C++ Vector3::setX方法代码示例

void TransformROSBridge::calculateTwist(const tf::Transform& _current_trans, const tf::Transform& _prev_trans, tf::Vector3& _linear_twist, tf::Vector3& _angular_twist, double _dt)
{
    // current rotation matrix
    tf::Matrix3x3 current_basis = _current_trans.getBasis();

    // linear twist
    tf::Vector3 current_origin = _current_trans.getOrigin();
    tf::Vector3 prev_origin = _prev_trans.getOrigin();
    _linear_twist = current_basis.transpose() * ((current_origin - prev_origin) / _dt);

    // angular twist
    // R = exp(omega_w*dt) * prev_R
    // omega_w is described in global coordinates in relationships of twist transformation.
    // it is easier to calculate omega using hrp functions than tf functions
    tf::Matrix3x3 prev_basis = _prev_trans.getBasis();
    double current_rpy[3], prev_rpy[3];
    current_basis.getRPY(current_rpy[0], current_rpy[1], current_rpy[2]);
    prev_basis.getRPY(prev_rpy[0], prev_rpy[1], prev_rpy[2]);
    hrp::Matrix33 current_hrpR = hrp::rotFromRpy(current_rpy[0], current_rpy[1], current_rpy[2]);
    hrp::Matrix33 prev_hrpR = hrp::rotFromRpy(prev_rpy[0], prev_rpy[1], prev_rpy[2]);
    hrp::Vector3 hrp_omega = current_hrpR.transpose() * hrp::omegaFromRot(current_hrpR * prev_hrpR.transpose()) / _dt;
    _angular_twist.setX(hrp_omega[0]);
    _angular_twist.setY(hrp_omega[1]);
    _angular_twist.setZ(hrp_omega[2]);

    return;
}

tf::Vector3 JPCT_Math::rotate(tf::Vector3 vec, tf::Matrix3x3& mat) {
    float xr = vec.getX() * mat[0][0] + vec.getY() * mat[1][0] + vec.getZ() * mat[2][0];
    float yr = vec.getX() * mat[0][1] + vec.getY() * mat[1][1] + vec.getZ() * mat[2][1];
    float zr = vec.getX() * mat[0][2] + vec.getY() * mat[1][2] + vec.getZ() * mat[2][2];
    vec.setX(xr);
    vec.setY(yr);
    vec.setZ(zr);

    return vec;
}              

void BeaconKFNode::initializeRos( void )
{
    ros::NodeHandle private_nh("~");
    ros::NodeHandle nh("");

    private_nh.param("world_fixed_frame", _world_fixed_frame, std::string("map"));
    private_nh.param("odometry_frame", _odometry_frame, std::string("odom"));
    private_nh.param("platform_frame", _platform_frame, std::string("platform"));

    //setup platform offset position and angle
    int platform_index;
    std::vector<double> empty_vec;    
    private_nh.param("platform_index", platform_index, 0);
    private_nh.param("platform_x_coords", _platform_x_coords, empty_vec);
    private_nh.param("platform_y_coords", _platform_y_coords, empty_vec); 

    double reference_x;
    double reference_y;
    private_nh.param("reference_x", reference_x, 1.0);
    private_nh.param("reference_y", reference_y, 0.0);
    _reference_coords.push_back(reference_x);
    _reference_coords.push_back(reference_y);
    
    double platform_angle;
    private_nh.param("platform_orientation", platform_angle, 0.0);
    _platform_origin.setX(_platform_x_coords[platform_index]);
    _platform_origin.setY(_platform_y_coords[platform_index]);
    _platform_origin.setZ(0);
    platform_angle = platform_angle*(M_PI/180);
    platform_angle = platform_angle + atan(_reference_coords[1]/_reference_coords[0]);
    _platform_orientation = tf::createQuaternionFromYaw(platform_angle);
    
    //beacon message subscriber callback
    _beacon_sub = nh.subscribe( "beacon_pose", 1, &BeaconKFNode::beaconCallback, this);

    //define timer rates
    double update_period;
    double broadcast_period;
    private_nh.param("update_period", update_period, 1.0);
    private_nh.param("broadcast_period", broadcast_period, 0.05);

    //timer for broadcasting the map correction xfrom    
    _transform_broadcast_timer = private_nh.createTimer(ros::Duration(broadcast_period),
                                           &BeaconKFNode::transformBroadcastCallback,
                                           this);
    
    //timer for updating the EKF
    _update_timer = private_nh.createTimer(ros::Duration(update_period),
                                           &BeaconKFNode::filterUpdateCallback,
                                           this);

    //set dynamic reconfigure callback 
    dr_server.setCallback(boost::bind(&BeaconKFNode::configCallback, this,  _1, _2));
    
}

/* Dynamic reconfigure callback */
void BeaconKFNode::configCallback(beacon_localizer::beacon_localizer_paramsConfig &config, uint32_t level)
{
    double platform_angle;
    int platform_index;
    
    _reference_coords[0] = config.reference_x;
    _reference_coords[1] = config.reference_y;

    //get platform orientation in degrees, convert to reference system
    platform_angle =  config.platform_orientation;
    platform_angle = platform_angle*(M_PI/180);
    platform_angle = platform_angle + atan(_reference_coords[1]/_reference_coords[0]);
    _platform_orientation = tf::createQuaternionFromYaw(platform_angle);

    platform_index = config.platform_index;
    _platform_origin.setX(_platform_x_coords[platform_index]);
    _platform_origin.setY(_platform_y_coords[platform_index]);
    
}

bool checkCloud(const sensor_msgs::PointCloud2& cloud_msg,
                typename pcl::PointCloud<T>::Ptr hand_cloud,
                //typename pcl::PointCloud<T>::Ptr finger_cloud,
                const std::string& frame_id,
                tf::Vector3& hand_position,
                tf::Vector3& arm_position,
                tf::Vector3& arm_direction)
{  
  typename pcl::PointCloud<T>::Ptr cloud(new pcl::PointCloud<T>);
  pcl::fromROSMsg(cloud_msg, *cloud);

  if((cloud->points.size() < g_config.min_cluster_size) ||
     (cloud->points.size() > g_config.max_cluster_size))
    return false;

  pcl::PCA<T> pca;
  pca.setInputCloud(cloud);
  Eigen::Vector4f mean = pca.getMean();

  if((mean.coeff(0) < g_config.min_x) || (mean.coeff(0) > g_config.max_x)) return false;
  if((mean.coeff(1) < g_config.min_y) || (mean.coeff(1) > g_config.max_y)) return false;
  if((mean.coeff(2) < g_config.min_z) || (mean.coeff(2) > g_config.max_z)) return false;

  Eigen::Vector3f eigen_value = pca.getEigenValues();
  double ratio = eigen_value.coeff(0) / eigen_value.coeff(1);

  if((ratio < g_config.min_eigen_value_ratio) || (ratio > g_config.max_eigen_value_ratio)) return false;

  T search_point;
  Eigen::Matrix3f ev = pca.getEigenVectors();
  Eigen::Vector3f main_axis(ev.coeff(0, 0), ev.coeff(1, 0), ev.coeff(2, 0));
  main_axis.normalize();
  arm_direction.setX(main_axis.coeff(0));
  arm_direction.setY(main_axis.coeff(1));
  arm_direction.setZ(main_axis.coeff(2));
  arm_position.setX(mean.coeff(0));
  arm_position.setY(mean.coeff(1));
  arm_position.setZ(mean.coeff(2));

  main_axis = (-main_axis * 0.3) + Eigen::Vector3f(mean.coeff(0), mean.coeff(1), mean.coeff(2));
  search_point.x = main_axis.coeff(0);
  search_point.y = main_axis.coeff(1);
  search_point.z = main_axis.coeff(2);



  //find hand
  pcl::KdTreeFLANN<T> kdtree;
  kdtree.setInputCloud(cloud);

  //find the closet point from the serach_point
  std::vector<int> point_indeices(1);
  std::vector<float> point_distances(1);
  if ( kdtree.nearestKSearch (search_point, 1, point_indeices, point_distances) > 0 )
  {
    //update search point
    search_point = cloud->points[point_indeices[0]];

    //show seach point
    if(g_marker_array_pub.getNumSubscribers() != 0)
    {
      pushSimpleMarker(search_point.x, search_point.y, search_point.z,
                       1.0, 0, 0,
                       0.02,
                       g_marker_id, g_marker_array, frame_id);
    }

    //hand
    point_indeices.clear();
    point_distances.clear();
    kdtree.radiusSearch(search_point, g_config.hand_lenght, point_indeices, point_distances);
    for (size_t i = 0; i < point_indeices.size (); ++i)
    {
      hand_cloud->points.push_back(cloud->points[point_indeices[i]]);
      hand_cloud->points.back().r = 255;
      hand_cloud->points.back().g = 0;
      hand_cloud->points.back().b = 0;
    }

    Eigen::Vector4f centroid;
    pcl::compute3DCentroid(*hand_cloud, centroid);

    if(g_marker_array_pub.getNumSubscribers() != 0)
    {
      pushSimpleMarker(centroid.coeff(0), centroid.coeff(1), centroid.coeff(2),
                       0.0, 1.0, 0,
                       0.02,
                       g_marker_id, g_marker_array, frame_id);
    }

    hand_position.setX(centroid.coeff(0));
    hand_position.setY(centroid.coeff(1));
    hand_position.setZ(centroid.coeff(2));

#if 0
    //fingers
    search_point.x = centroid.coeff(0);
    search_point.y = centroid.coeff(1);
    search_point.z = centroid.coeff(2);
    std::vector<int> point_indeices_inner;
//.........这里部分代码省略.........

void aero_path_planning::pointToVector(const aero_path_planning::Point& point, tf::Vector3& vector)
{
    vector.setX(point.x);
    vector.setY(point.y);
    vector.setZ(point.z);
}

//.........这里部分代码省略.........
								T_fc = first_T;
							}
							else
							{
								R_fc = second_R;
								T_fc = second_T;
							}
							fc_found = true;
						}
						else if(first_solution_found)
						{
							R_fc = first_R;
							T_fc = first_T;
							fc_found = true;
						}
						
						//if a solution was found will publish
						// need to convert to pose message so use
						if (fc_found)
						{
							// converting the rotation from a cv matrix to quaternion, first need it as a matrix3x3
							R_fc_tf[0][0] = R_fc.at<double>(0,0);
							R_fc_tf[0][1] = R_fc.at<double>(0,1);
							R_fc_tf[0][2] = R_fc.at<double>(0,2);
							R_fc_tf[1][0] = R_fc.at<double>(1,0);
							R_fc_tf[1][1] = R_fc.at<double>(1,1);
							R_fc_tf[1][2] = R_fc.at<double>(1,2);
							R_fc_tf[2][0] = R_fc.at<double>(2,0);
							R_fc_tf[2][1] = R_fc.at<double>(2,1);
							R_fc_tf[2][2] = R_fc.at<double>(2,2);
							std::cout << "Final R:\n" << R_fc << std::endl;
							
							// converting the translation to a vector 3
							T_fc_tf.setX(T_fc.at<double>(0,0));
							T_fc_tf.setY(T_fc.at<double>(0,1));
							T_fc_tf.setZ(T_fc.at<double>(0,2));
							std::cout << "Final T :\n" << T_fc << std::endl;
							
							// getting the rotation as a quaternion
							R_fc_tf.getRotation(Q_fc_tf);
							
							std::cout << "current orientation:" << "\n\tx:\t" << Q_fc_tf.getX() 
																<< "\n\ty:\t" << Q_fc_tf.getY() 
																<< "\n\tz:\t" << Q_fc_tf.getZ() 
																<< "\n\tw:\t" << Q_fc_tf.getW() 
																<< std::endl;
				
							std::cout << "norm of quaternion:\t" << Q_fc_tf.length() << std::endl;
							
							// getting the negated version of the quaternion for the check
							Q_fc_tf_negated = tf::Quaternion(-Q_fc_tf.getX(),-Q_fc_tf.getY(),-Q_fc_tf.getZ(),-Q_fc_tf.getW());
							
							std::cout << "negated orientation:" << "\n\tx:\t" << Q_fc_tf_negated.getX() 
																<< "\n\ty:\t" << Q_fc_tf_negated.getY() 
																<< "\n\tz:\t" << Q_fc_tf_negated.getZ() 
																<< "\n\tw:\t" << Q_fc_tf_negated.getW() 
																<< std::endl;
																
							std::cout << "norm of negated quaternion:\t" << Q_fc_tf_negated.length() << std::endl;
							
							// showing the last orientation
							std::cout << "last orientation:" << "\n\tx:\t" << Q_fc_tf_last.getX() 
															 << "\n\ty:\t" << Q_fc_tf_last.getY() 
															 << "\n\tz:\t" << Q_fc_tf_last.getZ() 
															 << "\n\tw:\t" << Q_fc_tf_last.getW() 
															 << std::endl;