Commit 875e6fae authored by Hugo LEVY-FALK's avatar Hugo LEVY-FALK

triangle_control -> triangle

parent 6f4747f2
......@@ -5,7 +5,7 @@
<node name="targets" pkg="detect_targets" type="target_publisher.py">
</node>
<node name="triangle" pkg="detect_targets" type="triangle_control.py" output="screen">
<node name="triangle" pkg="detect_targets" type="triangle.py" output="screen">
<remap from="component_centers" to="targets"/>
</node>
......
#! /usr/bin/env python
# -*- coding: utf-8 -*-
import math
import time
import numpy as np
import roslib
import rospy
from std_msgs.msg import Float64
import tf
import dynamic_reconfigure.server
from detect_targets.cfg import TriangleParamConfig
from detect_targets.msg import control
from detect_targets.msg import component_centers
class Triangle:
def on_reconf(self, config, level):
self.camera_angle = config['camera_angle']*math.pi/360.0 # theta/2
self.tan_cam = math.tan(self.camera_angle)
self.target_width = config['target_width']
self.target_depth = config['target_depth']
return config
def on_comp(self, msg):
if len(msg.data) > 2:
msg.data.sort(key=lambda component: -component.nb_vertex)
pts = msg.data[0:3]
pts.sort(key=lambda component: -component.y)
H = pts[0]
L = pts[2]
R = pts[1]
if pts[1].x < pts[2].x:
L = pts[1]
R = pts[2]
self.triangle(L, H, R)
def triangle(self, L, H, R):
now = rospy.Time.now()
t = (now - self.first_time).to_sec()
self.Gx = (L.x + H.x + R.x)*.333333
Gy = (L.y + H.y + R.y)*.333333
w = R.x - L.x
h = H.x - .5 * (R.x + L.x)
self.alpha = math.atan(h*self.target_width/(1e-5+w*self.target_depth))
ca = math.cos(self.alpha)
sa = math.sin(self.alpha)
# why *.5.... I don't know.
self.d = self.target_width*ca/(w*self.tan_cam) * .5
self.z = -Gy*self.d*self.tan_cam
self.br.sendTransform((self.d * ca, self.d * sa, self.z),
tf.transformations.quaternion_from_euler(
0, 0, self.alpha + math.pi),
now,
'drone', 'target')
self.angular_z_pub.publish(data=-self.Gx * self.camera_angle)
self.linear_z_pub.publish(data=self.z)
self.linear_y_pub.publish(data=-self.alpha)
self.linear_x_pub.publish(data=self.d)
def __init__(self):
self.Gx = 0
self.alpha = 0
self.d = 0
self.z = 0
self.camera_angle = 80*math.pi/180./2.0
self.tan_cam = math.tan(self.camera_angle)
self.target_width = 1
self.target_depth = .2
self.angular_z_pub = rospy.Publisher(
'angular_z', Float64, queue_size=1)
self.linear_z_pub = rospy.Publisher(
'linear_z', Float64, queue_size=1)
self.linear_y_pub = rospy.Publisher(
'linear_y', Float64, queue_size=1)
self.linear_x_pub = rospy.Publisher(
'linear_x', Float64, queue_size=1)
self.comp_sub = rospy.Subscriber(
"component_centers", component_centers, self.on_comp, queue_size=1)
self.config_srv = dynamic_reconfigure.server.Server(
TriangleParamConfig, self.on_reconf)
self.br = tf.TransformBroadcaster()
if __name__ == '__main__':
rospy.init_node('triangle_control', anonymous=True)
triangle = Triangle()
rospy.spin()
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