libodomssm.c

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
 
#include <ssm.h>
#include <ssmtype/spur-odometry.h>
#include <odometry-ssm.h>
 
static SSM_sid odm_bs_sid;
static SSM_sid odm_gl_sid;
 
/* poetとのメッセージ通信を開始する */
int OdometrySSM_init(void)
{
  /* オープン */
  if (!initSSM())
    return 0;
 
  odm_bs_sid = openSSM("spur_odometry", 0, 0);
  odm_gl_sid = openSSM("spur_global", 0, 0);
  return 1;
}
 
/* 線形補間で位置取得 */
int SSM_get_pos_GL_time(double time, double *x, double *y, double *theta)
{
  Spur_Odometry odm1, odm2;
  int tid, tid2;
  double time1, time2;
  double rate;
 
  tid = readSSM_time(odm_gl_sid, (char *)&odm1, time, &time1);
  tid2 = readSSM(odm_gl_sid, (char *)&odm2, &time2, tid + 1);
  if (tid2 < 0)
  { /* 次のがなければ前のでなんとか。 */
    time2 = time1;
    odm2 = odm1;
    tid = readSSM(odm_gl_sid, (char *)&odm1, &time1, tid - 1);
  }
  if (fabs(time2 - time1) < 0.000001)
    return 0;
  if (fabs(time2 - time1) > 0.03)
    return 0;
 
  // printf("%f %f %f\n",time-time1,time2-time, time2-time1);
 
  rate = (time - time1) / (time2 - time1);
  *x = odm1.x + (odm2.x - odm1.x) * rate;
  *y = odm1.y + (odm2.y - odm1.y) * rate;
  while (odm2.theta - odm1.theta < -M_PI)
    odm2.theta += 2.0 * M_PI;
  while (odm2.theta - odm1.theta > M_PI)
    odm2.theta -= 2.0 * M_PI;
  *theta = odm1.theta + (odm2.theta - odm1.theta) * rate;
  while (odm2.theta - odm1.theta < -M_PI)
    odm2.theta += 2.0 * M_PI;
  while (odm2.theta - odm1.theta > M_PI)
    odm2.theta -= 2.0 * M_PI;
 
  return 1;
}
 
/* 線形補間で位置取得 */
int SSM_get_pos_BS_time(double time, double *x, double *y, double *theta)
{
  Spur_Odometry odm1, odm2;
  int tid, tid2;
  double time1, time2;
  double rate;
 
  tid = readSSM_time(odm_bs_sid, (char *)&odm1, time, &time1);
  tid2 = readSSM(odm_bs_sid, (char *)&odm2, &time2, tid + 1);
  if (tid2 < 0)
  { /* 次のがなければ前のでなんとか。 */
    time2 = time1;
    odm2 = odm1;
    tid = readSSM(odm_bs_sid, (char *)&odm1, &time1, tid - 1);
  }
  if (fabs(time2 - time1) < 0.000001)
    return 0;
  if (fabs(time2 - time1) > 0.03)
    return 0;
 
  // printf("%f %f %f\n",time-time1,time2-time, time2-time1);
 
  rate = (time - time1) / (time2 - time1);
  *x = odm1.x + (odm2.x - odm1.x) * rate;
  *y = odm1.y + (odm2.y - odm1.y) * rate;
  while (odm2.theta - odm1.theta < -M_PI)
    odm2.theta += 2.0 * M_PI;
  while (odm2.theta - odm1.theta > M_PI)
    odm2.theta -= 2.0 * M_PI;
  *theta = odm1.theta + (odm2.theta - odm1.theta) * rate;
  while (odm2.theta - odm1.theta < -M_PI)
    odm2.theta += 2.0 * M_PI;
  while (odm2.theta - odm1.theta > M_PI)
    odm2.theta -= 2.0 * M_PI;
 
  return 1;
}
 
/* */
double SSM_get_pos_GL(double *x, double *y, double *theta)
{
  Spur_Odometry odm1;
  int tid;
  double time1;
 
  tid = readSSM(odm_gl_sid, (char *)&odm1, &time1, -1);
  if (tid < 0)
    return -1.0;
  *x = odm1.x;
  *y = odm1.y;
  *theta = odm1.theta;
 
  return time1;
}
 
/* */
double SSM_get_pos_BS(double *x, double *y, double *theta)
{
  Spur_Odometry odm1;
  int tid;
  double time1;
 
  tid = readSSM(odm_bs_sid, (char *)&odm1, &time1, -1);
  if (tid < 0)
    return -1.0;
 
  *x = odm1.x;
  *y = odm1.y;
  *theta = odm1.theta;
 
  return time1;
}
 
/* */
double SSM_get_vel(double *v, double *w)
{
  Spur_Odometry odm1;
  int tid;
  double time1;
 
  tid = readSSM(odm_bs_sid, (char *)&odm1, &time1, -1);
  if (tid < 0)
    return -1.0;
 
  return time1;
}
 
int SSM_near_pos_GL(double x, double y, double r)
{
  double cx, cy, ctheta;
  double dist;
 
  SSM_get_pos_GL(&cx, &cy, &ctheta);
  dist = sqrt((cx - x) * (cx - x) + (cy - y) * (cy - y));
  if (dist < r)
    return 1;
  else
    return 0;
}
 
int SSM_near_ang(double th, double d)
{
  double cx, cy, ctheta;
  double dist;
 
  SSM_get_pos_GL(&cx, &cy, &ctheta);
  dist = ctheta - th;
  while (dist < -M_PI)
    dist += 2 * M_PI;
  while (dist > M_PI)
    dist -= 2 * M_PI;
  if (fabs(dist) < d)
    return 1;
  else
    return 0;
}
 
int SSM_over_line(double x, double y, double theta)
{
  return 0;
}