root / scout / scoutsim / src / ghost_scout.cpp @ 43811241
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1 | 0ccfc42d | Priya | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | *
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6 | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | * All rights reserved.
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25 | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | */
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47 | |||
48 | #include "ghost_scout.h" |
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49 | |||
50 | #include <wx/wx.h> |
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51 | |||
52 | using namespace std; |
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53 | |||
54 | namespace scoutsim
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55 | { |
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56 | GhostScout::GhostScout(const ros::NodeHandle& nh,
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57 | const wxImage& scout_image,
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58 | const Vector2& pos,
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59 | wxBitmap *path_bitmap, |
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60 | float orient,
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61 | string scoutname)
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62 | : path_bitmap(path_bitmap) |
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63 | , node (nh) |
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64 | , scout_image(scout_image) |
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65 | , pos(pos) |
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66 | , start_x(pos.x) |
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67 | , start_y(pos.y) |
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68 | , orient(orient) |
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69 | , name(scoutname) |
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70 | 43811241 | Alex | , is_visible(false)
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71 | 0ccfc42d | Priya | { |
72 | scout = wxBitmap(scout_image); |
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73 | |||
74 | position = node.subscribe("position", 1, &GhostScout::setPosition, this); |
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75 | |||
76 | } |
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77 | |||
78 | void GhostScout::setPosition(const ::messages::ScoutPosition& msg) |
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79 | { |
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80 | pos.x = start_x + msg.x; |
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81 | pos.y = start_y - msg.y; |
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82 | orient = msg.theta; |
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83 | } |
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84 | |||
85 | // Scale to linesensor value
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86 | unsigned int GhostScout::rgb_to_grey(unsigned char r, |
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87 | unsigned char g, |
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88 | unsigned char b) |
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89 | { |
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90 | // Should be 0 to 255
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91 | unsigned int grey = ((unsigned int) r + (unsigned int) g + (unsigned int) b) / 3; |
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92 | |||
93 | /// @todo Convert to the proper range
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94 | return 255 - grey; |
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95 | } |
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96 | |||
97 | /// Sends back the position of this scout so scoutsim can save
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98 | /// the world state
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99 | geometry_msgs::Pose2D GhostScout::update(double dt,
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100 | wxMemoryDC& path_dc, |
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101 | wxMemoryDC& sonar_dc, |
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102 | wxColour background_color, |
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103 | world_state state) |
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104 | { |
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105 | |||
106 | ddfeb111 | Priya | wxImage rotated_image = scout_image.Rotate(orient - M_PI/2.0, |
107 | wxPoint(scout_image.GetWidth() / 2,
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108 | scout_image.GetHeight() / 2),
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109 | false);
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110 | |||
111 | for (int y = 0; y < rotated_image.GetHeight(); ++y) |
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112 | { |
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113 | for (int x = 0; x < rotated_image.GetWidth(); ++x) |
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114 | { |
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115 | if (rotated_image.GetRed(x, y) == 255 |
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116 | && rotated_image.GetBlue(x, y) == 255
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117 | && rotated_image.GetGreen(x, y) == 255)
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118 | { |
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119 | rotated_image.SetAlpha(x, y, 0);
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120 | } |
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121 | else
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122 | { |
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123 | rotated_image.SetAlpha(x, y, 125);
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124 | } |
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125 | } |
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126 | } |
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127 | |||
128 | scout = wxBitmap(rotated_image); |
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129 | |||
130 | 0ccfc42d | Priya | geometry_msgs::Pose2D my_pose; |
131 | my_pose.x = pos.x; |
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132 | my_pose.y = pos.y; |
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133 | my_pose.theta = orient; |
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134 | |||
135 | return my_pose;
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136 | } |
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137 | |||
138 | void GhostScout::paint(wxDC& dc)
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139 | { |
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140 | 43811241 | Alex | if (!is_visible)
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141 | { |
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142 | return;
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143 | } |
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144 | |||
145 | 0ccfc42d | Priya | wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight()); |
146 | dc.DrawBitmap(scout, pos.x * PIX_PER_METER - (scout_size.GetWidth() / 2),
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147 | pos.y * PIX_PER_METER - (scout_size.GetHeight() / 2), true); |
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148 | } |
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149 | 43811241 | Alex | |
150 | string GhostScout::get_name()
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151 | { |
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152 | return name;
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153 | } |
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154 | |||
155 | void GhostScout::set_visible(bool vis) |
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156 | { |
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157 | is_visible = vis; |
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158 | } |
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159 | 0ccfc42d | Priya | } |