beacon.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <geometry_msgs/Pose.h>
#include "mrpt_bridge/time.h"
#include "mrpt_bridge/pose.h"
#include <mrpt_msgs/ObservationRangeBeacon.h>
#include "tf/transform_datatypes.h"
#include "tf/LinearMath/Matrix3x3.h"
#include "mrpt_bridge/beacon.h"

#include <mrpt/version.h>
#include <mrpt/obs/CObservationBeaconRanges.h>
using namespace mrpt::obs;

namespace mrpt_bridge
{
bool convert(
        const mrpt_msgs::ObservationRangeBeacon& _msg,
        const mrpt::poses::CPose3D& _pose, CObservationBeaconRanges& _obj)
{
        mrpt_bridge::convert(_msg.header.stamp, _obj.timestamp);
        mrpt::poses::CPose3D cpose_obj;

        _obj.stdError = _msg.sensor_std_range;
        _obj.sensorLabel = _msg.header.frame_id;
        _obj.maxSensorDistance = _msg.max_sensor_distance;
        _obj.minSensorDistance = _msg.min_sensor_distance;

        if (_pose.empty())
        {
                convert(_msg.sensor_pose_on_robot, cpose_obj);
                _obj.setSensorPose(cpose_obj);
        }
        else
        {
                _obj.setSensorPose(_pose);
        }

        ASSERT_(_msg.sensed_data.size() >= 1);
        const size_t N = _msg.sensed_data.size();

        _obj.sensedData.resize(N);

        for (std::size_t i_mrpt = 0; i_mrpt < N; i_mrpt++)
        {
                _obj.sensedData[i_mrpt].sensedDistance = _msg.sensed_data[i_mrpt].range;
                _obj.sensedData[i_mrpt].beaconID = _msg.sensed_data[i_mrpt].id;
        }
        return true;
}

bool convert(
        const CObservationBeaconRanges& _obj,
        mrpt_msgs::ObservationRangeBeacon& _msg)
{
        mrpt::poses::CPose3D cpose_obj;

        mrpt_bridge::convert(_obj.timestamp, _msg.header.stamp);
        _obj.getSensorPose(cpose_obj);
        convert(cpose_obj, _msg.sensor_pose_on_robot);

        _msg.sensor_std_range = _obj.stdError;
        _msg.header.frame_id = _obj.sensorLabel;
        _msg.max_sensor_distance = _obj.maxSensorDistance;
        _msg.min_sensor_distance = _obj.minSensorDistance;

        ASSERT_(_obj.sensedData.size() >= 1);
        const size_t N = _obj.sensedData.size();

        _msg.sensed_data.resize(N);

        for (std::size_t i_msg = 0; i_msg < N; i_msg++)
        {
                _msg.sensed_data[i_msg].range = _obj.sensedData[i_msg].sensedDistance;
                _msg.sensed_data[i_msg].id = _obj.sensedData[i_msg].beaconID;
        }
        return true;
}

bool convert(
        const CObservationBeaconRanges& _obj,
        mrpt_msgs::ObservationRangeBeacon& _msg, geometry_msgs::Pose& _pose)
{
        convert(_obj, _msg);
        mrpt::poses::CPose3D pose;
        _obj.getSensorPose(pose);
        convert(pose, _pose);
        return true;
}
}  // namespace mrpt_bridge