gz_truth.c

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: Truth interface
 * Author: Chris Jones
 * Date: 16 Nov 2003
 * CVS: $Id: gz_truth.c,v 1.7 2006/03/12 17:38:56 natepak Exp $
 */


#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>

#include "gazebo.h"


// Create an interface
gz_truth_t *gz_truth_alloc()
{
  gz_truth_t *self;

  self = calloc(1, sizeof(gz_truth_t));
  self->iface = gz_iface_alloc();

  return self;
}


// Destroy an interface
void gz_truth_free(gz_truth_t *self)
{
  gz_iface_free(self->iface);
  free(self);
  return;
}


// Create the interface
int gz_truth_create(gz_truth_t *self, gz_server_t *server, const char *id,
                    const char *model_type, int model_id, int parent_model_id)
{
  if (gz_iface_create(self->iface, server, "truth", id, sizeof(gz_truth_data_t)) != 0)
    return -1;

  self->data = self->iface->mmap;

  strncpy(self->data->head.model_type, model_type, sizeof(self->data->head.model_type));
  self->data->head.model_id = (int) model_id;
  self->data->head.parent_model_id = (int) parent_model_id;


  return 0;
}


// Destroy the interface (server)
int gz_truth_destroy(gz_truth_t *self)
{
  self->data = NULL;
  return gz_iface_destroy(self->iface);
}


// Open an existing interface
int gz_truth_open(gz_truth_t *self, gz_client_t *client, const char *id)
{
  if (gz_iface_open(self->iface, client, "truth", id, sizeof(gz_truth_data_t)) != 0)
    return -1;

  self->data = self->iface->mmap;
  return 0;
}  


// Close the interface
int gz_truth_close(gz_truth_t *self)
{
  self->data = NULL;
  return gz_iface_close(self->iface);
}


// Lock the interface.
int gz_truth_lock(gz_truth_t *self, int blocking)
{
  return gz_iface_lock(self->iface, blocking);
}


// Unlock the interface
void gz_truth_unlock(gz_truth_t *self)
{
  return gz_iface_unlock(self->iface);
}


// Tell clients that new data is available
int gz_truth_post(gz_truth_t *self)
{
  return gz_iface_post(self->iface);
}

void gz_truth_euler_from_quatern(gz_truth_t *self, double *e, double *q)
{
  double s;

  // Normalize the quaternion
  s = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);

  q[0] = q[0] / s;
  q[1] = q[1] / s;
  q[2] = q[2] / s;
  q[3] = q[3] / s;

  e[0] = atan2(2 * (q[2]*q[3] + q[0]*q[1]), (q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]));
  e[1] = asin(-2 * (q[1]*q[3] - q[0] * q[2]));
  e[2] = atan2(2 * (q[1]*q[2] + q[0] * q[3]), (q[0]*q[0] + q[1]*q[1] - q[2]*q[2] - q[3]*q[3]));
}

void gz_truth_quatern_from_euler(gz_truth_t *self, double *q, double *e)
{
  double s;
  double phi, the, psi;

  phi = e[0] / 2;
  the = e[1] / 2;
  psi = e[2] / 2;

  q[0] = cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi);
  q[1] = sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi);
  q[2] = cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi);
  q[3] = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi);

  // Normalize the quaternion
  s = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);

  q[0] = q[0] / s;
  q[1] = q[1] / s;
  q[2] = q[2] / s;
  q[3] = q[3] / s;
}