ros2d.min.js

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