From 2d903e20bfcbd027d46a7fdacd8d7ba9dfc9202c Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Tue, 3 Oct 2017 13:04:35 +0200 Subject: [PATCH 1/5] improved comment --- .../cob_map_accessibility_analysis/map_accessibility_analysis.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cob_map_accessibility_analysis/ros/include/cob_map_accessibility_analysis/map_accessibility_analysis.h b/cob_map_accessibility_analysis/ros/include/cob_map_accessibility_analysis/map_accessibility_analysis.h index ff480fed..37ddc030 100644 --- a/cob_map_accessibility_analysis/ros/include/cob_map_accessibility_analysis/map_accessibility_analysis.h +++ b/cob_map_accessibility_analysis/ros/include/cob_map_accessibility_analysis/map_accessibility_analysis.h @@ -72,7 +72,7 @@ class MapAccessibilityAnalysis /** * This function checks the accessibility of points on a perimeter around a center point. * - * \param accessible_poses_on_radius The returned set of accessible poses on the perimeter of the given circle, in map coordinates [px,px,rad] + * \param accessible_poses_on_radius The returned set of accessible poses on the perimeter of the given circle, orientation x axis facing to the circle center, in map coordinates [px,px,rad] * \param center Center of the circle whose perimeter should be checked for accessibility, in map coordinates [px,px,rad] * \param radius Radius of the circle whose perimeter should be checked for accessibility, in [px] * \param rotational_sampling_step Rotational sampling step width for checking points on the perimeter, in [rad] From 08962f1f05929cb3c1317a93eb3baf7bd6a073d1 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 26 Jan 2018 15:15:59 +0100 Subject: [PATCH 2/5] harmonizing parameter handling --- .../ros/launch/map_accessibility_analysis.launch | 4 +--- .../ros/src/map_accessibility_analysis_server.cpp | 2 +- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch b/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch index 53cebb1e..e0604905 100644 --- a/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch +++ b/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch @@ -1,12 +1,10 @@ - - - + diff --git a/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_server.cpp b/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_server.cpp index 124c7ca5..6edda43b 100644 --- a/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_server.cpp +++ b/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_server.cpp @@ -566,7 +566,7 @@ int main(int argc, char** argv) { ros::init(argc, argv, "map_accessibility_analysis_server"); - ros::NodeHandle nh; + ros::NodeHandle nh("~"); MapAccessibilityAnalysisServer map_accessibility_analysis(nh); From 1500a452403b6fd64af72c65cc7d41c9d63097b5 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 26 Jan 2018 15:23:17 +0100 Subject: [PATCH 3/5] harmonizing parameter handling --- .../ros/src/map_accessibility_analysis_client.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_client.cpp b/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_client.cpp index c8e9ceb9..3d7bc639 100644 --- a/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_client.cpp +++ b/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis_client.cpp @@ -33,9 +33,9 @@ int main(int argc, char** argv) ros::NodeHandle n; - std::string points_service_name = "/map_accessibility_analysis/map_points_accessibility_check"; - std::string perimeter_service_name = "/map_accessibility_analysis/map_perimeter_accessibility_check"; - std::string polygon_service_name = "/map_accessibility_analysis/map_polygon_accessibility_check"; + std::string points_service_name = "/map_accessibility_analysis/map_accessibility_analysis/map_points_accessibility_check"; + std::string perimeter_service_name = "/map_accessibility_analysis/map_accessibility_analysis/map_perimeter_accessibility_check"; + std::string polygon_service_name = "/map_accessibility_analysis/map_accessibility_analysis/map_polygon_accessibility_check"; // here we wait until the service is available; please use the same service name as the one in the server; you may // define a timeout if the service does not show up From 97af5855ce0558ee09ef762ca8a977c75ecf9c07 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 26 Jan 2018 16:01:32 +0100 Subject: [PATCH 4/5] harmonizing namespaces --- .../ros/launch/map_accessibility_analysis.launch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch b/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch index e0604905..7b28698d 100644 --- a/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch +++ b/cob_map_accessibility_analysis/ros/launch/map_accessibility_analysis.launch @@ -5,9 +5,9 @@ - - - + + + From d83fcf484a3ed307de080fe42e5d16fa8bcbb347 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Wed, 21 Feb 2018 20:24:04 +0100 Subject: [PATCH 5/5] improved debug displays for map_accessibility_analysis --- .../ros/src/map_accessibility_analysis.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis.cpp b/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis.cpp index 08519e3a..b36ca627 100644 --- a/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis.cpp +++ b/cob_map_accessibility_analysis/ros/src/map_accessibility_analysis.cpp @@ -50,6 +50,10 @@ void MapAccessibilityAnalysis::checkPoses(const std::vector& points_t cv::findContours(inflated_map_copy, area_contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); } +#ifdef __DEBUG_DISPLAYS__ + if (approach_path_accessibility_check == true) + cv::circle(display_map, robot_location, 2, cv::Scalar(127), -1); +#endif for (unsigned int i = 0; i < points_to_check.size(); ++i) { const int u = points_to_check[i].x; @@ -65,9 +69,9 @@ void MapAccessibilityAnalysis::checkPoses(const std::vector& points_t #ifdef __DEBUG_DISPLAYS__ if (accessibility_flags[i] == false) - cv::circle(display_map, cv::Point(u, v), 2, cv::Scalar(32), 10); + cv::circle(display_map, cv::Point(u, v), 1, cv::Scalar(32), -1); else - cv::circle(display_map, cv::Point(u, v), 2, cv::Scalar(192), 10); + cv::circle(display_map, cv::Point(u, v), 1, cv::Scalar(192), -1); #endif } @@ -94,6 +98,11 @@ void MapAccessibilityAnalysis::checkPerimeter(std::vector& accessible_pose cv::findContours(inflated_map_copy, area_contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); } +#ifdef __DEBUG_DISPLAYS__ + cv::circle(display_map, cv::Point(center.x, center.y), 12, cv::Scalar(0), -1); + if (approach_path_accessibility_check == true) + cv::circle(display_map, robot_location, 2, cv::Scalar(127), -1); +#endif for (double angle = center.orientation; angle < center.orientation + 2 * CV_PI; angle += rotational_sampling_step) { const double x = center.x + radius * cos(angle); @@ -122,9 +131,9 @@ void MapAccessibilityAnalysis::checkPerimeter(std::vector& accessible_pose } #ifdef __DEBUG_DISPLAYS__ if (found_pose == true) - cv::circle(display_map, cv::Point(u, v), 2, cv::Scalar(192), 5); + cv::circle(display_map, cv::Point(u, v), 1, cv::Scalar(192), -1); else - cv::circle(display_map, cv::Point(u, v), 2, cv::Scalar(32), 5); + cv::circle(display_map, cv::Point(u, v), 1, cv::Scalar(32), -1); #endif }