truthwidget.cc

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: Model for a TruthWidget
 * Author: Chris Jones
 * Date: 30 Nov 2003
 * CVS: $Id: TruthWidget.cc,v 1.23 2006/03/12 17:38:57 natepak Exp $
 */

/// @addtogroup models
/// @{
/** @defgroup TruthWidget Truth Widget


The TruthWidget is a magical device for querying and modifying
the true pose of objects in the simulator.  It has no simulated body,
but can be attached to other models to learn or change their pose.


@par libgazebo interfaces


The TruthWidget supports the @ref gz_truth interface.

@par Player drivers

Position information is provided through the %gz_truth driver.

@par Attributes

The following attributes are supported.

@htmlinclude default_attr_include.html


@par Bodies

This model does not have a physical representation.


@par Example

@verbatim
<model:TruthWidget>
  <id>truth1</id>
</model:TruthWidget>
@endverbatim

@par Authors

Chris Jones

*/
/// @} 


#include <assert.h>
#include <math.h>

#include "gazebo.h"
#include "World.hh"
#include "WorldFile.hh"
#include "ModelFactory.hh"
#include "RayGeom.hh"
#include "BoxGeom.hh"
#include "CylinderGeom.hh"
#include "Body.hh"
#include "TruthWidget.hh"



//////////////////////////////////////////////////////////////////////////////
// Register this model
GZ_REGISTER_STATIC("TruthWidget", TruthWidget);


//////////////////////////////////////////////////////////////////////////////
// Constructor
TruthWidget::TruthWidget( World *world )
    : Model( world )
{
  this->body = NULL;
  return;
}


//////////////////////////////////////////////////////////////////////////////
// Destructor
TruthWidget::~TruthWidget()
{
  if (this->body)
    delete this->body;

  this->body = NULL;
  return;
}


//////////////////////////////////////////////////////////////////////////////
// Load the model
int TruthWidget::Load( WorldFile *file, WorldFileNode *node )
{
  // Create a dummy body to which to attach geoms
  this->body = new Body(this->world, NULL, true);
  this->AddBody(this->body, true);

  return 0;
}


//////////////////////////////////////////////////////////////////////////////
// Initialize the model
int TruthWidget::Init( WorldFile *file, WorldFileNode *node )
{ 
  // Initialize external interface
  if (this->IfaceInit() != 0)
    return -1;

  return 0;
}


//////////////////////////////////////////////////////////////////////////////
// Initialize the external interface
int TruthWidget::IfaceInit()
{
  this->truth_iface = gz_truth_alloc();
  if (gz_truth_create( this->truth_iface, this->world->gz_server, this->GetId(),
                       "TruthWidget", this->GetIntId(), this->GetParentIntId()) != 0)
    return -1;

  return 0;
}


//////////////////////////////////////////////////////////////////////////////
// Finalize the model
int TruthWidget::Fini()
{
  this->IfaceFini();

  return 0;
}


//////////////////////////////////////////////////////////////////////////////
// Finalize the external interface
int TruthWidget::IfaceFini()
{
  gz_truth_destroy( this->truth_iface );
  gz_truth_free( this->truth_iface );
  this->truth_iface = NULL;

  return 0;
}


//////////////////////////////////////////////////////////////////////////////
// Update the model
void TruthWidget::Update( double /*step*/ )
{
  GzVector cmd_pos;
  GzQuatern cmd_rot;

  // Read commands from the truth interface
  if (IfaceGetCmd(&cmd_pos, &cmd_rot))
  {
    printf("Commanded Pos[%f %f %f] Rot[%f %f %f %f]\n",
        cmd_pos.x,cmd_pos.y,cmd_pos.z,cmd_rot.x,cmd_rot.y,cmd_rot.z,cmd_rot.u);

    if (!GzVectorFinite(cmd_pos))
      printf("Commanded Vector is not Finite\n");
    if (!GzQuaternFinite(cmd_rot))
      printf("Commanded Quatern is not Finite\n");

    // TODO: Not quite right; SetModelPose uses parent-relative
    // coordinates; should be world coordinates
    if (this->parent)
      this->world->SetModelPose(this->parent, GzPoseSet(cmd_pos, cmd_rot));
  }

  // Update the mmap interface with the new data
  IfacePutData();
  
  return;
}


//////////////////////////////////////////////////////////////////////////////
// Get commands from the interface
bool TruthWidget::IfaceGetCmd(GzVector *pos, GzQuatern *rot)
{
  bool cmd_new;
  
  gz_truth_lock(this->truth_iface, 1);

  if (this->truth_iface->data->cmd_new)
  {
    cmd_new = true;
    this->truth_iface->data->cmd_new = 0;

    *pos = GzVectorSet(this->truth_iface->data->cmd_pos[0],
                       this->truth_iface->data->cmd_pos[1],
                       this->truth_iface->data->cmd_pos[2]);
    *rot = GzQuaternSet(this->truth_iface->data->cmd_rot[0],
                        this->truth_iface->data->cmd_rot[1],
                        this->truth_iface->data->cmd_rot[2],
                        this->truth_iface->data->cmd_rot[3]);

    if (rot->u==0 && rot->x==0 && rot->y==0 && rot->z==0)
      rot->u = 1.0;
  }
  else
    cmd_new = false;

  gz_truth_unlock(this->truth_iface);

  return cmd_new;
}


//////////////////////////////////////////////////////////////////////////////
// Update the data in the interface
void TruthWidget::IfacePutData()
{
  GzPose pose;

  gz_truth_lock(this->truth_iface, 1);

  // Data timestamp
  this->truth_iface->data->time = this->world->GetSimTime();

  if (this->parent)
  {
    pose = this->parent->GetPose();

    this->truth_iface->data->pos[0] = pose.pos.x;
    this->truth_iface->data->pos[1] = pose.pos.y;
    this->truth_iface->data->pos[2] = pose.pos.z;

    this->truth_iface->data->rot[0] = pose.rot.u;
    this->truth_iface->data->rot[1] = pose.rot.x;
    this->truth_iface->data->rot[2] = pose.rot.y;
    this->truth_iface->data->rot[3] = pose.rot.z;
  }

  gz_truth_unlock(this->truth_iface);

  return;
}