polygon_primitive_communication.cpp

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#ifndef _polygon_primitive_communication_CPP_
#define _polygon_primitive_communication_CPP_


#include "polygon_primitive.h"


int c_polygon_primitive::export_to_polygon_primitive_msg(polygon_primitive_msg::polygon_primitive* msg)
{
        //Header
        msg->header.stamp = ros::Time::now();
        msg->header.frame_id = data.frames.global_name;

        //polygon name
        msg->name = std::string(data.misc.name);

        //Frame names
        msg->frame_global_name = data.frames.global_name;
        msg->frame_local_name = data.frames.local_name;

        //Frames
        msg->frame_current.translation.x = (data.frames.current.transform.getOrigin()).x();
        msg->frame_current.translation.y = (data.frames.current.transform.getOrigin()).y();
        msg->frame_current.translation.z = (data.frames.current.transform.getOrigin()).z();
        
        msg->frame_current.rotation.x = (data.frames.current.transform.getRotation()).x();
        msg->frame_current.rotation.y = (data.frames.current.transform.getRotation()).y();
        msg->frame_current.rotation.z = (data.frames.current.transform.getRotation()).z();
        msg->frame_current.rotation.w = (data.frames.current.transform.getRotation()).w();
        
        msg->frame_previous.translation.x = (data.frames.previous.transform.getOrigin()).x();
        msg->frame_previous.translation.y = (data.frames.previous.transform.getOrigin()).y();
        msg->frame_previous.translation.z = (data.frames.previous.transform.getOrigin()).z();
        
        msg->frame_previous.rotation.x = (data.frames.previous.transform.getRotation()).x();
        msg->frame_previous.rotation.y = (data.frames.previous.transform.getRotation()).y();
        msg->frame_previous.rotation.z = (data.frames.previous.transform.getRotation()).z();
        msg->frame_previous.rotation.w = (data.frames.previous.transform.getRotation()).w();

        //polygon color
        msg->color_r = data.misc.color.r;
        msg->color_g = data.misc.color.g;
        msg->color_b = data.misc.color.b;

        //convex hull
        pcl::toROSMsg(*data.hulls.convex.polygon, msg->convex_hull);
        pcl::toROSMsg(*data.hulls.convex.extended_polygon, msg->extended_convex_hull);
        msg->convex_hull_area = data.hulls.convex.area;
        msg->convex_hull_solidity = data.hulls.convex.solidity;

        //concave hull
        pcl::toROSMsg(*data.hulls.concave.polygon, msg->concave_hull);
        pcl::toROSMsg(*data.hulls.concave.extended_polygon, msg->extended_concave_hull);
        msg->concave_hull_area = data.hulls.concave.area;
        msg->concave_hull_solidity = data.hulls.concave.solidity;

        //plane
        msg->support_plane_A = data.planes.current->values[0];
        msg->support_plane_B = data.planes.current->values[1];
        msg->support_plane_C = data.planes.current->values[2];
        msg->support_plane_D = data.planes.current->values[3];

        return 1;
}

int c_polygon_primitive::import_from_polygon_primitive_msg(polygon_primitive_msg::polygon_primitive* msg)
{

        //polygon name
        sprintf(data.misc.name, "%s",msg->name.c_str());

        //Frame names
        data.frames.global_name = msg->frame_global_name;
        data.frames.local_name = msg->frame_local_name;

        //Frames
        data.frames.current.transform = tf::Transform(tf::Quaternion(msg->frame_current.rotation.x, msg->frame_current.rotation.y, msg->frame_current.rotation.z, msg->frame_current.rotation.w),  
                        tf::Vector3(msg->frame_current.translation.x, msg->frame_current.translation.y, msg->frame_current.translation.z));

        data.frames.previous.transform = tf::Transform(tf::Quaternion(msg->frame_previous.rotation.x, msg->frame_previous.rotation.y, msg->frame_previous.rotation.z, msg->frame_previous.rotation.w),  
                        tf::Vector3(msg->frame_previous.translation.x, msg->frame_previous.translation.y, msg->frame_previous.translation.z));

        //polygon color
        data.misc.color.r = msg->color_r;
        data.misc.color.g = msg->color_g;
        data.misc.color.b = msg->color_b;

        //convex hull
        pcl::fromROSMsg(msg->convex_hull, *data.hulls.convex.polygon);
        pcl::fromROSMsg(msg->extended_convex_hull, *data.hulls.convex.extended_polygon);
        data.hulls.convex.area = msg->convex_hull_area;
        data.hulls.convex.solidity = msg->convex_hull_solidity;

        //concave hull
        pcl::fromROSMsg(msg->concave_hull, *data.hulls.concave.polygon);
        pcl::fromROSMsg(msg->extended_concave_hull, *data.hulls.concave.extended_polygon);
        data.hulls.concave.area = msg->concave_hull_area;
        data.hulls.concave.solidity = msg->concave_hull_solidity;

        //plane
        data.planes.current->values[0] = msg->support_plane_A;
        data.planes.current->values[1] = msg->support_plane_B;
        data.planes.current->values[2] = msg->support_plane_C;
        data.planes.current->values[3] = msg->support_plane_D;

        return 1;
}
void c_polygon_primitive::publish_local_tf(void)
{
        char str[1024];
        sprintf(str, "/%s",data.misc.name);

        br.sendTransform(tf::StampedTransform(data.frames.current.transform, ros::Time::now(), data.frames.global_name, data.frames.local_name));   
}

visualization_msgs::Marker c_polygon_primitive::create_visualization_marker_header(
                std::string frame_id, ros::Time stamp, std::string name,
                int action, int id, int type,
                double px, double py, double pz,
                double qx, double qy, double qz, double qw,
                double sx, double sy, double sz,
                double cr, double cg, double cb, double alpha
                )
{
        visualization_msgs::Marker mk;
        mk.header.frame_id = frame_id; mk.header.stamp = stamp; mk.ns = name;
        mk.action = action;     mk.type = type; mk.id = id;
        mk.pose.position.x = px; mk.pose.position.y = py; mk.pose.position.z = pz;
        mk.pose.orientation.x = qx;     mk.pose.orientation.y = qy;     mk.pose.orientation.z = qz;     mk.pose.orientation.w = qw;
        mk.scale.x = sx; mk.scale.y = sy; mk.scale.z = sz; 
        mk.color.r = cr; mk.color.g = cg; mk.color.b = cb; mk.color.a = alpha;
        return mk;
};


int c_polygon_primitive::create_vizualization_msgs(visualization_msgs::MarkerArray* marker_vec, unsigned int id_start)
{
        
        unsigned int id=id_start;

        geometry_msgs::Point p;
        std_msgs::ColorRGBA color;

        if (true) //Polygon name marker (TEXT_VIEW_FACING)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"name",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::TEXT_VIEW_FACING,
                                data.frames.current.origin.x, data.frames.current.origin.y, data.frames.current.origin.z,
                                0,0,0,1,
                                1,1,0.6,
                                data.misc.color.r/255., data.misc.color.g/255., data.misc.color.b/255., 1
                                );

                char str[1024];
                sprintf(str,"%s A=%3.2f S=%3.2f",data.misc.name, data.hulls.convex.area, data.hulls.convex.solidity);
                std::string tmp_str(str); 
                msg.text = tmp_str; 
                marker_vec->markers.push_back(msg);
        }

        if (true) //concave hull marker (LINE_STRIP)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"concave_hull",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::LINE_STRIP,
                                0,0,0,
                                0,0,0,1,
                                0.05,1,1,
                                //data.misc.color.r/255., data.misc.color.g/255., data.misc.color.b/255., 1
                                1,0,0, 1
                                );

                if ((int)data.hulls.concave.polygon->points.size() >0)
                {
                        for (unsigned int u=0; u< data.hulls.concave.polygon->size(); u++)
                        {
                                p.x = data.hulls.concave.polygon->points[u].x; 
                                p.y = data.hulls.concave.polygon->points[u].y; 
                                p.z = data.hulls.concave.polygon->points[u].z; 
                                msg.points.push_back(p);
                        }
                        p.x = data.hulls.concave.polygon->points[0].x; 
                        p.y = data.hulls.concave.polygon->points[0].y; 
                        p.z = data.hulls.concave.polygon->points[0].z; 
                        msg.points.push_back(p);
                }
                else
                {
                        p.x = 0; p.y = 0; p.z = 0;
                        msg.points.push_back(p);
                        p.x = 1; p.y = 1; p.z = 1;
                        msg.points.push_back(p);
                }

                marker_vec->markers.push_back(msg);
        }


        if ((int)data.hulls.convex.polygon->points.size() >1) //convex hull marker (LINE_STRIP)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"convex_hull",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::LINE_STRIP,
                                0,0,0,
                                0,0,0,1,
                                0.15,1,1,
                                data.misc.color.r/255., data.misc.color.g/255., data.misc.color.b/255., 1
                                );

                for (unsigned int u=0; u< data.hulls.convex.polygon->size(); u++)
                {
                        p.x = data.hulls.convex.polygon->points[u].x; 
                        p.y = data.hulls.convex.polygon->points[u].y; 
                        p.z = data.hulls.convex.polygon->points[u].z; 
                        msg.points.push_back(p);
                }
                p.x = data.hulls.convex.polygon->points[0].x; 
                p.y = data.hulls.convex.polygon->points[0].y; 
                p.z = data.hulls.convex.polygon->points[0].z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        if ((int)data.hulls.convex.extended_polygon->points.size() >1) //extended convex hull marker (LINE_STRIP)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"extended_convex_hull",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::LINE_STRIP,
                                0,0,0,
                                0,0,0,1,
                                0.05,1,1,
                                data.misc.color.r/255./4, data.misc.color.g/255./4, data.misc.color.b/255./4, 1
                                );

                for (unsigned int u=0; u< data.hulls.convex.extended_polygon->size(); u++)
                {
                        p.x = data.hulls.convex.extended_polygon->points[u].x; 
                        p.y = data.hulls.convex.extended_polygon->points[u].y; 
                        p.z = data.hulls.convex.extended_polygon->points[u].z; 
                        msg.points.push_back(p);
                }
                p.x = data.hulls.convex.extended_polygon->points[0].x; 
                p.y = data.hulls.convex.extended_polygon->points[0].y; 
                p.z = data.hulls.convex.extended_polygon->points[0].z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        if (true) //reference system x axis (ARROW)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"current_frame",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::ARROW,
                                0,0,0,
                                0,0,0,1,
                                0.2,0.5,1,
                                1, 0, 0, 1
                                );

                p.x = data.frames.current.origin.x; 
                p.y = data.frames.current.origin.y; 
                p.z = data.frames.current.origin.z; 
                msg.points.push_back(p);

                p.x = data.frames.current.arrow_x.x; 
                p.y = data.frames.current.arrow_x.y; 
                p.z = data.frames.current.arrow_x.z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        if (true) //reference system y axis (ARROW)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"current_frame",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::ARROW,
                                0,0,0,
                                0,0,0,1,
                                0.2,0.5,1,
                                0, 1, 0, 1
                                );

                p.x = data.frames.current.origin.x; 
                p.y = data.frames.current.origin.y; 
                p.z = data.frames.current.origin.z; 
                msg.points.push_back(p);

                p.x = data.frames.current.arrow_y.x; 
                p.y = data.frames.current.arrow_y.y; 
                p.z = data.frames.current.arrow_y.z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        if (true) //reference system z axis (ARROW)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"current_frame",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::ARROW,
                                0,0,0,
                                0,0,0,1,
                                0.2,0.5,1,
                                0, 0, 1, 1
                                );

                p.x = data.frames.current.origin.x; 
                p.y = data.frames.current.origin.y; 
                p.z = data.frames.current.origin.z; 
                msg.points.push_back(p);

                p.x = data.frames.current.arrow_z.x; 
                p.y = data.frames.current.arrow_z.y; 
                p.z = data.frames.current.arrow_z.z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        // ------------------------------------------
        //add a marker to the old frame
        // ------------------------------------------

        if (true) //grow system x axis (ARROW)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"previous_frame",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::ARROW,
                                0,0,0,
                                0,0,0,1,
                                0.2,0.5,1,
                                0.3, 0, 0, 0.6
                                );

                p.x = data.frames.previous.origin.x; 
                p.y = data.frames.previous.origin.y; 
                p.z = data.frames.previous.origin.z; 
                msg.points.push_back(p);

                p.x = data.frames.previous.arrow_x.x; 
                p.y = data.frames.previous.arrow_x.y; 
                p.z = data.frames.previous.arrow_x.z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        if (true) //grow system y axis (ARROW)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"previous_frame",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::ARROW,
                                0,0,0,
                                0,0,0,1,
                                0.2,0.5,1,
                                0, 0.3, 0, 0.6
                                );

                p.x = data.frames.previous.origin.x; 
                p.y = data.frames.previous.origin.y; 
                p.z = data.frames.previous.origin.z; 
                msg.points.push_back(p);

                p.x = data.frames.previous.arrow_y.x; 
                p.y = data.frames.previous.arrow_y.y; 
                p.z = data.frames.previous.arrow_y.z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        if (true) //grow system z axis (ARROW)
        {
                visualization_msgs::Marker msg = create_visualization_marker_header(
                                data.frames.global_name, ros::Time::now(),"previous_frame",
                                visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::ARROW,
                                0,0,0,
                                0,0,0,1,
                                0.2,0.5,1,
                                0, 0, 0.3, 0.6
                                );

                p.x = data.frames.previous.origin.x; 
                p.y = data.frames.previous.origin.y; 
                p.z = data.frames.previous.origin.z; 
                msg.points.push_back(p);

                p.x = data.frames.previous.arrow_z.x; 
                p.y = data.frames.previous.arrow_z.y; 
                p.z = data.frames.previous.arrow_z.z; 
                msg.points.push_back(p);

                marker_vec->markers.push_back(msg);
        }

        return 1;
}

#endif