameras in config file
  while (vehicleChars.Vcams.size() > 0)
  {
    Vcam vcam = vehicleChars.Vcams.front();
    OSG_INFO << "Adding a virtual camera " << vcam.name << "..." << std::endl;
    vehicleChars.Vcams.pop_front();
    //Camera frame given wrt vehicle origin frame.
    //Remember that in opengl/osg, the camera frame is a right-handed system with Z going backwards (opposite to the viewing direction) and Y up.
    osg::ref_ptr < osg::Transform > vMc = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMc->asPositionAttitudeTransform()->setPosition(osg::Vec3d(vcam.position[0], vcam.position[1], vcam.position[2]));
    vMc->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(vcam.orientation[0], osg::Vec3d(1, 0, 0), vcam.orientation[1], osg::Vec3d(0, 1, 0),
                  vcam.orientation[2], osg::Vec3d(0, 0, 1)));
    urdf->link[vcam.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMc);
    camview.push_back(
        VirtualCamera(oscene->root, vcam.name, vcam.linkName, vMc, vcam.resw, vcam.resh, vcam.baseLine, vcam.frameId,
                      vcam.fov,oscene,vcam.std,vcam.parameters.get(), 0, vcam.bw));
    if (vcam.showpath)
      camview[camview.size() - 1].showPath(vcam.showpath);
    OSG_INFO << "Done adding a virtual camera..." << std::endl;
  }

  //Add virtual range cameras in config file
  while (vehicleChars.VRangecams.size() > 0)
  {
    Vcam vcam = vehicleChars.VRangecams.front();
    OSG_INFO << "Adding a virtual camera " << vcam.name << "..." << std::endl;
    vehicleChars.VRangecams.pop_front();
    //Camera frame given wrt vehicle origin frame.
    //Remember that in opengl/osg, the camera frame is a right-handed system with Z going backwards (opposite to the viewing direction) and Y up.
    osg::ref_ptr < osg::Transform > vMc = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMc->asPositionAttitudeTransform()->setPosition(osg::Vec3d(vcam.position[0], vcam.position[1], vcam.position[2]));
    vMc->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(vcam.orientation[0], osg::Vec3d(1, 0, 0), vcam.orientation[1], osg::Vec3d(0, 1, 0),
                  vcam.orientation[2], osg::Vec3d(0, 0, 1)));
    urdf->link[vcam.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMc);
    camview.push_back(
        VirtualCamera(oscene->root, vcam.name, vcam.linkName, vMc, vcam.resw, vcam.resh, vcam.baseLine, vcam.frameId,
                      vcam.fov,NULL,0,vcam.parameters.get(), 1, 0));
    if (vcam.showpath)
      camview[camview.size() - 1].showPath(vcam.showpath);
    OSG_INFO << "Done adding a virtual camera..." << std::endl;
  }

  // Adding Structured light projector
  while (vehicleChars.sls_projectors.size() > 0)
  {
    OSG_INFO << "Adding a structured light projector..." << std::endl;
    slProjector slp;
    slp = vehicleChars.sls_projectors.front();
    vehicleChars.sls_projectors.pop_front();
    osg::ref_ptr < osg::Transform > vMp = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMp->asPositionAttitudeTransform()->setPosition(osg::Vec3d(slp.position[0], slp.position[1], slp.position[2]));
    vMp->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(slp.orientation[0], osg::Vec3d(1, 0, 0), slp.orientation[1], osg::Vec3d(0, 1, 0), slp.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[slp.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMp);
    //camview.push_back(VirtualCamera(oscene->root, "slp_camera", vMp, 512, 512,slp.fov,102.4));
    sls_projectors.push_back(VirtualSLSProjector(slp.name, slp.linkName, oscene->root, //maybe oscene->scene->localizedWorld ?
                                                 vMp, slp.image_name, slp.fov, (slp.laser) ? true : false));
    camview.push_back(sls_projectors.back().camera);
    OSG_INFO << "Done adding a structured light projector..." << std::endl;
  }

  //Adding range sensors
  while (vehicleChars.range_sensors.size() > 0)
  {
    OSG_INFO << "Adding a virtual range sensor..." << std::endl;
    rangeSensor rs;
    rs = vehicleChars.range_sensors.front();
    vehicleChars.range_sensors.pop_front();
    osg::ref_ptr < osg::Transform > vMr = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMr->asPositionAttitudeTransform()->setPosition(osg::Vec3d(rs.position[0], rs.position[1], rs.position[2]));
    vMr->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(rs.orientation[0], osg::Vec3d(1, 0, 0), rs.orientation[1], osg::Vec3d(0, 1, 0), rs.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[rs.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMr);
    range_sensors.push_back(
        VirtualRangeSensor(rs.name, rs.linkName, oscene->scene->localizedWorld, vMr, rs.range, (rs.visible) ? true : false,
        oscene->scene->getOceanScene()->getARMask()));
    OSG_INFO << "Done adding a virtual range sensor..." << std::endl;
  }

  //Adding imus
  while (vehicleChars.imus.size() > 0)
  {
    OSG_INFO << "Adding an IMU..." << std::endl;
    Imu imu;
    imu = vehicleChars.imus.front();
    vehicleChars.imus.pop_front();
    osg::ref_ptr < osg::Transform > vMi = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMi->asPositionAttitudeTransform()->setPosition(osg::Vec3d(imu.position[0], imu.position[1], imu.position[2]));
    vMi->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(imu.orientation[0], osg::Vec3d(1, 0, 0), imu.orientation[1], osg::Vec3d(0, 1, 0), imu.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[imu.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMi);
    imus.push_back(InertialMeasurementUnit(imu.name, imu.linkName, vMi, oscene->scene->localizedWorld->getMatrix(), imu.std));
    OSG_INFO << "Done adding an IMU..." << std::endl;
  }

  //Adding pressure sensors
  while (vehicleChars.pressure_sensors.size() > 0)
  {
    OSG_INFO << "Adding a pressure sensor..." << std::endl;
    XMLPressureSensor ps;
    ps = vehicleChars.pressure_sensors.front();
    vehicleChars.pressure_sensors.pop_front();
    osg::ref_ptr < osg::Transform > vMs = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMs->asPositionAttitudeTransform()->setPosition(osg::Vec3d(ps.position[0], ps.position[1], ps.position[2]));
    vMs->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(ps.orientation[0], osg::Vec3d(1, 0, 0), ps.orientation[1], osg::Vec3d(0, 1, 0), ps.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[ps.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMs);
    pressure_sensors.push_back(PressureSensor(ps.name, ps.linkName, vMs, oscene->scene->localizedWorld->getMatrix(), ps.std));
    OSG_INFO << "Done adding an Pressure Sensor..." << std::endl;
  }

  //Adding GPS sensors
  while (vehicleChars.gps_sensors.size() > 0)
  {
    OSG_INFO << "Adding a gps sensor..." << std::endl;
    XMLGPSSensor ps;
    ps = vehicleChars.gps_sensors.front();
    vehicleChars.gps_sensors.pop_front();
    osg::ref_ptr < osg::Transform > vMs = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMs->asPositionAttitudeTransform()->setPosition(osg::Vec3d(ps.position[0], ps.position[1], ps.position[2]));
    vMs->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(ps.orientation[0], osg::Vec3d(1, 0, 0), ps.orientation[1], osg::Vec3d(0, 1, 0), ps.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[ps.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMs);
    gps_sensors.push_back(GPSSensor(oscene->scene, ps.name, ps.linkName , vMs, oscene->scene->localizedWorld->getMatrix(), ps.std));
    OSG_INFO << "Done adding an GPS Sensor..." << std::endl;
  }

  //Adding dvl sensors
  while (vehicleChars.dvl_sensors.size() > 0)
  {
    OSG_INFO << "Adding a dvl sensor..." << std::endl;
    XMLDVLSensor ps;
    ps = vehicleChars.dvl_sensors.front();
    vehicleChars.dvl_sensors.pop_front();
    osg::ref_ptr < osg::Transform > vMs = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMs->asPositionAttitudeTransform()->setPosition(osg::Vec3d(ps.position[0], ps.position[1], ps.position[2]));
    vMs->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(ps.orientation[0], osg::Vec3d(1, 0, 0), ps.orientation[1], osg::Vec3d(0, 1, 0), ps.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[ps.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMs);
    dvl_sensors.push_back(DVLSensor(ps.name, ps.linkName, vMs, oscene->scene->localizedWorld->getMatrix(), ps.std));
    OSG_INFO << "Done adding an DVL Sensor..." << std::endl;
  }

  //Adding Multibeam sensors
  while (vehicleChars.multibeam_sensors.size() > 0)
  {
    OSG_INFO << "Adding a Multibeam sensor..." << std::endl;
    XMLMultibeamSensor MB;
    MB = vehicleChars.multibeam_sensors.front();
    vehicleChars.multibeam_sensors.pop_front();
    osg::ref_ptr < osg::Transform > vMs = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMs->asPositionAttitudeTransform()->setPosition(osg::Vec3d(MB.position[0], MB.position[1], MB.position[2]));
    vMs->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(MB.orientation[0], osg::Vec3d(1, 0, 0), MB.orientation[1], osg::Vec3d(0, 1, 0), MB.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    urdf->link[MB.link]->getParent(0)->getParent(0)->asGroup()->addChild(vMs);
    unsigned int mask;
    if(MB.underwaterParticles)
      mask=oscene->scene->getOceanScene()->getARMask();
    else
      mask=oscene->scene->getOceanScene()->getNormalSceneMask(); //Normal Scene mask should be enough for range sensor
    MultibeamSensor mb = MultibeamSensor(oscene->root, MB.name, MB.linkName, vMs, MB.initAngle, MB.finalAngle, MB.angleIncr,
                                         MB.range,mask,MB.visible,mask);
    multibeam_sensors.push_back(mb);
    for(unsigned int i=0;i<mb.nCams;i++)
      camview.push_back(mb.vcams[i]);
    OSG_INFO << "Done adding a Multibeam Sensor..." << std::endl;
  }

  //Adding object pickers
  while (vehicleChars.object_pickers.size() > 0)
  {
    OSG_INFO << "Adding an object picker..." << std::endl;
    rangeSensor rs;
    rs = vehicleChars.object_pickers.front();
    vehicleChars.object_pickers.pop_front();
    osg::ref_ptr < osg::Transform > vMr = (osg::Transform*)new osg::PositionAttitudeTransform;
    vMr->asPositionAttitudeTransform()->setPosition(osg::Vec3d(rs.position[0], rs.position[1], rs.position[2]));
    vMr->asPositionAttitudeTransform()->setAttitude(
        osg::Quat(rs.orientation[0], osg::Vec3d(1, 0, 0), rs.orientation[1], osg::Vec3d(0, 1, 0), rs.orientation[2],
                  osg::Vec3d(0, 0, 1)));
    vMr->setName("ObjectPickerNode");
    urdf->link[rs.link]->asGroup()->addChild(vMr);
    object_pickers.push_back(ObjectPicker(rs.name, oscene->scene->localizedWorld, vMr, rs.range, true, urdf,
        oscene->scene->getOceanScene()->getARMask()));
    OSG_INFO << "Done adding an object picker..." << std::endl;
  }

  devices.reset(new SimulatedDevices());
  devices->applyConfig(this, vehicleChars, oscene);

  //Set-up a lamp attached to the vehicle: TODO
  /*
   osg::Light *_light=new osg::Light;
   _light->setLightNum(1);
   _light->setAmbient( osg::Vec4d(1.0f, 1.0f, 1.0f, 1.0f ));
   _light->setDiffuse( osg::Vec4d( 1.0, 1.0, 1.0, 1.0 ) );
   _light->setSpecular(osg::Vec4d( 0.1f, 0.1f, 0.1f, 1.0f ) );
   _light->setDirection(osg::Vec3d(0.0, 0.0, -5.0));
   _light->setSpotCutoff(40.0);
   _light->setSpotExponent(10.0);

   lightSource = new osg::LightSource;
   lightSource->setLight(_light);
   lightSource->setLocalStateSetModes(osg::StateAttribute::ON);
   lightSource->setUpdateCallback(new LightUpdateCallback(baseTransform));
   */
}

/*
 void SimulatedIAUV::setVirtualCamera(std::string name, osg::Transform* transform, int width, int height) {
 //Set I-AUV virtual camera

 baseTransform->asGroup()->addChild(transform);

 if (camview==NULL)
 camview=new VirtualCamera(name, transform, width, height);
 }
 */

void SimulatedIAUV::setVehiclePosition(double x, double y, double z, double roll, double pitch, double yaw)
{
  osg::Matrixd S, T, Rx, Ry, Rz, transform;
  T.makeTranslate(x, y, z);
  Rx.makeRotate(roll, 1, 0, 0);
  Ry.makeRotate(pitch, 0, 1, 0);
  Rz.makeRotate(yaw, 0, 0, 1);
  S.makeScale(scale);
  transform = S * Rz * Ry * Rx * T;
  setVehiclePosition(transform);
}

void SimulatedIAUV::setVehiclePosition(osg::Matrixd m)
{
  baseTransform->setMatrix(m);
}