root / scout / scoutsim / src / scout.h @ 9f547ef7
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1 | c492be62 | Alex Zirbel | /**
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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 | 266ae7f2 | Alex Zirbel | *
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6 | c492be62 | Alex Zirbel | * 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 | 266ae7f2 | Alex Zirbel | * All rights reserved.
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25 | c492be62 | Alex Zirbel | *
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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 | 266ae7f2 | Alex Zirbel | */
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47 | |||
48 | 144137a1 | Alex Zirbel | #ifndef _SCOUTSIM_SCOUT_H_
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49 | #define _SCOUTSIM_SCOUT_H_
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50 | 266ae7f2 | Alex Zirbel | |
51 | #include <ros/ros.h> |
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52 | #include <boost/shared_ptr.hpp> |
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53 | |||
54 | a8480867 | Alex Zirbel | #include <motors/set_motors.h> |
55 | 9f547ef7 | Alex Zirbel | #include <encoders/query_encoders.h> |
56 | a8480867 | Alex Zirbel | |
57 | 266ae7f2 | Alex Zirbel | #include <scoutsim/Pose.h> |
58 | #include <scoutsim/SetPen.h> |
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59 | #include <scoutsim/Color.h> |
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60 | |||
61 | #include <wx/wx.h> |
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62 | |||
63 | 94a3af93 | Priya | //#include "scout_constants.h"
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64 | c492be62 | Alex Zirbel | |
65 | 266ae7f2 | Alex Zirbel | #define PI 3.14159265 |
66 | c492be62 | Alex Zirbel | |
67 | 144137a1 | Alex Zirbel | /// The scale factor so the speed of scout robots is reasonable for the sim
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68 | #define SPEED_SCALE_FACTOR 0.05 |
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69 | 266ae7f2 | Alex Zirbel | |
70 | namespace scoutsim |
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71 | { |
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72 | struct Vector2
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73 | { |
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74 | Vector2() |
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75 | : x(0.0) |
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76 | , y(0.0) |
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77 | {} |
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78 | |||
79 | 144137a1 | Alex Zirbel | Vector2(float new_x, float new_y) |
80 | : x(new_x) |
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81 | , y(new_y) |
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82 | 266ae7f2 | Alex Zirbel | {} |
83 | |||
84 | bool operator==(const Vector2& rhs) |
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85 | { |
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86 | return x == rhs.x && y == rhs.y;
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87 | } |
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88 | |||
89 | bool operator!=(const Vector2& rhs) |
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90 | { |
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91 | return x != rhs.x || y != rhs.y;
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92 | } |
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93 | |||
94 | float x;
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95 | float y;
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96 | }; |
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97 | |||
98 | class Scout |
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99 | { |
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100 | public:
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101 | Scout(const ros::NodeHandle& nh, const wxImage& scout_image, |
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102 | const Vector2& pos, float orient); |
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103 | |||
104 | void update(double dt, wxMemoryDC& path_dc, |
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105 | const wxImage& path_image, wxColour background_color,
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106 | float canvas_width, float canvas_height); |
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107 | void paint(wxDC& dc);
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108 | |||
109 | private:
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110 | a8480867 | Alex Zirbel | void setMotors(const motors::set_motors::ConstPtr& msg); |
111 | c492be62 | Alex Zirbel | float getSonar(float angle); |
112 | 266ae7f2 | Alex Zirbel | bool setPenCallback(scoutsim::SetPen::Request&,
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113 | scoutsim::SetPen::Response&); |
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114 | 9f547ef7 | Alex Zirbel | bool query_encoders_callback(encoders::query_encoders::Request&,
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115 | encoders::query_encoders::Response&); |
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116 | 266ae7f2 | Alex Zirbel | |
117 | 144137a1 | Alex Zirbel | ros::NodeHandle node; |
118 | 266ae7f2 | Alex Zirbel | |
119 | 144137a1 | Alex Zirbel | wxImage scout_image; |
120 | wxBitmap scout; |
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121 | 266ae7f2 | Alex Zirbel | |
122 | 144137a1 | Alex Zirbel | Vector2 pos; |
123 | float orient;
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124 | 266ae7f2 | Alex Zirbel | |
125 | 9f547ef7 | Alex Zirbel | /// @todo should these be an array or something?
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126 | |||
127 | a8480867 | Alex Zirbel | // Keep track of the last commanded speeds sent to the sim
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128 | 144137a1 | Alex Zirbel | int motor_fl_speed;
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129 | int motor_fr_speed;
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130 | int motor_bl_speed;
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131 | int motor_br_speed;
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132 | a8480867 | Alex Zirbel | |
133 | 9f547ef7 | Alex Zirbel | // Keep track of encoder ticks for each motor
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134 | unsigned int fl_ticks; |
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135 | unsigned int fr_ticks; |
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136 | unsigned int bl_ticks; |
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137 | unsigned int br_ticks; |
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138 | |||
139 | c492be62 | Alex Zirbel | // Each scout has a unique id number, which is also displayed on its image.
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140 | int scout_id;
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141 | |||
142 | 144137a1 | Alex Zirbel | bool pen_on;
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143 | wxPen pen; |
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144 | 266ae7f2 | Alex Zirbel | |
145 | 144137a1 | Alex Zirbel | ros::Subscriber motors_sub; |
146 | ros::Publisher pose_pub; |
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147 | ros::Publisher color_pub; |
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148 | ros::ServiceServer set_pen_srv; |
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149 | 9f547ef7 | Alex Zirbel | ros::ServiceServer query_encoders_srv; |
150 | 266ae7f2 | Alex Zirbel | |
151 | 144137a1 | Alex Zirbel | ros::WallTime last_command_time; |
152 | 266ae7f2 | Alex Zirbel | |
153 | 144137a1 | Alex Zirbel | float meter;
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154 | 266ae7f2 | Alex Zirbel | |
155 | }; |
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156 | typedef boost::shared_ptr<Scout> ScoutPtr;
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157 | |||
158 | 4612f7e4 | Alex Zirbel | } |
159 | 266ae7f2 | Alex Zirbel | |
160 | #endif |