From 2ba5044578201c30fbbb6185c8802fb2f9f4db75 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 17 Jun 2020 12:26:41 +0200
Subject: [PATCH] move to char keys of states
---
src/node.cpp | 12 ++++++------
src/publisher_pose.cpp | 24 ++++++++++++------------
src/visualizer.cpp | 12 ++++++------
3 files changed, 24 insertions(+), 24 deletions(-)
diff --git a/src/node.cpp b/src/node.cpp
index 1e770d3..d51a3d9 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -116,8 +116,8 @@ bool WolfRosNode::updateTf()
//Get map2base from Wolf result, and builds base2map pose
tf::Transform T_map2base;
- if (current_state.count("P") == 0 or
- current_state.count("O") == 0 or
+ if (current_state.count('P') == 0 or
+ current_state.count('O') == 0 or
!loc_ts.ok())
{
if (state_available_)
@@ -137,14 +137,14 @@ bool WolfRosNode::updateTf()
// 2D
if (problem_ptr_->getDim() == 2)
{
- T_map2base = tf::Transform (tf::createQuaternionFromYaw(current_state["O"](0)),
- tf::Vector3(current_state["P"](0), current_state["P"](1), 0) );
+ T_map2base = tf::Transform (tf::createQuaternionFromYaw(current_state['O'](0)),
+ tf::Vector3(current_state['P'](0), current_state['P'](1), 0) );
}
// 3D
else
{
- T_map2base = tf::Transform (tf::Quaternion(current_state["O"](0), current_state["O"](1), current_state["O"](2), current_state["O"](3)),
- tf::Vector3(current_state["P"](0), current_state["P"](1), current_state["P"](2)) );
+ T_map2base = tf::Transform (tf::Quaternion(current_state['O'](0), current_state['O'](1), current_state['O'](2), current_state['O'](3)),
+ tf::Vector3(current_state['P'](0), current_state['P'](1), current_state['P'](2)) );
}
}
diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index ee95b54..766c07c 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.cpp
@@ -29,8 +29,8 @@ void PublisherPose::publishDerived()
TimeStamp loc_ts = problem_->getTimeStamp();
// state not ready
- if (current_state.count("P") == 0 or
- current_state.count("O") == 0 or
+ if (current_state.count('P') == 0 or
+ current_state.count('O') == 0 or
loc_ts == TimeStamp(0))
{
return;
@@ -44,23 +44,23 @@ void PublisherPose::publishDerived()
// 2D
if (problem_->getDim() == 2)
{
- msg.pose.pose.position.x = current_state["P"](0);
- msg.pose.pose.position.y = current_state["P"](1);
+ msg.pose.pose.position.x = current_state['P'](0);
+ msg.pose.pose.position.y = current_state['P'](1);
msg.pose.pose.position.z = 0;
- msg.pose.pose.orientation = tf::createQuaternionMsgFromYaw(current_state["O"](0));
+ msg.pose.pose.orientation = tf::createQuaternionMsgFromYaw(current_state['O'](0));
}
// 3D
else
{
- msg.pose.pose.position.x = current_state["P"](0);
- msg.pose.pose.position.y = current_state["P"](1);
- msg.pose.pose.position.z = current_state["P"](2);
+ msg.pose.pose.position.x = current_state['P'](0);
+ msg.pose.pose.position.y = current_state['P'](1);
+ msg.pose.pose.position.z = current_state['P'](2);
- msg.pose.pose.orientation.x = current_state["O"](0);
- msg.pose.pose.orientation.y = current_state["O"](1);
- msg.pose.pose.orientation.z = current_state["O"](2);
- msg.pose.pose.orientation.w = current_state["O"](3);
+ msg.pose.pose.orientation.x = current_state['O'](0);
+ msg.pose.pose.orientation.y = current_state['O'](1);
+ msg.pose.pose.orientation.z = current_state['O'](2);
+ msg.pose.pose.orientation.w = current_state['O'](3);
}
publisher_.publish(msg);
diff --git a/src/visualizer.cpp b/src/visualizer.cpp
index b8f81a6..e1a7178 100644
--- a/src/visualizer.cpp
+++ b/src/visualizer.cpp
@@ -32,32 +32,32 @@ void Visualizer::initialize(ros::NodeHandle& nh)
nh.param<float>( "frame_color_r", frame_color_.r, 1.0);
nh.param<float>( "frame_color_g", frame_color_.g, 0.8);
nh.param<float>( "frame_color_b", frame_color_.b, 0.0);
- nh.param<float>( "frame_color_a", frame_color_.a, 0.5);
+ nh.param<float>( "frame_color_a", frame_color_.a, 1);
nh.param<float>( "factor_abs_color_r", factor_abs_color_.r, 0.92);
nh.param<float>( "factor_abs_color_g", factor_abs_color_.g, 0.19);
nh.param<float>( "factor_abs_color_b", factor_abs_color_.b, 0.6);
- nh.param<float>( "factor_abs_color_a", factor_abs_color_.a, 0.5);
+ nh.param<float>( "factor_abs_color_a", factor_abs_color_.a, 1);
nh.param<float>( "factor_motion_color_r", factor_motion_color_.r, 1.0);
nh.param<float>( "factor_motion_color_g", factor_motion_color_.g, 1.0);
nh.param<float>( "factor_motion_color_b", factor_motion_color_.b, 0.0);
- nh.param<float>( "factor_motion_color_a", factor_motion_color_.a, 0.5);
+ nh.param<float>( "factor_motion_color_a", factor_motion_color_.a, 1);
nh.param<float>( "factor_loop_color_r", factor_loop_color_.r, 1.0);
nh.param<float>( "factor_loop_color_g", factor_loop_color_.g, 0.0);
nh.param<float>( "factor_loop_color_b", factor_loop_color_.b, 0.0);
- nh.param<float>( "factor_loop_color_a", factor_loop_color_.a, 0.5);
+ nh.param<float>( "factor_loop_color_a", factor_loop_color_.a, 1);
nh.param<float>( "factor_lmk_color_r", factor_lmk_color_.r, 0.0);
nh.param<float>( "factor_lmk_color_g", factor_lmk_color_.g, 0.0);
nh.param<float>( "factor_lmk_color_b", factor_lmk_color_.b, 1.0);
- nh.param<float>( "factor_lmk_color_a", factor_lmk_color_.a, 0.5);
+ nh.param<float>( "factor_lmk_color_a", factor_lmk_color_.a, 1);
nh.param<float>( "factor_geom_color_r", factor_geom_color_.r, 0.0);
nh.param<float>( "factor_geom_color_g", factor_geom_color_.g, 1.0);
nh.param<float>( "factor_geom_color_b", factor_geom_color_.b, 1.0);
- nh.param<float>( "factor_geom_color_a", factor_geom_color_.a, 0.5);
+ nh.param<float>( "factor_geom_color_a", factor_geom_color_.a, 1);
// init markers ---------------------------------------------------
// factor markers message
--
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