Changes use of FrameName back to GraphName now that FrameTransformTre…

…e handles GraphNames in a tf2 compatible way.
rosjava · Oct 25, 2013 · 26e3b5e · 26e3b5e
1 parent 7891749
commit 26e3b5e
Show file tree

Hide file tree

Showing 11 changed files with 43 additions and 47 deletions.
diff --git a/android_15/build.gradle b/android_15/build.gradle
@@ -17,6 +17,7 @@
 dependencies {
   compile 'com.android.support:support-v4:18.0.+'
   compile 'org.ros.rosjava_core:rosjava_geometry:0.1.+'
+  compile 'org.ros.rosjava_messages:visualization_msgs:1.10.+'
   compile project(':android_10')
 }
 

diff --git a/android_15/src/org/ros/android/view/visualization/XYOrthographicCamera.java b/android_15/src/org/ros/android/view/visualization/XYOrthographicCamera.java
@@ -19,9 +19,9 @@
 import com.google.common.base.Preconditions;
 
 import org.ros.math.RosMath;
+import org.ros.namespace.GraphName;
 import org.ros.rosjava_geometry.FrameTransform;
 import org.ros.rosjava_geometry.FrameTransformTree;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.Transform;
 import org.ros.rosjava_geometry.Vector3;
 
@@ -62,7 +62,7 @@ public class XYOrthographicCamera {
    * instance, base_link, the view follows the robot and the robot itself is in
    * the origin.
    */
-  private FrameName frame;
+  private GraphName frame;
 
   public XYOrthographicCamera(FrameTransformTree frameTransformTree) {
     this.frameTransformTree = frameTransformTree;
@@ -81,7 +81,7 @@ public void apply(GL10 gl) {
     }
   }
 
-  public boolean applyFrameTransform(GL10 gl, FrameName frame) {
+  public boolean applyFrameTransform(GL10 gl, GraphName frame) {
     Preconditions.checkNotNull(frame);
     if (this.frame != null) {
       FrameTransform frameTransform = frameTransformTree.transform(frame, this.frame);
@@ -152,7 +152,7 @@ public Vector3 toMetricCoordinates(int x, int y) {
     return transform.invert().apply(new Vector3(centeredX, centeredY, 0));
   }
 
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 
@@ -163,7 +163,7 @@ public FrameName getFrame() {
    *
    * @param frame the new camera frame
    */
-  public void setFrame(FrameName frame) {
+  public void setFrame(GraphName frame) {
     Preconditions.checkNotNull(frame);
     synchronized (mutex) {
       if (this.frame != null && this.frame != frame) {
@@ -179,10 +179,10 @@ public void setFrame(FrameName frame) {
   }
 
   /**
-   * @see #setFrame(FrameName)
+   * @see #setFrame(GraphName)
    */
   public void setFrame(String frame) {
-    setFrame(FrameName.of(frame));
+    setFrame(GraphName.of(frame));
   }
 
   /**
@@ -191,7 +191,7 @@ public void setFrame(String frame) {
    *
    * @param frame the new camera frame
    */
-  public void jumpToFrame(FrameName frame) {
+  public void jumpToFrame(GraphName frame) {
     synchronized (mutex) {
       this.frame = frame;
       double zoom = getZoom();
@@ -201,10 +201,10 @@ public void jumpToFrame(FrameName frame) {
   }
 
   /**
-   * @see #jumpToFrame(FrameName)
+   * @see #jumpToFrame(GraphName)
    */
   public void jumpToFrame(String frame) {
-    jumpToFrame(FrameName.of(frame));
+    jumpToFrame(GraphName.of(frame));
   }
 
   public void setViewport(Viewport viewport) {

diff --git a/android_15/src/org/ros/android/view/visualization/XYOrthographicRenderer.java b/android_15/src/org/ros/android/view/visualization/XYOrthographicRenderer.java
@@ -18,10 +18,9 @@
 
 import android.content.Context;
 import android.opengl.GLSurfaceView;
-
 import org.ros.android.view.visualization.layer.Layer;
 import org.ros.android.view.visualization.layer.TfLayer;
-import org.ros.rosjava_geometry.FrameName;
+import org.ros.namespace.GraphName;
 
 import java.util.List;
 
@@ -80,7 +79,7 @@ private void drawLayers(GL10 gl) {
     for (Layer layer : getLayers()) {
       gl.glPushMatrix();
       if (layer instanceof TfLayer) {
-        FrameName layerFrame = ((TfLayer) layer).getFrame();
+        GraphName layerFrame = ((TfLayer) layer).getFrame();
         if (layerFrame != null && camera.applyFrameTransform(gl, layerFrame)) {
           layer.draw(context, gl);
         }

diff --git a/android_15/src/org/ros/android/view/visualization/layer/CompressedOccupancyGridLayer.java b/android_15/src/org/ros/android/view/visualization/layer/CompressedOccupancyGridLayer.java
@@ -24,12 +24,11 @@
 import android.os.Handler;
 
 import org.jboss.netty.buffer.ChannelBuffer;
-import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.TextureBitmap;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 import org.ros.rosjava_geometry.Transform;
 
@@ -60,7 +59,7 @@ public class CompressedOccupancyGridLayer extends SubscriberLayer<nav_msgs.Occup
   private final TextureBitmap textureBitmap;
 
   private boolean ready;
-  private FrameName frame;
+  private GraphName frame;
 
   public CompressedOccupancyGridLayer(String topic) {
     this(GraphName.of(topic));
@@ -80,7 +79,7 @@ public void draw(Context context, GL10 gl) {
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 
@@ -119,7 +118,7 @@ void update(nav_msgs.OccupancyGrid message) {
     float resolution = message.getInfo().getResolution();
     Transform origin = Transform.fromPoseMessage(message.getInfo().getOrigin());
     textureBitmap.updateFromPixelArray(pixels, stride, resolution, origin, COLOR_UNKNOWN);
-    frame = FrameName.of(message.getHeader().getFrameId());
+    frame = GraphName.of(message.getHeader().getFrameId());
     ready = true;
   }
 }
diff --git a/android_15/src/org/ros/android/view/visualization/layer/GridCellsLayer.java b/android_15/src/org/ros/android/view/visualization/layer/GridCellsLayer.java
@@ -22,10 +22,10 @@
 import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.Color;
 import org.ros.android.view.visualization.Vertices;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 
 import java.util.concurrent.locks.Lock;
@@ -41,7 +41,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
   private final Color color;
   private final Lock lock;
 
-  private FrameName frame;
+  private GraphName frame;
   private XYOrthographicCamera camera;
   private boolean ready;
   private nav_msgs.GridCells message;
@@ -92,7 +92,7 @@ public void onStart(ConnectedNode connectedNode, Handler handler,
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.GridCells>() {
       @Override
       public void onNewMessage(nav_msgs.GridCells data) {
-        frame = FrameName.of(data.getHeader().getFrameId());
+        frame = GraphName.of(data.getHeader().getFrameId());
         if (frameTransformTree.lookUp(frame) != null) {
           if (lock.tryLock()) {
             message = data;
@@ -105,7 +105,7 @@ public void onNewMessage(nav_msgs.GridCells data) {
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 }
diff --git a/android_15/src/org/ros/android/view/visualization/layer/LaserScanLayer.java b/android_15/src/org/ros/android/view/visualization/layer/LaserScanLayer.java
@@ -23,9 +23,9 @@
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
 import org.ros.node.topic.Subscriber;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 
+import sensor_msgs.LaserScan;
 import android.content.Context;
 
 import java.nio.FloatBuffer;
@@ -49,7 +49,7 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
 
   private final Object mutex;
 
-  private FrameName frame;
+  private GraphName frame;
   private XYOrthographicCamera camera;
   private FloatBuffer vertexFrontBuffer;
   private FloatBuffer vertexBackBuffer;
@@ -87,7 +87,7 @@ public void onStart(ConnectedNode connectedNode, android.os.Handler handler,
     subscriber.addMessageListener(new MessageListener<LaserScan>() {
       @Override
       public void onNewMessage(LaserScan laserScan) {
-        frame = FrameName.of(laserScan.getHeader().getFrameId());
+        frame = GraphName.of(laserScan.getHeader().getFrameId());
         updateVertexBuffer(laserScan, LASER_SCAN_STRIDE);
       }
     });
@@ -131,7 +131,7 @@ private void updateVertexBuffer(LaserScan laserScan, int stride) {
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 }
diff --git a/android_15/src/org/ros/android/view/visualization/layer/OccupancyGridLayer.java b/android_15/src/org/ros/android/view/visualization/layer/OccupancyGridLayer.java
@@ -22,13 +22,12 @@
 import android.os.Handler;
 
 import org.jboss.netty.buffer.ChannelBuffer;
-import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.TextureBitmap;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.internal.message.MessageBuffers;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 import org.ros.rosjava_geometry.Transform;
 
@@ -58,7 +57,7 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
   private final TextureBitmap textureBitmap;
 
   private boolean ready;
-  private FrameName frame;
+  private GraphName frame;
   private GL10 previousGl;
 
   public OccupancyGridLayer(String topic) {
@@ -84,7 +83,7 @@ public void draw(Context context, GL10 gl) {
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 
@@ -120,7 +119,7 @@ private void update(nav_msgs.OccupancyGrid message) {
     Transform origin = Transform.fromPoseMessage(message.getInfo().getOrigin());
     textureBitmap.updateFromPixelBuffer(pixels, stride, resolution, origin, COLOR_UNKNOWN);
     pixels.clear();
-    frame = FrameName.of(message.getHeader().getFrameId());
+    frame = GraphName.of(message.getHeader().getFrameId());
     ready = true;
   }
 }
diff --git a/android_15/src/org/ros/android/view/visualization/layer/PathLayer.java b/android_15/src/org/ros/android/view/visualization/layer/PathLayer.java
@@ -26,7 +26,6 @@
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 
 import java.nio.ByteBuffer;
@@ -48,7 +47,7 @@ public class PathLayer extends SubscriberLayer<nav_msgs.Path> implements TfLayer
 
   private FloatBuffer vertexBuffer;
   private boolean ready;
-  private FrameName frame;
+  private GraphName frame;
 
   public PathLayer(String topic) {
     this(GraphName.of(topic));
@@ -90,7 +89,7 @@ private void updateVertexBuffer(nav_msgs.Path path) {
     goalVertexByteBuffer.order(ByteOrder.nativeOrder());
     vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
     if (path.getPoses().size() > 0) {
-      frame = FrameName.of(path.getPoses().get(0).getHeader().getFrameId());
+      frame = GraphName.of(path.getPoses().get(0).getHeader().getFrameId());
       // Path poses are densely packed and will make the path look like a solid
       // line even if it is drawn as points. Skipping poses provides the visual
       // point separation were looking for.
@@ -110,7 +109,7 @@ private void updateVertexBuffer(nav_msgs.Path path) {
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 }
diff --git a/android_15/src/org/ros/android/view/visualization/layer/PoseSubscriberLayer.java b/android_15/src/org/ros/android/view/visualization/layer/PoseSubscriberLayer.java
@@ -26,7 +26,6 @@
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
 import org.ros.rosjava_geometry.FrameTransform;
-import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 import org.ros.rosjava_geometry.Transform;
 
@@ -38,7 +37,7 @@
 public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamped> implements
     TfLayer {
 
-  private final FrameName targetFrame;
+  private final GraphName targetFrame;
 
   private Shape shape;
   private boolean ready;
@@ -49,7 +48,7 @@ public PoseSubscriberLayer(String topic) {
 
   public PoseSubscriberLayer(GraphName topic) {
     super(topic, "geometry_msgs/PoseStamped");
-    targetFrame = FrameName.of("map");
+    targetFrame = GraphName.of("map");
     ready = false;
   }
 
@@ -68,7 +67,7 @@ public void onStart(ConnectedNode connectedNode, Handler handler,
     getSubscriber().addMessageListener(new MessageListener<geometry_msgs.PoseStamped>() {
       @Override
       public void onNewMessage(geometry_msgs.PoseStamped pose) {
-          FrameName source = FrameName.of(pose.getHeader().getFrameId());
+          GraphName source = GraphName.of(pose.getHeader().getFrameId());
         FrameTransform frameTransform = frameTransformTree.transform(source, targetFrame);
         if (frameTransform != null) {
           Transform poseTransform = Transform.fromPoseMessage(pose.getPose());
@@ -80,7 +79,7 @@ public void onNewMessage(geometry_msgs.PoseStamped pose) {
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return targetFrame;
   }
 }
diff --git a/android_15/src/org/ros/android/view/visualization/layer/RobotLayer.java b/android_15/src/org/ros/android/view/visualization/layer/RobotLayer.java
@@ -22,9 +22,9 @@
 import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.shape.RobotShape;
 import org.ros.android.view.visualization.shape.Shape;
+import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
 import org.ros.rosjava_geometry.FrameTransformTree;
-import org.ros.rosjava_geometry.FrameName;
 
 import javax.microedition.khronos.opengles.GL10;
 
@@ -33,16 +33,16 @@
  */
 public class RobotLayer extends DefaultLayer implements TfLayer {
 
-  private final FrameName frame;
+  private final GraphName frame;
   private final Shape shape;
 
-  public RobotLayer(FrameName frame) {
+  public RobotLayer(GraphName frame) {
     this.frame = frame;
     shape = new RobotShape();
   }
 
   public RobotLayer(String frame) {
-    this(FrameName.of(frame));
+    this(GraphName.of(frame));
   }
 
   @Override
@@ -56,7 +56,7 @@ public void onStart(ConnectedNode connectedNode, Handler handler,
   }
 
   @Override
-  public FrameName getFrame() {
+  public GraphName getFrame() {
     return frame;
   }
 }