Statistics
| Branch: | Revision:

scoutos / scout / scoutsim / src / ghost_scout.cpp @ 0ccfc42d

History | View | Annotate | Download (4.06 KB)

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
 */
47

    
48
#include "ghost_scout.h"
49

    
50
#include <wx/wx.h>
51

    
52
using namespace std;
53

    
54
namespace scoutsim
55
{
56
  GhostScout::GhostScout(const ros::NodeHandle& nh,
57
      const wxImage& scout_image,
58
      const Vector2& pos,
59
      wxBitmap *path_bitmap,
60
      float orient,
61
      string scoutname)
62
    : path_bitmap(path_bitmap)
63
      , node (nh)
64
      , scout_image(scout_image)
65
      , pos(pos)
66
      , start_x(pos.x)
67
      , start_y(pos.y)
68
      , orient(orient)
69
      , name(scoutname)
70
  {
71
    scout = wxBitmap(scout_image);
72

    
73
    position = node.subscribe("position", 1, &GhostScout::setPosition, this);
74

    
75
  }
76

    
77
  void GhostScout::setPosition(const ::messages::ScoutPosition& msg)
78
  {
79
    ROS_INFO("UPDATING GHOST SCOUT POSITION");
80

    
81
    pos.x = start_x + msg.x;
82
    pos.y = start_y - msg.y;
83
    orient = msg.theta;
84
  }
85

    
86
  // Scale to linesensor value
87
  unsigned int GhostScout::rgb_to_grey(unsigned char r,
88
      unsigned char g,
89
      unsigned char b)
90
  {
91
    // Should be 0 to 255
92
    unsigned int grey = ((unsigned int) r + (unsigned int) g + (unsigned int) b) / 3;
93

    
94
    /// @todo Convert to the proper range
95
    return 255 - grey;
96
  }
97

    
98
  /// Sends back the position of this scout so scoutsim can save
99
  /// the world state
100
  geometry_msgs::Pose2D GhostScout::update(double dt,
101
      wxMemoryDC& path_dc,
102
      wxMemoryDC& sonar_dc,
103
      wxColour background_color,
104
      world_state state)
105
  {
106

    
107
    geometry_msgs::Pose2D my_pose;
108
    my_pose.x = pos.x;
109
    my_pose.y = pos.y;
110
    my_pose.theta = orient;
111

    
112
    //ROS_INFO("Ghost scout is at position %f  %f  %f", pos.x, pos.y, orient);
113

    
114
    return my_pose;
115
  }
116

    
117
  void GhostScout::paint(wxDC& dc)
118
  {
119
    wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight());
120
    dc.DrawBitmap(scout, pos.x * PIX_PER_METER - (scout_size.GetWidth() / 2),
121
        pos.y * PIX_PER_METER - (scout_size.GetHeight() / 2), true);
122
  }
123
}