Revision 0ccfc42d
Files that add ghost scout.
scout/scoutsim/src/ghost_scout.cpp | ||
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/** |
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* The code in this package was developed using the structure of Willow |
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* Garage's turtlesim package. It was modified by the CMU Robotics Club |
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* to be used as a simulator for the Colony Scout robot. |
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* |
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* All redistribution of this code is limited to the terms of Willow Garage's |
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* licensing terms, as well as under permission from the CMU Robotics Club. |
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* |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* Copyright (c) 2009, Willow Garage, Inc. |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions are met: |
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* |
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* Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in the |
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* documentation and/or other materials provided with the distribution. |
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* Neither the name of the Willow Garage, Inc. nor the names of its |
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* contributors may be used to endorse or promote products derived from |
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* this software without specific prior written permission. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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#include "ghost_scout.h" |
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#include <wx/wx.h> |
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using namespace std; |
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namespace scoutsim |
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{ |
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GhostScout::GhostScout(const ros::NodeHandle& nh, |
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const wxImage& scout_image, |
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const Vector2& pos, |
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wxBitmap *path_bitmap, |
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float orient, |
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string scoutname) |
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: path_bitmap(path_bitmap) |
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, node (nh) |
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, scout_image(scout_image) |
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, pos(pos) |
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, start_x(pos.x) |
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, start_y(pos.y) |
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, orient(orient) |
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, name(scoutname) |
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{ |
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scout = wxBitmap(scout_image); |
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position = node.subscribe("position", 1, &GhostScout::setPosition, this); |
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} |
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void GhostScout::setPosition(const ::messages::ScoutPosition& msg) |
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{ |
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ROS_INFO("UPDATING GHOST SCOUT POSITION"); |
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pos.x = start_x + msg.x; |
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pos.y = start_y - msg.y; |
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orient = msg.theta; |
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} |
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// Scale to linesensor value |
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unsigned int GhostScout::rgb_to_grey(unsigned char r, |
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unsigned char g, |
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unsigned char b) |
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{ |
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// Should be 0 to 255 |
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unsigned int grey = ((unsigned int) r + (unsigned int) g + (unsigned int) b) / 3; |
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/// @todo Convert to the proper range |
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return 255 - grey; |
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} |
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/// Sends back the position of this scout so scoutsim can save |
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/// the world state |
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geometry_msgs::Pose2D GhostScout::update(double dt, |
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wxMemoryDC& path_dc, |
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wxMemoryDC& sonar_dc, |
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wxColour background_color, |
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world_state state) |
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{ |
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geometry_msgs::Pose2D my_pose; |
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my_pose.x = pos.x; |
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my_pose.y = pos.y; |
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my_pose.theta = orient; |
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//ROS_INFO("Ghost scout is at position %f %f %f", pos.x, pos.y, orient); |
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return my_pose; |
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} |
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void GhostScout::paint(wxDC& dc) |
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{ |
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wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight()); |
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dc.DrawBitmap(scout, pos.x * PIX_PER_METER - (scout_size.GetWidth() / 2), |
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pos.y * PIX_PER_METER - (scout_size.GetHeight() / 2), true); |
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} |
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} |
scout/scoutsim/src/ghost_scout.h | ||
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/** |
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* The code in this package was developed using the structure of Willow |
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* Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
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* to be used as a simulator for the Colony Scout robot. |
|
5 |
* |
|
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* All redistribution of this code is limited to the terms of Willow Garage's |
|
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* licensing terms, as well as under permission from the CMU Robotics Club. |
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* |
|
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* Copyright (c) 2011 Colony Project |
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* |
|
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* Permission is hereby granted, free of charge, to any person |
|
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* obtaining a copy of this software and associated documentation |
|
13 |
* files (the "Software"), to deal in the Software without |
|
14 |
* restriction, including without limitation the rights to use, |
|
15 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
16 |
* copies of the Software, and to permit persons to whom the |
|
17 |
* Software is furnished to do so, subject to the following |
|
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* conditions: |
|
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* |
|
20 |
* The above copyright notice and this permission notice shall be |
|
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* included in all copies or substantial portions of the Software. |
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* |
|
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* Copyright (c) 2009, Willow Garage, Inc. |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
|
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* modification, are permitted provided that the following conditions are met: |
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* |
|
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* Redistributions of source code must retain the above copyright |
|
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* notice, this list of conditions and the following disclaimer. |
|
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* Redistributions in binary form must reproduce the above copyright |
|
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* notice, this list of conditions and the following disclaimer in the |
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* documentation and/or other materials provided with the distribution. |
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* Neither the name of the Willow Garage, Inc. nor the names of its |
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* contributors may be used to endorse or promote products derived from |
|
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* this software without specific prior written permission. |
|
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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#ifndef _SCOUTSIM_GHOST_SCOUT_H_ |
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#define _SCOUTSIM_GHOST_SCOUT_H_ |
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#include <ros/ros.h> |
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#include <vector> |
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#include <boost/shared_ptr.hpp> |
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#include <scoutsim/Pose.h> |
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#include <scoutsim/SetPen.h> |
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#include <scoutsim/Color.h> |
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#include "messages/ScoutPosition.h" |
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#include <geometry_msgs/Pose2D.h> |
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#include <wx/wx.h> |
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#include "scout.h" |
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#include "scoutsim_internal.h" |
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#include "scout_constants.h" |
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namespace scoutsim |
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{ |
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class GhostScout |
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{ |
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public: |
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GhostScout(const ros::NodeHandle& nh,const wxImage& scout_image, |
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const Vector2& pos, wxBitmap *path_bitmap, float orient, |
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std::string scoutname); |
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geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc, |
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wxMemoryDC& sonar_dc, |
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wxColour background_color, |
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world_state state); |
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void paint(wxDC& dc); |
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void setPosition(const ::messages::ScoutPosition& msg); |
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private: |
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unsigned int rgb_to_grey(unsigned char r, |
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unsigned char g, |
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unsigned char b); |
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std::string name; |
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wxBitmap *path_bitmap; |
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ros::NodeHandle node; |
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wxImage scout_image; |
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wxBitmap scout; |
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Vector2 pos; |
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float start_x, start_y; |
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float orient; |
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ros::Subscriber position; |
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}; |
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} |
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#endif |
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