ros2d.min.js

var ROS2D=ROS2D||{REVISION:"0.9.0"};createjs.Stage.prototype.globalToRos=function(a,b){var c=(a-this.x)/this.scaleX,d=(this.y-b)/this.scaleY;return new ROSLIB.Vector3({x:c,y:d})},createjs.Stage.prototype.rosToGlobal=function(a){var b=a.x*this.scaleX+this.x,c=a.y*this.scaleY+this.y;return{x:b,y:c}},createjs.Stage.prototype.rosQuaternionToGlobalTheta=function(a){var b=a.w,c=a.x,d=a.y,e=a.z;return 180*-Math.atan2(2*(b*e+c*d),1-2*(d*d+e*e))/Math.PI},ROS2D.ImageMap=function(a){a=a||{};var b=a.message,c=a.image;this.pose=new ROSLIB.Pose({position:b.origin.position,orientation:b.origin.orientation}),this.width=b.width,this.height=b.height,createjs.Bitmap.call(this,c),this.y=-this.height*b.resolution,this.scaleX=b.resolution,this.scaleY=b.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y},ROS2D.ImageMap.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.ImageMapClient=function(a){var b=this;a=a||{};var c=a.ros,d=a.topic||"/map_metadata";this.image=a.image,this.rootObject=a.rootObject||new createjs.Container,this.currentImage=new createjs.Shape;var e=new ROSLIB.Topic({ros:c,name:d,messageType:"nav_msgs/MapMetaData"});e.subscribe(function(a){e.unsubscribe(),b.currentImage=new ROS2D.ImageMap({message:a,image:b.image}),b.rootObject.addChild(b.currentImage),b.rootObject.addChild(new ROS2D.Grid({size:1})),b.emit("change")})},ROS2D.ImageMapClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.OccupancyGrid=function(a){a=a||{};var b=a.message,c=document.createElement("canvas"),d=c.getContext("2d");this.pose=new ROSLIB.Pose({position:b.info.origin.position,orientation:b.info.origin.orientation}),this.width=b.info.width,this.height=b.info.height,c.width=this.width,c.height=this.height;for(var e=d.createImageData(this.width,this.height),f=0;f<this.height;f++)for(var g=0;g<this.width;g++){var h,i=g+(this.height-f-1)*this.width,j=b.data[i];h=100===j?0:0===j?255:127;var k=4*(g+f*this.width);e.data[k]=h,e.data[++k]=h,e.data[++k]=h,e.data[++k]=255}d.putImageData(e,0,0),createjs.Bitmap.call(this,c),this.y=-this.height*b.info.resolution,this.scaleX=b.info.resolution,this.scaleY=b.info.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y},ROS2D.OccupancyGrid.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.OccupancyGridClient=function(a){var b=this;a=a||{};var c=a.ros,d=a.topic||"/map";this.continuous=a.continuous,this.rootObject=a.rootObject||new createjs.Container,this.currentGrid=new createjs.Shape,this.rootObject.addChild(this.currentGrid),this.rootObject.addChild(new ROS2D.Grid({size:1}));var e=new ROSLIB.Topic({ros:c,name:d,messageType:"nav_msgs/OccupancyGrid",compression:"png"});e.subscribe(function(a){var c=null;b.currentGrid&&(c=b.rootObject.getChildIndex(b.currentGrid),b.rootObject.removeChild(b.currentGrid)),b.currentGrid=new ROS2D.OccupancyGrid({message:a}),null!==c?b.rootObject.addChildAt(b.currentGrid,c):b.rootObject.addChild(b.currentGrid),b.emit("change"),b.continuous||e.unsubscribe()})},ROS2D.OccupancyGridClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.OccupancyGridSrvClient=function(a){var b=this;a=a||{};var c=a.ros,d=a.service||"/static_map";this.rootObject=a.rootObject||new createjs.Container,this.currentGrid=null;var e=new ROSLIB.Service({ros:c,name:d,serviceType:"nav_msgs/GetMap",compression:"png"});e.callService(new ROSLIB.ServiceRequest,function(a){b.currentGrid&&b.rootObject.removeChild(b.currentGrid),b.currentGrid=new ROS2D.OccupancyGrid({message:a.map}),b.rootObject.addChild(b.currentGrid),b.emit("change",b.currentGrid)})},ROS2D.OccupancyGridSrvClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.ArrowShape=function(a){var b=this;a=a||{};var c=a.size||10,d=a.strokeSize||3,e=a.strokeColor||createjs.Graphics.getRGB(0,0,0),f=a.fillColor||createjs.Graphics.getRGB(255,0,0),g=a.pulse,h=new createjs.Graphics,i=c/3,j=2*i/3;if(h.setStrokeStyle(d),h.beginStroke(e),h.moveTo(0,0),h.lineTo(c-i,0),h.beginFill(f),h.moveTo(c,0),h.lineTo(c-i,j/2),h.lineTo(c-i,-j/2),h.closePath(),h.endFill(),h.endStroke(),createjs.Shape.call(this,h),g){var k=0,l=!0;createjs.Ticker.addEventListener("tick",function(){l?(b.scaleX*=1.035,b.scaleY*=1.035,l=++k<10):(b.scaleX/=1.035,b.scaleY/=1.035,l=--k<0)})}},ROS2D.ArrowShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.Grid=function(a){a=a||{};var b=a.size||10,c=a.cellSize||.1,d=a.lineWidth||.001,e=new createjs.Graphics;e.setStrokeStyle(5*d),e.beginStroke(createjs.Graphics.getRGB(0,0,0)),e.beginFill(createjs.Graphics.getRGB(255,0,0)),e.moveTo(-b*c,0),e.lineTo(b*c,0),e.moveTo(0,-b*c),e.lineTo(0,b*c),e.endFill(),e.endStroke(),e.setStrokeStyle(d),e.beginStroke(createjs.Graphics.getRGB(0,0,0)),e.beginFill(createjs.Graphics.getRGB(255,0,0));for(var f=-b;b>=f;f++)e.moveTo(-b*c,f*c),e.lineTo(b*c,f*c),e.moveTo(f*c,-b*c),e.lineTo(f*c,b*c);e.endFill(),e.endStroke(),createjs.Shape.call(this,e)},ROS2D.Grid.prototype.__proto__=createjs.Shape.prototype,ROS2D.NavigationArrow=function(a){var b=this;a=a||{};var c=a.size||10,d=a.strokeSize||3,e=a.strokeColor||createjs.Graphics.getRGB(0,0,0),f=a.fillColor||createjs.Graphics.getRGB(255,0,0),g=a.pulse,h=new createjs.Graphics;if(h.setStrokeStyle(d),h.moveTo(-c/2,-c/2),h.beginStroke(e),h.beginFill(f),h.lineTo(c,0),h.lineTo(-c/2,c/2),h.closePath(),h.endFill(),h.endStroke(),createjs.Shape.call(this,h),g){var i=0,j=!0;createjs.Ticker.addEventListener("tick",function(){j?(b.scaleX*=1.035,b.scaleY*=1.035,j=++i<10):(b.scaleX/=1.035,b.scaleY/=1.035,j=--i<0)})}},ROS2D.NavigationArrow.prototype.__proto__=createjs.Shape.prototype,ROS2D.NavigationImage=function(a){var b=this;a=a||{};var c=a.size||10,d=a.image,e=a.pulse,f=a.alpha||1,g={},h=function(){createjs.Bitmap.call(b,j);var a=i(c);if(b.alpha=f,b.scaleX=a,b.scaleY=a,b.regY=b.image.height/2,b.regX=b.image.width/2,g.rotation=b.rotation,Object.defineProperty(b,"rotation",{get:function(){return g.rotation+90},set:function(a){g.rotation=a}}),e){var d=0,h=!0,k=1.02;createjs.Ticker.addEventListener("tick",function(){h?(b.scaleX*=k,b.scaleY*=k,h=++d<10):(b.scaleX/=k,b.scaleY/=k,h=--d<0)})}},i=function(a){return a/j.width},j=new Image;j.onload=h,j.src=d},ROS2D.NavigationImage.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.PathShape=function(a){a=a||{};var b=a.path;if(this.strokeSize=a.strokeSize||3,this.strokeColor=a.strokeColor||createjs.Graphics.getRGB(0,0,0),this.graphics=new createjs.Graphics,null!==b&&"undefined"!=typeof b){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(b.poses[0].pose.position.x/this.scaleX,b.poses[0].pose.position.y/-this.scaleY);for(var c=1;c<b.poses.length;++c)this.graphics.lineTo(b.poses[c].pose.position.x/this.scaleX,b.poses[c].pose.position.y/-this.scaleY);this.graphics.endStroke()}createjs.Shape.call(this,this.graphics)},ROS2D.PathShape.prototype.setPath=function(a){if(this.graphics.clear(),null!==a&&"undefined"!=typeof a){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(a.poses[0].pose.position.x/this.scaleX,a.poses[0].pose.position.y/-this.scaleY);for(var b=1;b<a.poses.length;++b)this.graphics.lineTo(a.poses[b].pose.position.x/this.scaleX,a.poses[b].pose.position.y/-this.scaleY);this.graphics.endStroke()}},ROS2D.PathShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.PolygonMarker=function(a){a=a||{},this.lineSize=a.lineSize||3,this.lineColor=a.lineColor||createjs.Graphics.getRGB(0,0,255,.66),this.pointSize=a.pointSize||10,this.pointColor=a.pointColor||createjs.Graphics.getRGB(255,0,0,.66),this.fillColor=a.pointColor||createjs.Graphics.getRGB(0,255,0,.33),this.lineCallBack=a.lineCallBack,this.pointCallBack=a.pointCallBack,this.pointContainer=new createjs.Container,this.lineContainer=new createjs.Container,this.fillShape=new createjs.Shape,createjs.Container.call(this),this.addChild(this.fillShape),this.addChild(this.lineContainer),this.addChild(this.pointContainer)},ROS2D.PolygonMarker.prototype.createLineShape=function(a,b){var c=new createjs.Shape;this.editLineShape(c,a,b);var d=this;return c.addEventListener("mousedown",function(a){null!==d.lineCallBack&&"undefined"!=typeof d.lineCallBack&&d.lineCallBack("mousedown",a,d.lineContainer.getChildIndex(a.target))}),c},ROS2D.PolygonMarker.prototype.editLineShape=function(a,b,c){a.graphics.clear(),a.graphics.setStrokeStyle(this.lineSize),a.graphics.beginStroke(this.lineColor),a.graphics.moveTo(b.x,b.y),a.graphics.lineTo(c.x,c.y)},ROS2D.PolygonMarker.prototype.createPointShape=function(a){var b=new createjs.Shape;b.graphics.beginFill(this.pointColor),b.graphics.drawCircle(0,0,this.pointSize),b.x=a.x,b.y=-a.y;var c=this;return b.addEventListener("mousedown",function(a){null!==c.pointCallBack&&"undefined"!=typeof c.pointCallBack&&c.pointCallBack("mousedown",a,c.pointContainer.getChildIndex(a.target))}),b},ROS2D.PolygonMarker.prototype.addPoint=function(a){var b=this.createPointShape(a);this.pointContainer.addChild(b);var c=this.pointContainer.getNumChildren();if(2>c);else if(3>c){var d=this.createLineShape(this.pointContainer.getChildAt(c-2),b);this.lineContainer.addChild(d)}if(c>2&&this.editLineShape(this.lineContainer.getChildAt(c-2),this.pointContainer.getChildAt(c-2),b),c>1){var e=this.createLineShape(b,this.pointContainer.getChildAt(0));this.lineContainer.addChild(e)}this.drawFill()},ROS2D.PolygonMarker.prototype.remPoint=function(a){var b;b=a instanceof createjs.Shape?this.pointContainer.getChildIndex(a):a;var c=this.pointContainer.getNumChildren();2>c||(3>c?this.lineContainer.removeAllChildren():(this.editLineShape(this.lineContainer.getChildAt((b-1+c)%c),this.pointContainer.getChildAt((b-1+c)%c),this.pointContainer.getChildAt((b+1)%c)),this.lineContainer.removeChildAt(b))),this.pointContainer.removeChildAt(b),this.drawFill()},ROS2D.PolygonMarker.prototype.movePoint=function(a,b){var c,d;a instanceof createjs.Shape?(c=this.pointContainer.getChildIndex(a),d=a):(c=a,d=this.pointContainer.getChildAt(c)),d.x=b.x,d.y=-b.y;var e=this.pointContainer.getNumChildren();if(e>1){var f=this.lineContainer.getChildAt((c-1+e)%e);this.editLineShape(f,this.pointContainer.getChildAt((c-1+e)%e),d);var g=this.lineContainer.getChildAt(c);this.editLineShape(g,d,this.pointContainer.getChildAt((c+1)%e))}this.drawFill()},ROS2D.PolygonMarker.prototype.splitLine=function(a){var b,c;a instanceof createjs.Shape?(b=this.lineContainer.getChildIndex(a),c=a):(b=a,c=this.lineContainer.getChildAt(b));var d=this.pointContainer.getNumChildren(),e=this.pointContainer.getChildAt(b).x,f=this.pointContainer.getChildAt(b).y,g=this.pointContainer.getChildAt((b+1)%d).x,h=this.pointContainer.getChildAt((b+1)%d).y,i=(e+g)/2,j=(f+h)/2,k=new ROSLIB.Vector3({x:i,y:-j}),l=this.createPointShape(k);this.pointContainer.addChildAt(l,b+1),++d;var m=this.createLineShape(l,this.pointContainer.getChildAt((b+2)%d));this.lineContainer.addChildAt(m,b+1),this.editLineShape(c,this.pointContainer.getChildAt(b),l),this.drawFill()},ROS2D.PolygonMarker.prototype.drawFill=function(){var a=this.pointContainer.getNumChildren();if(a>2){var b=this.fillShape.graphics;b.clear(),b.setStrokeStyle(0),b.moveTo(this.pointContainer.getChildAt(0).x,this.pointContainer.getChildAt(0).y),b.beginStroke(),b.beginFill(this.fillColor);for(var c=1;a>c;++c)b.lineTo(this.pointContainer.getChildAt(c).x,this.pointContainer.getChildAt(c).y);b.closePath(),b.endFill(),b.endStroke()}else this.fillShape.graphics.clear()},ROS2D.PolygonMarker.prototype.__proto__=createjs.Container.prototype,ROS2D.TraceShape=function(a){a=a||{};var b=a.pose;this.strokeSize=a.strokeSize||3,this.strokeColor=a.strokeColor||createjs.Graphics.getRGB(0,0,0),this.maxPoses=a.maxPoses||100,this.minDist=a.minDist||.05,this.minDist=this.minDist*this.minDist,this.poses=[],this.graphics=new createjs.Graphics,this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),null!==b&&"undefined"!=typeof b&&this.poses.push(b),createjs.Shape.call(this,this.graphics)},ROS2D.TraceShape.prototype.addPose=function(a){var b=this.poses.length-1;if(0>b)this.poses.push(a),this.graphics.moveTo(a.position.x/this.scaleX,a.position.y/-this.scaleY);else{var c=this.poses[b].position.x,d=this.poses[b].position.y,e=a.position.x-c,f=a.position.y-d;e*e+f*f>this.minDist&&(this.graphics.lineTo(a.position.x/this.scaleX,a.position.y/-this.scaleY),this.poses.push(a))}this.maxPoses>0&&this.maxPoses<this.poses.length&&this.popFront()},ROS2D.TraceShape.prototype.popFront=function(){if(this.poses.length>0){this.poses.shift(),this.graphics.clear(),this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.lineTo(this.poses[0].position.x/this.scaleX,this.poses[0].position.y/-this.scaleY);for(var a=1;a<this.poses.length;++a)this.graphics.lineTo(this.poses[a].position.x/this.scaleX,this.poses[a].position.y/-this.scaleY)}},ROS2D.TraceShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.PanView=function(a){a=a||{},this.rootObject=a.rootObject,this.rootObject instanceof createjs.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.startPos=new ROSLIB.Vector3},ROS2D.PanView.prototype.startPan=function(a,b){this.startPos.x=a,this.startPos.y=b},ROS2D.PanView.prototype.pan=function(a,b){this.stage.x+=a-this.startPos.x,this.startPos.x=a,this.stage.y+=b-this.startPos.y,this.startPos.y=b},ROS2D.Viewer=function(a){a=a||{};var b=a.divID;this.width=a.width,this.height=a.height;var c=a.background||"#111111",d=document.createElement("canvas");d.width=this.width,d.height=this.height,d.style.background=c,document.getElementById(b).appendChild(d),this.scene=new createjs.Stage(d),this.scene.y=this.height,document.getElementById(b).appendChild(d),createjs.Ticker.setFPS(30),createjs.Ticker.addEventListener("tick",this.scene)},ROS2D.Viewer.prototype.addObject=function(a){this.scene.addChild(a)},ROS2D.Viewer.prototype.scaleToDimensions=function(a,b){this.scene.x="undefined"!=typeof this.scene.x_prev_shift?this.scene.x_prev_shift:this.scene.x,this.scene.y="undefined"!=typeof this.scene.y_prev_shift?this.scene.y_prev_shift:this.scene.y,this.scene.scaleX=this.width/a,this.scene.scaleY=this.height/b},ROS2D.Viewer.prototype.shift=function(a,b){this.scene.x_prev_shift=this.scene.x,this.scene.y_prev_shift=this.scene.y,this.scene.x-=a*this.scene.scaleX,this.scene.y+=b*this.scene.scaleY},ROS2D.ZoomView=function(a){a=a||{},this.rootObject=a.rootObject,this.minScale=a.minScale||.001,this.rootObject instanceof createjs.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.center=new ROSLIB.Vector3,this.startShift=new ROSLIB.Vector3,this.startScale=new ROSLIB.Vector3},ROS2D.ZoomView.prototype.startZoom=function(a,b){this.center.x=a,this.center.y=b,this.startShift.x=this.stage.x,this.startShift.y=this.stage.y,this.startScale.x=this.stage.scaleX,this.startScale.y=this.stage.scaleY},ROS2D.ZoomView.prototype.zoom=function(a){this.startScale.x*a<this.minScale&&(a=this.minScale/this.startScale.x),this.startScale.y*a<this.minScale&&(a=this.minScale/this.startScale.y),this.stage.scaleX=this.startScale.x*a,this.stage.scaleY=this.startScale.y*a,this.stage.x=this.startShift.x-(this.center.x-this.startShift.x)*(this.stage.scaleX/this.startScale.x-1),this.stage.y=this.startShift.y-(this.center.y-this.startShift.y)*(this.stage.scaleY/this.startScale.y-1)};