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controller_interface/include/semantic_components/pose_sensor.hpp
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| // Copyright 2024 FZI Forschungszentrum Informatik | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| #ifndef SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ | ||
| #define SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ | ||
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| #include <array> | ||
| #include <limits> | ||
| #include <string> | ||
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| #include "geometry_msgs/msg/pose.hpp" | ||
| #include "semantic_components/semantic_component_interface.hpp" | ||
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| namespace semantic_components | ||
| { | ||
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| class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose> | ||
| { | ||
| public: | ||
| /// Constructor for a standard pose sensor with interface names set based on sensor name. | ||
| explicit PoseSensor(const std::string & name) : SemanticComponentInterface{name, 7} | ||
| { | ||
| // Use standard interface names | ||
| interface_names_.emplace_back(name_ + '/' + "position.x"); | ||
| interface_names_.emplace_back(name_ + '/' + "position.y"); | ||
| interface_names_.emplace_back(name_ + '/' + "position.z"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.x"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.y"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.z"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.w"); | ||
|
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| // Set all sensor values to default value NaN | ||
| std::fill(position_.begin(), position_.end(), std::numeric_limits<double>::quiet_NaN()); | ||
| std::fill(orientation_.begin(), orientation_.end(), std::numeric_limits<double>::quiet_NaN()); | ||
| } | ||
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| virtual ~PoseSensor() = default; | ||
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| /// Update and return position. | ||
| /*! | ||
| * Update and return current pose position from state interfaces. | ||
| * | ||
| * \return Array of position coordinates. | ||
| */ | ||
| std::array<double, 3> get_position() | ||
| { | ||
| for (size_t i = 0; i < 3; ++i) | ||
| { | ||
| position_[i] = state_interfaces_[i].get().get_value(); | ||
| } | ||
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| return position_; | ||
| } | ||
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| /// Update and return orientation | ||
| /*! | ||
| * Update and return current pose orientation from state interfaces. | ||
| * | ||
| * \return Array of orientation coordinates in xyzw convention. | ||
| */ | ||
| std::array<double, 4> get_orientation() | ||
| { | ||
| for (size_t i = 3; i < 7; ++i) | ||
| { | ||
| orientation_[i - 3] = state_interfaces_[i].get().get_value(); | ||
| } | ||
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| return orientation_; | ||
| } | ||
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| /// Fill pose message with current values. | ||
| /** | ||
| * Fill a pose message with current position and orientation from the state interfaces. | ||
| */ | ||
| bool get_values_as_message(geometry_msgs::msg::Pose & message) | ||
| { | ||
| // Update state from state interfaces | ||
| get_position(); | ||
| get_orientation(); | ||
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| // Set message values from current state | ||
| message.position.x = position_[0]; | ||
| message.position.y = position_[1]; | ||
| message.position.z = position_[2]; | ||
| message.orientation.x = orientation_[0]; | ||
| message.orientation.y = orientation_[1]; | ||
| message.orientation.z = orientation_[2]; | ||
| message.orientation.w = orientation_[3]; | ||
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| return true; | ||
| } | ||
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| protected: | ||
| std::array<double, 3> position_; | ||
| std::array<double, 4> orientation_; | ||
| }; | ||
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| } // namespace semantic_components | ||
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| #endif // SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ |
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@@ -2,7 +2,7 @@ | |
| <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="2"> | ||
| <name>controller_interface</name> | ||
| <version>4.17.0</version> | ||
| <version>4.18.0</version> | ||
| <description>Description of controller_interface</description> | ||
| <maintainer email="[email protected]">Bence Magyar</maintainer> | ||
| <maintainer email="[email protected]">Denis Štogl</maintainer> | ||
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@@ -19,6 +19,7 @@ | |
| <build_export_depend>rclcpp_lifecycle</build_export_depend> | ||
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| <test_depend>ament_cmake_gmock</test_depend> | ||
| <test_depend>geometry_msgs</test_depend> | ||
| <test_depend>sensor_msgs</test_depend> | ||
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| <export> | ||
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