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Revision 0ccfc42d

ID0ccfc42da7401cc4aaf6d5dbfd9b9c065c5727d6
Parent 0e916314
Child ddfeb111

Added by Priya over 11 years ago

Files that add ghost scout.

View differences:

scout/scoutsim/src/ghost_scout.cpp
1
/**
2
 * The code in this package was developed using the structure of Willow
3
 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
4
 * 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
18
 * conditions:
19
 * 
20
 * The above copyright notice and this permission notice shall be
21
 * included in all copies or substantial portions of the Software.
22
 * 
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 * Copyright (c) 2009, Willow Garage, Inc.
24
 * All rights reserved.
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 * 
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 * Redistribution and use in source and binary forms, with or without
27
 * modification, are permitted provided that the following conditions are met:
28
 * 
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 *    Redistributions of source code must retain the above copyright
30
 *       notice, this list of conditions and the following disclaimer.
31
 *    Redistributions in binary form must reproduce the above copyright
32
 *       notice, this list of conditions and the following disclaimer in the
33
 *       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
35
 *       contributors may be used to endorse or promote products derived from
36
 *       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
40
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
42
 * 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
1
/**
2
 * The code in this package was developed using the structure of Willow
3
 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
4
 * to be used as a simulator for the Colony Scout robot.
5
 *
6
 * All redistribution of this code is limited to the terms of Willow Garage's
7
 * licensing terms, as well as under permission from the CMU Robotics Club.
8
 * 
9
 * Copyright (c) 2011 Colony Project
10
 * 
11
 * Permission is hereby granted, free of charge, to any person
12
 * 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
18
 * conditions:
19
 * 
20
 * The above copyright notice and this permission notice shall be
21
 * included in all copies or substantial portions of the Software.
22
 * 
23
 * Copyright (c) 2009, Willow Garage, Inc.
24
 * All rights reserved.
25
 * 
26
 * Redistribution and use in source and binary forms, with or without
27
 * modification, are permitted provided that the following conditions are met:
28
 * 
29
 *    Redistributions of source code must retain the above copyright
30
 *       notice, this list of conditions and the following disclaimer.
31
 *    Redistributions in binary form must reproduce the above copyright
32
 *       notice, this list of conditions and the following disclaimer in the
33
 *       documentation and/or other materials provided with the distribution.
34
 *    Neither the name of the Willow Garage, Inc. nor the names of its
35
 *       contributors may be used to endorse or promote products derived from
36
 *       this software without specific prior written permission.
37
 * 
38
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
39
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
40
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
41
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
42
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
43
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
44
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
45
 * OTHER DEALINGS IN THE SOFTWARE.
46
 */
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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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