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49 lines
1.2 KiB
49 lines
1.2 KiB
2 years ago
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#pragma once
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#include <map>
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#include <string>
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#include <vector>
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#include "drake/math/rigid_transform.h"
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#include "drake/systems/framework/leaf_system.h"
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namespace drake {
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namespace systems {
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namespace sensors {
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/** Converts LCM optitrack_frame_t message data on an input port to
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RigidTransform data on per-body output ports.
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@system
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name: OptitrackReceiver
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input_ports:
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- optitrack_frame_t
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output_ports:
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- <em style="color:gray">...</em>
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- <em style="color:gray">...</em>
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@endsystem
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*/
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class OptitrackReceiver : public systems::LeafSystem<double> {
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public:
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DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(OptitrackReceiver)
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/** Constructs an OptitrackReceiver.
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@param frame_map Mapping from optitrack body id to output port name.
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All ids must always be present in the input message.
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@param X_WO Pose of the optitrack frame O in the world frame W.
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Defaults to the Identity transform.
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*/
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explicit OptitrackReceiver(
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const std::map<int, std::string>& frame_map,
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const math::RigidTransformd& X_WO = {});
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private:
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void CalcOutput(const Context<double>&, int, math::RigidTransformd*) const;
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const math::RigidTransformd X_WO_;
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};
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} // namespace sensors
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} // namespace systems
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} // namespace drake
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