map_reader.cpp
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1 #include "reader/map_reader.h"
2 
4  XmlRpc::XmlRpcValue resources;
5  nh_->getParam("/data", resources);
6 
7  std::vector<tf2::Transform> map_data;
8  ROS_INFO("--- MAP_READER ---");
9 
10 
11  for(int i = 0; i < resources.size(); i++){
12  tf2::Vector3 pos;
13  tf2::Quaternion rot;
14 
15  (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
16  (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
17  (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"])) :pos.setZ(0);
18  (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
19  (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
20  (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
21  (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(resources[i]["orientation"]["w"])) :rot.setW(0);
22  map_data.push_back(tf2::Transform(rot, pos));
23  }
24 
25  setMapData(map_data);
26 }
map_reader.h
AbstractParamReader::nh_
std::shared_ptr< ros::NodeHandle > nh_
ROS Nodehandle.
Definition: abstract_param_reader.h:31
MapReader::setMapData
void setMapData(std::vector< tf2::Transform > &robot_data)
Set map_data.
Definition: map_reader.h:31
MapReader::read
void read() override
read implementatin
Definition: map_reader.cpp:3
AbstractParamReader::floatOf
float floatOf(XmlRpc::XmlRpcValue &val)
Xmlrpc parser.
Definition: abstract_param_reader.cpp:3


multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51