travesim::converter Namespace Reference

Functions
travesim::Vector2D	Point_to_Vector2D (geometry_msgs::Point *point)
	Function to convert geometry_msgs::Point to travesim::Vector2D. More...
travesim::Vector2D	Vector3_to_Vector2D (geometry_msgs::Vector3 *vector3)
	Function to convert geometry_msgs::Vector3 to travesim::Vector2D. More...
travesim::EntityState	ModelState_to_EntityState (gazebo_msgs::ModelState *model_state)
	Function to convert gazebo_msgs::ModelState to travesim::EntityState. More...
travesim::RobotState	ModelState_to_RobotState (gazebo_msgs::ModelState *model_state, bool is_yellow=true, int id=0)
	Function to convert gazebo_msgs::ModelState to travesim::RobotState. More...
geometry_msgs::Vector3	Vector2D_to_Vector3 (Vector2D *vector2d)
	Function to convert travesim::Vector2D to geometry_msgs::Vector3. More...
geometry_msgs::Point	Vector2D_to_Point (Vector2D *vector2d, double z=DEFAULT_Z_VALUE_BALL)
	Function to convert travesim::Vector2D to geometry_msgs::Point. More...
gazebo_msgs::ModelState	EntityState_to_ModelState (EntityState *entity_state, double z=DEFAULT_Z_VALUE_BALL)
	Function to convert travesim::EntityState to gazebo_msgs::ModelState. More...
gazebo_msgs::ModelState	RobotState_to_ModelState (RobotState *robot_state, double z=DEFAULT_Z_VALUE_ROBOT)
	Function to convert travesim::RobotState to gazebo_msgs::ModelState. More...
travesim::FieldState	ModelStates_to_FieldState (gazebo_msgs::ModelStates::ConstPtr model_states, TeamsFormation teams_formation)
	Function to convert gazebo_msgs::ModelStates to travesim::FieldState. More...

Function Documentation

EntityState_to_ModelState()

gazebo_msgs::ModelState travesim::converter::EntityState_to_ModelState	(	EntityState *	entity_state,
		double	z = DEFAULT_Z_VALUE_BALL
	)

Function to convert travesim::EntityState to gazebo_msgs::ModelState.

Parameters

entity_state

Data to be converted

Returns

gazebo_msgs::ModelState Converted data

Definition at line 86 of file ros_side.cpp.

                                                                                     {
    gazebo_msgs::ModelState retval;

    retval.model_name = DEFAULT_ENTITY_NAME;
    retval.reference_frame = DEFAULT_REFERENCE_FRAME;

    retval.pose.position = Vector2D_to_Point(&entity_state->position, z);

    retval.pose.orientation.w = cos(entity_state->angular_position/2);
    retval.pose.orientation.x = 0;
    retval.pose.orientation.y = 0;
    retval.pose.orientation.z = sin(entity_state->angular_position/2);

    retval.twist.linear = Vector2D_to_Vector3(&entity_state->velocity);

    retval.twist.angular.x = 0;
    retval.twist.angular.y = 0;
    retval.twist.angular.z = entity_state->angular_velocity;

    return retval;
}

References travesim::EntityState::angular_position, travesim::EntityState::angular_velocity, DEFAULT_ENTITY_NAME, DEFAULT_REFERENCE_FRAME, travesim::EntityState::position, Vector2D_to_Point(), Vector2D_to_Vector3(), and travesim::EntityState::velocity.

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ModelState_to_EntityState()

EntityState travesim::converter::ModelState_to_EntityState

(

gazebo_msgs::ModelState *

model_state

)

Function to convert gazebo_msgs::ModelState to travesim::EntityState.

Parameters

model_state

Data to be converted

Returns

travesim::EntityState Converted data

Definition at line 63 of file ros_side.cpp.

                                                                          {
    EntityState retval;

    retval.position = Point_to_Vector2D(&model_state->pose.position);

    retval.angular_position = quaternion_to_theta(model_state->pose.orientation.w, model_state->pose.orientation.x,
                                                  model_state->pose.orientation.y, model_state->pose.orientation.z);

    retval.velocity = Vector3_to_Vector2D(&model_state->twist.linear);

    retval.angular_velocity = model_state->twist.angular.z;

    return retval;
}

References travesim::EntityState::angular_position, travesim::EntityState::angular_velocity, Point_to_Vector2D(), travesim::EntityState::position, quaternion_to_theta, Vector3_to_Vector2D(), and travesim::EntityState::velocity.

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ModelState_to_RobotState()

RobotState travesim::converter::ModelState_to_RobotState	(	gazebo_msgs::ModelState *	model_state,
		bool	is_yellow = true,
		int	id = 0
	)

Function to convert gazebo_msgs::ModelState to travesim::RobotState.

Parameters

model_state	Data to be converted
is_yellow	True if the robot is from the yellow team, false otherwise
id	Id number of the robot

Returns

travesim::RobotState Converte data

Definition at line 78 of file ros_side.cpp.

                                                                                                {
    EntityState tmp = ModelState_to_EntityState(model_state);

    RobotState retval(&tmp, is_yellow, id);

    return retval;
}

References ModelState_to_EntityState().

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ModelStates_to_FieldState()

FieldState travesim::converter::ModelStates_to_FieldState	(	gazebo_msgs::ModelStates::ConstPtr	model_states,
		TeamsFormation	teams_formation
	)

Function to convert gazebo_msgs::ModelStates to travesim::FieldState.

Parameters

model_states	Data to be converted
teams_formation	Number of robots per team

Returns

travesim::FieldState Converted data

This lookup table will map model_name -> field_state data location, so we can acess field_state elements from their's names

This lookup table will map model_name -> field_state data location, so we can acess field_state elements from their's names

Definition at line 117 of file ros_side.cpp.

                                                                                                                  {
    static FieldState field_state(teams_formation);

    /**
     * @brief This lookup table will map model_name -> field_state data location,
     *        so we can acess field_state elements from their's names
     */
    static lookup_table_t lookup_table;

    lookup_table[BALL_NAME] = &field_state.ball;

    for (uint8_t i = 0; i < field_state.robots_per_team; i++) {
        lookup_table[ROBOT_NAME("yellow", i)] = &field_state.yellow_team[i];
        lookup_table[ROBOT_NAME("blue", i)] = &field_state.blue_team[i];
    }

    uint32_t size = model_states->name.size();

    for (uint32_t i = 0; i < size; i++) {
        EntityState* entity_state_ptr = lookup_table[model_states->name[i]];

        if (entity_state_ptr != nullptr) {
            gazebo_msgs::ModelState model_state;

            model_state.pose = model_states->pose[i];
            model_state.twist = model_states->twist[i];
            model_state.model_name = model_states->name[i];
            model_state.reference_frame = DEFAULT_REFERENCE_FRAME;

            (*entity_state_ptr) = ModelState_to_EntityState(&model_state);
        }
    }

    return field_state;
}

References travesim::FieldState::ball, BALL_NAME, travesim::FieldState::blue_team, DEFAULT_REFERENCE_FRAME, ModelState_to_EntityState(), ROBOT_NAME, travesim::FieldState::robots_per_team, and travesim::FieldState::yellow_team.

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Point_to_Vector2D()

Vector2D travesim::converter::Point_to_Vector2D

(

geometry_msgs::Point *

point

)

Function to convert geometry_msgs::Point to travesim::Vector2D.

Parameters

point

Data to be converted

Returns

travesim::Vector2D Converted data

Definition at line 25 of file ros_side.cpp.

                                                      {
    Vector2D retval;

    retval.x = point->x;
    retval.y = point->y;

    return retval;
}

References travesim::Vector2D::x, and travesim::Vector2D::y.

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RobotState_to_ModelState()

gazebo_msgs::ModelState travesim::converter::RobotState_to_ModelState	(	RobotState *	robot_state,
		double	z = DEFAULT_Z_VALUE_ROBOT
	)

Function to convert travesim::RobotState to gazebo_msgs::ModelState.

Parameters

entity_state

Data to be converted

Returns

gazebo_msgs::ModelState Converted data

Definition at line 108 of file ros_side.cpp.

                                                                                  {
    gazebo_msgs::ModelState retval = EntityState_to_ModelState(dynamic_cast<EntityState*>(robot_state), z);

    std::string base_name = robot_state->is_yellow ? "yellow_team/robot_" : "blue_team/robot_";
    retval.model_name = base_name.append(std::to_string(robot_state->id));

    return retval;
}

References EntityState_to_ModelState(), travesim::RobotState::id, and travesim::RobotState::is_yellow.

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Vector2D_to_Point()

geometry_msgs::Point travesim::converter::Vector2D_to_Point	(	Vector2D *	vector2d,
		double	z = DEFAULT_Z_VALUE_BALL
	)

Function to convert travesim::Vector2D to geometry_msgs::Point.

Parameters

vector2d

Data to be converted

Returns

geometry_msgs::Point Converted data

Definition at line 53 of file ros_side.cpp.

                                                                   {
    geometry_msgs::Point retval;

    retval.x = vector2d->x;
    retval.y = vector2d->y;
    retval.z = z;

    return retval;
}

References travesim::Vector2D::x, and travesim::Vector2D::y.

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Vector2D_to_Vector3()

geometry_msgs::Vector3 travesim::converter::Vector2D_to_Vector3

(

Vector2D *

vector2d

)

Function to convert travesim::Vector2D to geometry_msgs::Vector3.

Parameters

vector2d

Data to be converted

Returns

geometry_msgs::Vector3 Converted data

Definition at line 43 of file ros_side.cpp.

                                                             {
    geometry_msgs::Vector3 retval;

    retval.x = vector2d->x;
    retval.y = vector2d->y;
    retval.z = 0;

    return retval;
}

References travesim::Vector2D::x, and travesim::Vector2D::y.

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Vector3_to_Vector2D()

Vector2D travesim::converter::Vector3_to_Vector2D

(

geometry_msgs::Vector3 *

vector3

)

Function to convert geometry_msgs::Vector3 to travesim::Vector2D.

Parameters

vector3

Data to be converted

Returns

travesim::Vector2D Converted data

Definition at line 34 of file ros_side.cpp.

                                                            {
    Vector2D retval;

    retval.x = vector3->x;
    retval.y = vector3->y;

    return retval;
}

References travesim::Vector2D::x, and travesim::Vector2D::y.

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