turtle.h
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00001 /*
00002  * Copyright (c) 2009, 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 #ifndef TURTLESIM_TURTLE_H
00031 #define TURTLESIM_TURTLE_H
00032 
00033 // This prevents a MOC error with versions of boost >= 1.48
00034 #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
00035 # include <ros/ros.h>
00036 # include <boost/shared_ptr.hpp>
00037 
00038 # include <turtlesim/Pose.h>
00039 # include <geometry_msgs/Twist.h>
00040 # include <turtlesim/SetPen.h>
00041 # include <turtlesim/TeleportRelative.h>
00042 # include <turtlesim/TeleportAbsolute.h>
00043 # include <turtlesim/Color.h>
00044 #endif
00045 
00046 #include <QImage>
00047 #include <QPainter>
00048 #include <QPen>
00049 #include <QPointF>
00050 
00051 #define PI 3.14159265
00052 
00053 namespace turtlesim
00054 {
00055 
00056 class Turtle
00057 {
00058 public:
00059   Turtle(const ros::NodeHandle& nh, const QImage& turtle_image, const QPointF& pos, float orient);
00060 
00061   bool update(double dt, QPainter& path_painter, const QImage& path_image, qreal canvas_width, qreal canvas_height);
00062   void paint(QPainter &painter);
00063 private:
00064   void velocityCallback(const geometry_msgs::Twist::ConstPtr& vel);
00065   bool setPenCallback(turtlesim::SetPen::Request&, turtlesim::SetPen::Response&);
00066   bool teleportRelativeCallback(turtlesim::TeleportRelative::Request&, turtlesim::TeleportRelative::Response&);
00067   bool teleportAbsoluteCallback(turtlesim::TeleportAbsolute::Request&, turtlesim::TeleportAbsolute::Response&);
00068 
00069   void rotateImage();
00070 
00071   ros::NodeHandle nh_;
00072 
00073   QImage turtle_image_;
00074   QImage turtle_rotated_image_;
00075 
00076   QPointF pos_;
00077   qreal orient_;
00078 
00079   qreal lin_vel_;
00080   qreal ang_vel_;
00081   bool pen_on_;
00082   QPen pen_;
00083 
00084   ros::Subscriber velocity_sub_;
00085   ros::Publisher pose_pub_;
00086   ros::Publisher color_pub_;
00087   ros::ServiceServer set_pen_srv_;
00088   ros::ServiceServer teleport_relative_srv_;
00089   ros::ServiceServer teleport_absolute_srv_;
00090 
00091   ros::WallTime last_command_time_;
00092 
00093   float meter_;
00094 
00095   struct TeleportRequest
00096   {
00097     TeleportRequest(float x, float y, qreal _theta, qreal _linear, bool _relative)
00098     : pos(x, y)
00099     , theta(_theta)
00100     , linear(_linear)
00101     , relative(_relative)
00102     {}
00103 
00104     QPointF pos;
00105     qreal theta;
00106     qreal linear;
00107     bool relative;
00108   };
00109   typedef std::vector<TeleportRequest> V_TeleportRequest;
00110   V_TeleportRequest teleport_requests_;
00111 };
00112 typedef boost::shared_ptr<Turtle> TurtlePtr;
00113 
00114 }
00115 
00116 #endif


turtlesim
Author(s): Josh Faust
autogenerated on Thu Jun 6 2019 20:20:12