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PCA, build and namespace Fixes #32

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merged 8 commits into from
Dec 9, 2016
Merged

PCA, build and namespace Fixes #32

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78746c1
Added unit test for PCA debugging purposes
akgoins Oct 25, 2016
76466d5
Modified PCA function to pass unit tests
akgoins Oct 31, 2016
e1dd7d9
Fixed some bugs that caused the build to fail using 'catkin build'
geoffreychiou Nov 12, 2016
16bbf0d
Removed using namespace ___ from the code
geoffreychiou Nov 13, 2016
9efcebb
removed some blank lines
geoffreychiou Nov 13, 2016
8126bdd
merged new changes
geoffreychiou Nov 22, 2016
90b31a7
Removed unnecessary code from PCA fixes and made sure unit tests passed
geoffreychiou Nov 23, 2016
8ae2954
added if statement for tests and changed how file names are generated
geoffreychiou Dec 9, 2016
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2 changes: 1 addition & 1 deletion base_placement_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ qt4_wrap_ui(base_placement_plugin_UIS_H ${base_placement_plugin_UIS})

include_directories(${base_placement_plugin_INCLUDE_DIRECTORIES} ${catkin_INCLUDE_DIRS})
add_library(${PROJECT_NAME} ${base_placement_plugin_SRCS} ${base_placement_plugin_MOCS} ${base_placement_plugin_UIS_H}) # ${base_placement_plugin_UIS_H}
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} yaml-cpp -lhdf5 -lhdf5_cpp hdf5_dataset sphere_discretization kinematics )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} yaml-cpp -lhdf5 -lhdf5_cpp)
## target_link_libraries(${PROJECT_NAME} yaml-cpp)

find_package(class_loader)
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11 changes: 5 additions & 6 deletions base_placement_plugin/include/base_placement_plugin/add_way_point.h
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Expand Up @@ -51,7 +51,6 @@ class StringProperty;
class BoolProperty;
}

using namespace visualization_msgs;
namespace base_placement_plugin
{
/*!
Expand Down Expand Up @@ -81,17 +80,17 @@ class AddWayPoint : public rviz::Panel

private:
//! Function for creating a way-point marker
Marker makeWayPoint(InteractiveMarker& msg);
visualization_msgs::Marker makeWayPoint(visualization_msgs::InteractiveMarker& msg);
//! Function to create the InteractionArrow Marker
Marker makeInterArrow(InteractiveMarker& msg);
visualization_msgs::Marker makeInterArrow(visualization_msgs::InteractiveMarker& msg);
//! Create controls for each different marker. Here we have control for the defaulot starting control ArrowMarkers
InteractiveMarkerControl& makeArrowControlDefault(InteractiveMarker& msg);
visualization_msgs::InteractiveMarkerControl& makeArrowControlDefault(visualization_msgs::InteractiveMarker& msg);
//! 6DOF control for the Ingteractive Markers
InteractiveMarkerControl& makeArrowControlDetails(InteractiveMarker& msg);
visualization_msgs::InteractiveMarkerControl& makeArrowControlDetails(visualization_msgs::InteractiveMarker& msg);

//! The box control can be used as a pointer to a certain 3D location and when clicked it will add a arrow to that
// location.
InteractiveMarkerControl& makeInteractiveMarkerControl(InteractiveMarker& msg_box);
visualization_msgs::InteractiveMarkerControl& makeInteractiveMarkerControl(visualization_msgs::InteractiveMarker& msg_box);
//! Function to handle the entries made from the Way-Points interactive markers Menu.
virtual void changeMarkerControlAndPose(std::string marker_name, bool set_control);

Expand Down
2 changes: 0 additions & 2 deletions base_placement_plugin/include/base_placement_plugin/place_base.h
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@@ -1,5 +1,3 @@


#include <tf/tf.h>
#include <tf_conversions/tf_eigen.h>

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69 changes: 34 additions & 35 deletions base_placement_plugin/src/add_way_point.cpp
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@@ -1,4 +1,3 @@

#include <base_placement_plugin/add_way_point.h>

namespace base_placement_plugin
Expand Down Expand Up @@ -278,54 +277,54 @@ void AddWayPoint::pointPoseUpdated(const tf::Transform& point_pos, const char* m
server->applyChanges();
}

Marker AddWayPoint::makeWayPoint(InteractiveMarker& msg)
visualization_msgs::Marker AddWayPoint::makeWayPoint(visualization_msgs::InteractiveMarker& msg)
{
/*! Define a type and properties of a Marker for the Way-Point.
This will be use as a base to define the shape, color and scale of the InteractiveMarker for the Way-Points.
*/
Marker marker;
visualization_msgs::Marker marker;

marker.type = Marker::ARROW;
marker.type = visualization_msgs::Marker::ARROW;
marker.scale = WAY_POINT_SCALE_CONTROL;

marker.color = WAY_POINT_COLOR;
marker.action = visualization_msgs::Marker::ADD;
return marker;
}

InteractiveMarkerControl& AddWayPoint::makeArrowControlDefault(InteractiveMarker& msg)
visualization_msgs::InteractiveMarkerControl& AddWayPoint::makeArrowControlDefault(visualization_msgs::InteractiveMarker& msg)
{
InteractiveMarkerControl control_menu;
visualization_msgs::InteractiveMarkerControl control_menu;
control_menu.always_visible = true;

control_menu.interaction_mode = InteractiveMarkerControl::MENU;
control_menu.interaction_mode = visualization_msgs::InteractiveMarkerControl::MENU;

control_menu.name = "menu_select";
msg.controls.push_back(control_menu);
control_menu.markers.push_back(makeWayPoint(msg));

InteractiveMarkerControl control_move3d;
visualization_msgs::InteractiveMarkerControl control_move3d;
control_move3d.always_visible = true;

control_move3d.interaction_mode = InteractiveMarkerControl::MOVE_ROTATE_3D;
control_move3d.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D;
control_move3d.name = "move";
control_move3d.markers.push_back(makeWayPoint(msg));
msg.controls.push_back(control_move3d);

return msg.controls.back();
}

InteractiveMarkerControl& AddWayPoint::makeArrowControlDetails(InteractiveMarker& msg)
visualization_msgs::InteractiveMarkerControl& AddWayPoint::makeArrowControlDetails(visualization_msgs::InteractiveMarker& msg)
{
InteractiveMarkerControl control_menu;
visualization_msgs::InteractiveMarkerControl control_menu;
control_menu.always_visible = true;

control_menu.interaction_mode = InteractiveMarkerControl::MENU;
control_menu.interaction_mode = visualization_msgs::InteractiveMarkerControl::MENU;
control_menu.name = "menu_select";
msg.controls.push_back(control_menu);
control_menu.markers.push_back(makeWayPoint(msg));

InteractiveMarkerControl control_view_details;
visualization_msgs::InteractiveMarkerControl control_view_details;
control_view_details.always_visible = true;
//*************rotate and move around the x-axis********************
control_view_details.orientation.w = 1;
Expand All @@ -334,11 +333,11 @@ InteractiveMarkerControl& AddWayPoint::makeArrowControlDetails(InteractiveMarker
control_view_details.orientation.z = 0;

control_view_details.name = "rotate_x";
control_view_details.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control_view_details.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
msg.controls.push_back(control_view_details);

control_view_details.name = "move_x";
control_view_details.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control_view_details.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
msg.controls.push_back(control_view_details);
//*****************************************************************

Expand All @@ -349,11 +348,11 @@ InteractiveMarkerControl& AddWayPoint::makeArrowControlDetails(InteractiveMarker
control_view_details.orientation.z = 0;

control_view_details.name = "rotate_z";
control_view_details.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control_view_details.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
msg.controls.push_back(control_view_details);

control_view_details.name = "move_z";
control_view_details.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control_view_details.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
msg.controls.push_back(control_view_details);
//*****************************************************************

Expand All @@ -364,12 +363,12 @@ InteractiveMarkerControl& AddWayPoint::makeArrowControlDetails(InteractiveMarker
control_view_details.orientation.z = 1;

control_view_details.name = "rotate_y";
control_view_details.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control_view_details.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;

msg.controls.push_back(control_view_details);

control_view_details.name = "move_y";
control_view_details.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control_view_details.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
msg.controls.push_back(control_view_details);
control_view_details.markers.push_back(makeWayPoint(msg));

Expand All @@ -384,7 +383,7 @@ void AddWayPoint::makeArrow(const tf::Transform& point_pos, int count_arrow) //
/*! Function for adding a new Way-Point in the RViz scene and here we send the signal to notify the RQT Widget that a
* new Way-Point has been added.
*/
InteractiveMarker int_marker;
visualization_msgs::InteractiveMarker int_marker;

ROS_INFO_STREAM("Markers frame is: " << target_frame_);

Expand Down Expand Up @@ -452,7 +451,7 @@ void AddWayPoint::changeMarkerControlAndPose(std::string marker_name, bool set_c
/*! Handling the events from the clicked Menu Items for the Control of the Way-Point.
Here the user can change the control either to freely move the Way-Point or get the 6DOF pose control option.
*/
InteractiveMarker int_marker;
visualization_msgs::InteractiveMarker int_marker;
server->get(marker_name, int_marker);

if (set_control)
Expand Down Expand Up @@ -505,15 +504,15 @@ void AddWayPoint::pointDeleted(std::string marker_name)
server->applyChanges();
}

Marker AddWayPoint::makeInterArrow(InteractiveMarker& msg)
visualization_msgs::Marker AddWayPoint::makeInterArrow(visualization_msgs::InteractiveMarker& msg)
{
/*! Define the Marker Arrow which the user can add new Way-Points with.

*/
// define a marker
Marker marker;
visualization_msgs::Marker marker;

marker.type = Marker::ARROW;
marker.type = visualization_msgs::Marker::ARROW;
marker.scale = ARROW_INTER_SCALE_CONTROL;

// make the markers with interesting color
Expand All @@ -522,20 +521,20 @@ Marker AddWayPoint::makeInterArrow(InteractiveMarker& msg)
return marker;
}

InteractiveMarkerControl& AddWayPoint::makeInteractiveMarkerControl(InteractiveMarker& msg)
visualization_msgs::InteractiveMarkerControl& AddWayPoint::makeInteractiveMarkerControl(visualization_msgs::InteractiveMarker& msg)
{
/*! Set the User Interactive Marker with 6DOF control.
*/
// //control for button interaction
InteractiveMarkerControl control_button;
visualization_msgs::InteractiveMarkerControl control_button;
control_button.always_visible = true;
control_button.interaction_mode = InteractiveMarkerControl::BUTTON;
control_button.interaction_mode = visualization_msgs::InteractiveMarkerControl::BUTTON;
control_button.name = "button_interaction";
control_button.markers.push_back(makeInterArrow(msg));

msg.controls.push_back(control_button);
// server.reset( new interactive_markers::InteractiveMarkerServer("base_placement_plugin","",false));
InteractiveMarkerControl control_inter_arrow;
visualization_msgs::InteractiveMarkerControl control_inter_arrow;
control_inter_arrow.always_visible = true;
//*************rotate and move around the x-axis********************
control_inter_arrow.orientation.w = 1;
Expand All @@ -544,11 +543,11 @@ InteractiveMarkerControl& AddWayPoint::makeInteractiveMarkerControl(InteractiveM
control_inter_arrow.orientation.z = 0;

control_inter_arrow.name = "rotate_x";
control_inter_arrow.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control_inter_arrow.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
msg.controls.push_back(control_inter_arrow);

control_inter_arrow.name = "move_x";
control_inter_arrow.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control_inter_arrow.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
msg.controls.push_back(control_inter_arrow);
//*****************************************************************

Expand All @@ -559,11 +558,11 @@ InteractiveMarkerControl& AddWayPoint::makeInteractiveMarkerControl(InteractiveM
control_inter_arrow.orientation.z = 0;

control_inter_arrow.name = "rotate_z";
control_inter_arrow.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control_inter_arrow.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
msg.controls.push_back(control_inter_arrow);

control_inter_arrow.name = "move_z";
control_inter_arrow.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control_inter_arrow.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
msg.controls.push_back(control_inter_arrow);
//*****************************************************************

Expand All @@ -574,11 +573,11 @@ InteractiveMarkerControl& AddWayPoint::makeInteractiveMarkerControl(InteractiveM
control_inter_arrow.orientation.z = 1;

control_inter_arrow.name = "rotate_y";
control_inter_arrow.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control_inter_arrow.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
msg.controls.push_back(control_inter_arrow);

control_inter_arrow.name = "move_y";
control_inter_arrow.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control_inter_arrow.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
msg.controls.push_back(control_inter_arrow);
//*****************************************************************
control_inter_arrow.markers.push_back(makeInterArrow(msg));
Expand All @@ -591,7 +590,7 @@ void AddWayPoint::makeInteractiveMarker()
/*! Create the User Interactive Marker and update the RViz enviroment.

*/
InteractiveMarker inter_arrow_marker_;
visualization_msgs::InteractiveMarker inter_arrow_marker_;
inter_arrow_marker_.header.frame_id = target_frame_;
inter_arrow_marker_.scale = ARROW_INTERACTIVE_SCALE;

Expand Down
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