robobuggy / scoutos / scout / scoutsim / src / sim_frame.cpp @ 8e58dd0e
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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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/**
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* @file sim_frame.cpp
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*
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* @ingroup scoutsim
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* @{
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*/
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#include "sim_frame.h" |
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#include <stdio.h> |
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#include <ros/package.h> |
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#include <cstdlib> |
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#include <ctime> |
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using namespace std; |
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namespace scoutsim
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{ |
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SimFrame::SimFrame(wxWindow* parent, string map_name)
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: wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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, frame_count(0)
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, id_counter(0)
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{ |
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std::cout << "Constructing sim frame." << std::endl;
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srand(time(NULL));
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update_timer = new wxTimer(this); |
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update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
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Connect(update_timer->GetId(), wxEVT_TIMER, |
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wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
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Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
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NULL, this); |
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// Maps are stored in three components:
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// - images : the top layer
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// - lines : for the line-following sensor
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// - walls : for the...clamping?
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images_path = ros::package::getPath("scoutsim") + "/images/"; |
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map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
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map_name + ".bmp";
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map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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map_name + "_lines.bmp";
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map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
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map_name + "_walls.bmp";
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display_map_name = map_base_name; |
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wxBitmap lines_bitmap; |
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wxBitmap walls_bitmap; |
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ROS_INFO("Loading map: %s", display_map_name.c_str());
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path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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// Try to load the file; if it fails, make a new blank file
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if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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{ |
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lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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} |
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lines_image = lines_bitmap.ConvertToImage(); |
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// Try to load the file; if it fails, make a new blank file
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if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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{ |
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walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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} |
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walls_image = walls_bitmap.ConvertToImage(); |
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clear(); |
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clear_srv = nh.advertiseService("clear",
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&SimFrame::clearCallback, this);
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reset_srv = nh.advertiseService("reset",
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&SimFrame::resetCallback, this);
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spawn_srv = nh.advertiseService("spawn",
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&SimFrame::spawnCallback, this);
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spawn_em_srv = nh.advertiseService("spawn_em",
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&SimFrame::spawnEmCallback, this);
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kill_srv = nh.advertiseService("kill",
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&SimFrame::killCallback, this);
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set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
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&SimFrame::setSonarVizCallback, this);
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set_ghost_srv = nh.advertiseService("set_ghost",
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&SimFrame::setGhostCallback, this);
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set_teleop_srv = nh.advertiseService("set_teleop",
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&SimFrame::setTeleopCallback, this);
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// Subscribe and publisher wirless from robots
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wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
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"/wireless/receive", 1000); |
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wireless_send = nh.subscribe("/wireless/send", 1000, |
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&SimFrame::wirelessCallback, this);
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// Teleop
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teleop_type = TELEOP_OFF; |
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teleop_l_speed = 0;
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teleop_r_speed = 0;
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teleop_scoutname = "scout1";
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//Emitter default values
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em_aperture = PI / 3.0; |
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em_distance = 1.0; |
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teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000); |
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ROS_INFO("Starting scoutsim with node name %s",
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ros::this_node::getName().c_str()) ; |
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wxMenu *menuFile = new wxMenu;
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menuFile->Append(ID_ABOUT, _("&About"));
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menuFile->AppendSeparator(); |
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menuFile->Append(ID_QUIT, _("E&xit"));
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wxMenu *menuSim = new wxMenu;
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menuSim->Append(ID_CLEAR, _("&Clear"));
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wxMenu *menuView = new wxMenu;
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menuView->Append(ID_MAP, _("&Map"));
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menuView->Append(ID_LINES, _("&Lines"));
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menuView->Append(ID_WALLS, _("&Walls"));
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wxMenu *menuTeleop = new wxMenu;
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menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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wxMenuBar *menuBar = new wxMenuBar;
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menuBar->Append(menuFile, _("&File"));
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menuBar->Append(menuSim, _("&Sim"));
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menuBar->Append(menuView, _("&View"));
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menuBar->Append(menuTeleop, _("&Teleop"));
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SetMenuBar(menuBar); |
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width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
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height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
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spawnScout("scout1", 1.4, .78, 0); |
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} |
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SimFrame::~SimFrame() |
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{ |
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delete update_timer;
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} |
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bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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scoutsim::Spawn::Response &res) |
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{ |
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std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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if (name.empty())
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{ |
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ROS_WARN("A scout named [%s] already exists", req.name.c_str());
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return false; |
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} |
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res.name = name; |
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return true; |
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} |
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bool SimFrame::spawnEmCallback(scoutsim::Spawn::Request &req,
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scoutsim::Spawn::Response &res) |
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{ |
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std::string name = spawnEmitter(req.name, req.x, req.y, req.theta);
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if (name.empty())
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{ |
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ROS_WARN("An emitter named [%s] already exists", req.name.c_str());
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return false; |
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} |
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res.name = name; |
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return true; |
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} |
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bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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scoutsim::Kill::Response&) |
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{ |
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M_Scout::iterator it = scouts.find(req.name); |
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M_Emitter::iterator m_it = emitters.find(req.name); |
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if (it == scouts.end())
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{ |
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if (m_it == emitters.end()) {
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ROS_WARN("Tried to kill scout/emitter [%s], which does not exist",
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req.name.c_str()); |
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return false; |
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} |
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emitters.erase(m_it); |
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return true; |
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} |
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scouts.erase(it); |
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return true; |
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} |
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bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
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SetSonarViz::Response&) |
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{ |
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M_Scout::iterator it = scouts.find(req.scout_name); |
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if (it == scouts.end())
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{ |
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ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
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req.scout_name.c_str()); |
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return false; |
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} |
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it->second->set_sonar_visual(req.on); |
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return true; |
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} |
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bool SimFrame::setGhostCallback(SetGhost::Request& req,
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SetGhost::Response&) |
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{ |
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for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
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{ |
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if (ghost_scouts.at(i)->get_name() == req.scout_name)
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{ |
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ghost_scouts.at(i)->set_visible(req.on); |
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return true; |
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} |
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} |
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ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
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req.scout_name.c_str()); |
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return false; |
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} |
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bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
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SetTeleop::Response&) |
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{ |
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std::stringstream ss; |
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ss << "/" << req.scout_name << "/set_motors"; |
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teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);
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teleop_scoutname = req.scout_name.c_str(); |
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ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement |
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return true; |
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} |
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bool SimFrame::hasScout(const std::string& name) |
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{ |
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return scouts.find(name) != scouts.end();
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} |
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bool SimFrame::hasEmitter(const std::string& name) |
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{ |
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return emitters.find(name) != emitters.end();
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} |
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std::string SimFrame::spawnScout(const std::string& name, |
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float x, float y, float angle) |
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{ |
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std::string real_name = name;
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if (real_name.empty())
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{ |
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// Generate the name scoutX, where X is an increasing number.
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do
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{ |
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std::stringstream ss; |
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ss << "scout" << ++id_counter;
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real_name = ss.str(); |
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} |
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while (hasScout(real_name));
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} |
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else
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{ |
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if (hasScout(real_name))
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{ |
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return ""; |
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} |
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} |
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wxImage scout_image; |
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// Try to load a name-specific image; if not, load the default scout
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string specific_name = images_path + name + ".png"; |
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if (fileExists(specific_name))
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{ |
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scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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scout_image.SetMask(true);
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scout_image.SetMaskColour(255, 255, 255); |
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} |
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else
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{ |
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scout_image.LoadFile( |
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wxString::FromAscii((images_path + "scout.png").c_str()));
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scout_image.SetMask(true);
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scout_image.SetMaskColour(255, 255, 255); |
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} |
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ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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scout_image, Vector2(x, y), &path_bitmap, angle)); |
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scouts[real_name] = t; |
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ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
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ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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real_name.c_str(), x, y, angle); |
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return real_name;
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} |
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std::string SimFrame::spawnEmitter(const std::string& name, |
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float x, float y, float angle) |
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{ |
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std::string real_name = name;
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if (real_name.empty())
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{ |
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// Generate the name emitterX, where X is an increasing number.
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do
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{ |
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std::stringstream ss; |
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ss << "emitter" << ++id_counter;
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real_name = ss.str(); |
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} |
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while (hasEmitter(real_name));
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} |
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else
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{ |
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if (hasEmitter(real_name))
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{ |
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return ""; |
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} |
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} |
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wxImage emitter_image; |
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// Try to load a name-specific image; if not, load the default emitter
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string specific_name = images_path + name + ".png"; |
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if (fileExists(specific_name))
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{ |
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emitter_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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emitter_image.SetMask(true);
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emitter_image.SetMaskColour(255, 255, 255); |
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} |
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else
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{ |
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ROS_INFO("LOADED EMITTER IMAGE");
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emitter_image.LoadFile( |
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wxString::FromAscii((images_path + "emitter.png").c_str()));
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emitter_image.SetMask(true);
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emitter_image.SetMaskColour(255, 255, 255); |
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} |
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EmitterPtr t(new Emitter(ros::NodeHandle(real_name),
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emitter_image, Vector2(x, y), &path_bitmap, |
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angle, em_aperture, em_distance)); |
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emitters[real_name] = t; |
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ROS_INFO("Spawning emitter [%s] at x=[%f], y=[%f], theta=[%f]",
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real_name.c_str(), x, y, angle); |
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return real_name;
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} |
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void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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{ |
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Close(true);
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} |
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void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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{ |
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wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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"\nThe Colony Project is a part of the Carnegie Mellon\n"
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"Robotics Club. Our goal is to use cooperative low-cost\n"
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"robots to solve challenging problems."),
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_("About Scoutsim"),
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wxOK | wxICON_INFORMATION, this );
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} |
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|
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void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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{ |
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clear(); |
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} |
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|
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void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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{ |
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display_map_name = map_base_name; |
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clear(); |
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} |
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|
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void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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{ |
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display_map_name = map_lines_name; |
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clear(); |
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} |
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|
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void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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{ |
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display_map_name = map_walls_name; |
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clear(); |
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} |
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|
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void SimFrame::clear()
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{ |
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path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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path_dc.Clear(); |
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sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
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sonar_dc.Clear(); |
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sonar_dc.SelectObject(path_bitmap); |
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path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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path_dc.SelectObject(path_bitmap); |
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SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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} |
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|
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// Runs every REAL_TIME_REFRESH_RATE.
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void SimFrame::onUpdate(wxTimerEvent& evt)
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{ |
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ros::spinOnce(); |
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teleop(); |
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updateScouts(); |
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if (!ros::ok())
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{ |
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Close(); |
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} |
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frame_count++; |
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} |
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|
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void SimFrame::onPaint(wxPaintEvent& evt)
|
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{ |
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wxPaintDC dc(this);
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dc.DrawBitmap(path_bitmap, 0, 0, true); |
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|
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M_Scout::iterator it = scouts.begin(); |
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M_Scout::iterator end = scouts.end(); |
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for (; it != end; ++it)
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{ |
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it->second->paint(dc); |
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} |
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|
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|
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M_Emitter::iterator m_it = emitters.begin(); |
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M_Emitter::iterator m_end = emitters.end(); |
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for (; m_it != m_end; ++m_it)
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{ |
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m_it->second->paint(dc); |
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} |
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|
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for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
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{ |
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ghost_scouts.at(i)->paint(dc); |
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} |
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} |
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|
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bool SimFrame::fileExists(const std::string& filename) |
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{ |
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struct stat buf;
|
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if (stat(filename.c_str(), &buf) != -1) |
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{ |
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return true; |
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} |
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return false; |
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} |
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|
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void SimFrame::stopTeleop(wxCommandEvent& event)
|
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{ |
518 |
teleop_type = TELEOP_OFF; |
519 |
teleop_l_speed = 0;
|
520 |
teleop_r_speed = 0;
|
521 |
} |
522 |
|
523 |
void SimFrame::startTeleopPrecise(wxCommandEvent& event)
|
524 |
{ |
525 |
teleop_type = TELEOP_PRECISE; |
526 |
teleop_l_speed = 0;
|
527 |
teleop_r_speed = 0;
|
528 |
} |
529 |
|
530 |
void SimFrame::startTeleopFluid(wxCommandEvent& event)
|
531 |
{ |
532 |
teleop_type = TELEOP_FLUID; |
533 |
teleop_l_speed = 0;
|
534 |
teleop_r_speed = 0;
|
535 |
teleop_fluid_speed = 0;
|
536 |
teleop_fluid_omega = 0;
|
537 |
} |
538 |
|
539 |
void SimFrame::teleop_move_precise()
|
540 |
{ |
541 |
// Default to stop
|
542 |
teleop_l_speed = 0;
|
543 |
teleop_r_speed = 0;
|
544 |
|
545 |
if (wxGetKeyState(WXK_UP))
|
546 |
{ |
547 |
teleop_l_speed = TELEOP_PRECISE_SPEED; |
548 |
teleop_r_speed = TELEOP_PRECISE_SPEED; |
549 |
} |
550 |
else if (wxGetKeyState(WXK_DOWN)) |
551 |
{ |
552 |
teleop_l_speed = -TELEOP_PRECISE_SPEED; |
553 |
teleop_r_speed = -TELEOP_PRECISE_SPEED; |
554 |
} |
555 |
else if (wxGetKeyState(WXK_LEFT)) |
556 |
{ |
557 |
teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED; |
558 |
teleop_r_speed = TELEOP_PRECISE_TURN_SPEED; |
559 |
} |
560 |
else if (wxGetKeyState(WXK_RIGHT)) |
561 |
{ |
562 |
teleop_l_speed = TELEOP_PRECISE_TURN_SPEED; |
563 |
teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED; |
564 |
} |
565 |
} |
566 |
|
567 |
void SimFrame::teleop_move_fluid()
|
568 |
{ |
569 |
if (wxGetKeyState(WXK_UP))
|
570 |
{ |
571 |
teleop_fluid_speed += TELEOP_FLUID_INC * 2;
|
572 |
} |
573 |
else if (wxGetKeyState(WXK_DOWN)) |
574 |
{ |
575 |
teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
|
576 |
} |
577 |
else if (teleop_fluid_speed > TELEOP_FLUID_INC) |
578 |
{ |
579 |
teleop_fluid_speed -= TELEOP_FLUID_INC; |
580 |
} |
581 |
else if (teleop_fluid_speed < -TELEOP_FLUID_INC) |
582 |
{ |
583 |
teleop_fluid_speed += TELEOP_FLUID_INC; |
584 |
} |
585 |
else
|
586 |
{ |
587 |
teleop_fluid_speed = 0;
|
588 |
} |
589 |
|
590 |
if (wxGetKeyState(WXK_LEFT))
|
591 |
{ |
592 |
teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
|
593 |
} |
594 |
else if (wxGetKeyState(WXK_RIGHT)) |
595 |
{ |
596 |
teleop_fluid_omega += TELEOP_FLUID_INC * 2;
|
597 |
} |
598 |
else
|
599 |
{ |
600 |
teleop_fluid_omega = 0;
|
601 |
} |
602 |
|
603 |
if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
604 |
{ |
605 |
teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
606 |
} |
607 |
else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
608 |
{ |
609 |
teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
610 |
} |
611 |
if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
|
612 |
{ |
613 |
teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED; |
614 |
} |
615 |
else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED) |
616 |
{ |
617 |
teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED; |
618 |
} |
619 |
|
620 |
int l_speed = teleop_fluid_speed + teleop_fluid_omega;
|
621 |
int r_speed = teleop_fluid_speed - teleop_fluid_omega;
|
622 |
|
623 |
teleop_l_speed = max(MIN_ABSOLUTE_SPEED, |
624 |
min(MAX_ABSOLUTE_SPEED, l_speed)); |
625 |
teleop_r_speed = max(MIN_ABSOLUTE_SPEED, |
626 |
min(MAX_ABSOLUTE_SPEED, r_speed)); |
627 |
} |
628 |
|
629 |
void SimFrame::teleop()
|
630 |
{ |
631 |
switch (teleop_type)
|
632 |
{ |
633 |
case TELEOP_OFF:
|
634 |
return;
|
635 |
case TELEOP_PRECISE:
|
636 |
teleop_move_precise(); |
637 |
break;
|
638 |
case TELEOP_FLUID:
|
639 |
teleop_move_fluid(); |
640 |
break;
|
641 |
} |
642 |
|
643 |
::messages::set_motors msg; |
644 |
msg.fl_set = true;
|
645 |
msg.fr_set = true;
|
646 |
msg.bl_set = true;
|
647 |
msg.br_set = true;
|
648 |
msg.teleop_ON = true;
|
649 |
|
650 |
msg.fl_speed = teleop_l_speed; |
651 |
msg.fr_speed = teleop_r_speed; |
652 |
msg.bl_speed = teleop_l_speed; |
653 |
msg.br_speed = teleop_r_speed; |
654 |
|
655 |
teleop_pub.publish(msg); |
656 |
} |
657 |
|
658 |
void SimFrame::updateScouts()
|
659 |
{ |
660 |
|
661 |
if (last_scout_update.isZero())
|
662 |
{ |
663 |
last_scout_update = ros::WallTime::now(); |
664 |
return;
|
665 |
} |
666 |
|
667 |
path_image = path_bitmap.ConvertToImage(); |
668 |
Refresh(); |
669 |
|
670 |
M_Scout::iterator it = scouts.begin(); |
671 |
M_Scout::iterator end = scouts.end(); |
672 |
|
673 |
M_Emitter::iterator m_it = emitters.begin(); |
674 |
M_Emitter::iterator m_end = emitters.end(); |
675 |
|
676 |
world_state state; |
677 |
state.canvas_width = width_in_meters; |
678 |
state.canvas_height = height_in_meters; |
679 |
|
680 |
|
681 |
for (; m_it != m_end; ++m_it)
|
682 |
{ |
683 |
|
684 |
m_it->second->update(SIM_TIME_REFRESH_RATE, |
685 |
path_dc, |
686 |
path_image, lines_image, walls_image, |
687 |
path_dc.GetBackground().GetColour(), |
688 |
state); |
689 |
} |
690 |
|
691 |
|
692 |
for (; it != end; ++it)
|
693 |
{ |
694 |
//ROS_INFO(it->second);
|
695 |
geometry_msgs::Pose2D scout_pos; |
696 |
scout_pos = it->second->update(SIM_TIME_REFRESH_RATE, |
697 |
path_dc, sonar_dc, |
698 |
path_image, lines_image, walls_image, |
699 |
path_dc.GetBackground().GetColour(), |
700 |
sonar_dc.GetBackground().GetColour(), |
701 |
state); |
702 |
|
703 |
checkBOM(scout_pos, it); |
704 |
} |
705 |
|
706 |
|
707 |
for (unsigned int i = 0; i < ghost_scouts.size(); ++i) |
708 |
{ |
709 |
ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc, |
710 |
path_dc.GetBackground().GetColour(), state); |
711 |
} |
712 |
|
713 |
|
714 |
frame_count++; |
715 |
} |
716 |
|
717 |
|
718 |
void SimFrame::checkBOM(geometry_msgs::Pose2D scout_pos,
|
719 |
M_Scout::iterator it) |
720 |
{ |
721 |
|
722 |
M_Emitter::iterator m_it = emitters.begin(); |
723 |
M_Emitter::iterator m_end = emitters.end(); |
724 |
|
725 |
//Emitter default values
|
726 |
double bom_aperture = PI / 3.0; |
727 |
double bom_distance = 1.0; |
728 |
|
729 |
//iterate over Emitters:
|
730 |
for (; m_it != m_end; ++m_it)
|
731 |
{ |
732 |
geometry_msgs::Pose2D emitter_pos; |
733 |
emitter_pos = m_it->second->get_pos(); |
734 |
if (is_inrange(scout_pos, emitter_pos, em_aperture, em_distance)) {
|
735 |
//if scout is within emitter range
|
736 |
//check if emitter is within each BOM range
|
737 |
double x_offset;
|
738 |
double y_offset;
|
739 |
double offset_angle;
|
740 |
double diag_dis = pow((pow((SCOUT_W/2.0),2) + |
741 |
pow((SCOUT_H/2.0),2)),(0.5)); |
742 |
|
743 |
for (int i = 0; i<10; i++) { |
744 |
geometry_msgs::Pose2D bom_pos; |
745 |
|
746 |
if (i == 2) { //middle left |
747 |
offset_angle = PI/2.0; |
748 |
bom_pos.theta = scout_pos.theta + PI/2.0; |
749 |
} |
750 |
else if (i == 7) { //middle right |
751 |
offset_angle = 3*PI/2.0; |
752 |
bom_pos.theta = scout_pos.theta + 3.0*PI/2.0; |
753 |
} |
754 |
else if (i < 2) { //top left |
755 |
offset_angle = atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
756 |
bom_pos.theta = scout_pos.theta + PI/2.0 * i; |
757 |
} |
758 |
else if (i >= 2 && i <5) { //bottom left |
759 |
offset_angle = PI - atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
760 |
bom_pos.theta = scout_pos.theta + PI/2.0 + PI/2.0 * (i/4); |
761 |
} |
762 |
else if (i >= 5 && i < 8) { //bottom right |
763 |
offset_angle = PI + atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
764 |
bom_pos.theta = scout_pos.theta + PI + PI/2.0 * (i/6); |
765 |
} |
766 |
else { //top right |
767 |
offset_angle = 2*PI - atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
768 |
bom_pos.theta = scout_pos.theta + 3*PI/2.0 + PI/2.0 * (i/9); |
769 |
} |
770 |
offset_angle += scout_pos.theta; |
771 |
|
772 |
if (i == 2 || i == 7) { |
773 |
x_offset = (SCOUT_W/2.0)*cos(offset_angle); |
774 |
y_offset = (SCOUT_W/2.0)*sin(offset_angle); |
775 |
} |
776 |
else {
|
777 |
x_offset = diag_dis*cos(offset_angle); |
778 |
y_offset = diag_dis*sin(offset_angle); |
779 |
} |
780 |
|
781 |
bom_pos.x = scout_pos.x + x_offset; |
782 |
bom_pos.y = scout_pos.y - y_offset; |
783 |
|
784 |
if (bom_pos.theta > 2*PI) { |
785 |
bom_pos.theta -= 2*PI;
|
786 |
} |
787 |
else if (bom_pos.theta < 0) { |
788 |
bom_pos.theta += 2*PI;
|
789 |
} |
790 |
|
791 |
if(is_inrange(emitter_pos, bom_pos, bom_aperture, bom_distance)) {
|
792 |
|
793 |
it->second->update_BOM(i, 1, 0); |
794 |
// TODO: change to last arg to actual sender ID
|
795 |
|
796 |
} |
797 |
else {
|
798 |
|
799 |
it->second->update_BOM(i, 0, 0); |
800 |
// TODO: change to last arg to actual sender ID
|
801 |
|
802 |
} |
803 |
} |
804 |
|
805 |
} |
806 |
} |
807 |
|
808 |
} |
809 |
|
810 |
|
811 |
bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
812 |
std_srvs::Empty::Response&) |
813 |
{ |
814 |
ROS_INFO("Clearing scoutsim.");
|
815 |
clear(); |
816 |
return true; |
817 |
} |
818 |
|
819 |
bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
820 |
std_srvs::Empty::Response&) |
821 |
{ |
822 |
ROS_INFO("Resetting scoutsim.");
|
823 |
scouts.clear(); |
824 |
id_counter = 0;
|
825 |
spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
826 |
clear(); |
827 |
return true; |
828 |
} |
829 |
|
830 |
void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
831 |
{ |
832 |
wireless_receive.publish(msg); |
833 |
} |
834 |
|
835 |
|
836 |
bool SimFrame::is_inrange(geometry_msgs::Pose2D scout_pos,
|
837 |
geometry_msgs::Pose2D emitter_pos, |
838 |
double aperture, double distance) |
839 |
|
840 |
{ |
841 |
//ROS_INFO("SCOUT: %f %f %f ", scout_pos.x, scout_pos.x, scout_pos.theta);
|
842 |
//ROS_INFO("EMITTER: %f %f %f ", emitter_pos.x, emitter_pos.x, emitter_pos.theta);
|
843 |
double se_distance = pow((pow((scout_pos.x - emitter_pos.x),2) + |
844 |
pow((scout_pos.y - emitter_pos.y),2)),(0.5)); |
845 |
double se_angle = atan((scout_pos.x - emitter_pos.x)/(scout_pos.y - emitter_pos.y));
|
846 |
if (scout_pos.y < emitter_pos.y)
|
847 |
{ |
848 |
se_angle = se_angle + PI/2;
|
849 |
} |
850 |
else
|
851 |
{ |
852 |
se_angle = se_angle + PI*3/2; |
853 |
} |
854 |
double emitter_orient = emitter_pos.theta;
|
855 |
|
856 |
//ROS_INFO("distance: %f, angle: %f, orient: %f", se_distance, se_angle, emitter_orient);
|
857 |
|
858 |
if ((se_distance <= distance)) { //distance check |
859 |
|
860 |
double upper_limit = (emitter_orient + aperture/2); |
861 |
double lower_limit = (emitter_orient - aperture/2); |
862 |
|
863 |
//ROS_INFO("upper: %f, lower: %f", upper_limit, lower_limit+2*PI);
|
864 |
|
865 |
if (upper_limit > 2*PI) { |
866 |
if (((se_angle < 2*PI) && (se_angle > (lower_limit))) || |
867 |
((se_angle < upper_limit-2*PI) && (se_angle >= 0))) { |
868 |
return true; |
869 |
} |
870 |
|
871 |
} |
872 |
else if (lower_limit < 0) { |
873 |
if (((se_angle < 2*PI) && (se_angle > (lower_limit+2*PI))) || |
874 |
((se_angle < upper_limit) && (se_angle >= 0))) {
|
875 |
return true; |
876 |
} |
877 |
|
878 |
|
879 |
} |
880 |
else {
|
881 |
if ((se_angle < upper_limit) && //angle check |
882 |
(se_angle > lower_limit)) { |
883 |
return true; |
884 |
} |
885 |
} |
886 |
} |
887 |
return false; |
888 |
|
889 |
} |
890 |
|
891 |
} |
892 |
|
893 |
/** @} */
|