KinematicUnit.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::units
 * @author     Christian Boege (boege at kit dot edu)
 * @date       2011
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/components/units/SensorActorUnit.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
 
#include <VirtualRobot/Nodes/RobotNode.h>
#include <vector>
 
namespace armarx
{
    /**
     * \class KinematicUnitPropertyDefinitions
     * \brief
     */
    class KinematicUnitPropertyDefinitions:
        public ComponentPropertyDefinitions
    {
    public:
        KinematicUnitPropertyDefinitions(std::string prefix):
            ComponentPropertyDefinitions(prefix)
        {
            defineRequiredProperty<std::string>("RobotNodeSetName", "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
            defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
            defineOptionalProperty<std::string>("RobotFileNameProject", "", "Project in which the robot filename is located (if robot is loaded from an external project)");
            defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
            defineOptionalProperty<std::string>("SkillProviderTopic", "SkillProviderTopic", "Topic where skill providers provide their skills");
        }
    };
 
 
    /**
     * \defgroup Component-KinematicUnit KinematicUnit
     * \ingroup RobotAPI-SensorActorUnits
     * \brief Base unit for kinematic sensors and actors.
     *
     * KinematicUnits are SensorActorUnits which provide sensory data in terms of joints angles, joint velocities and joint forces.
     * Further target joint angles and velocities can be controlled.
     *
     * The KinematicUnit retrieves its configuration from a VirtualRobot robot model. Within the model, the joints, the unit
     * controls are defined with a RobotNodeSet.
     */
 
    /**
     * @ingroup Component-KinematicUnit
     * @brief The KinematicUnit class
     */
    class KinematicUnit :
        virtual public KinematicUnitInterface,
        virtual public SensorActorUnit
    {
    public:
        // inherited from Component
        std::string getDefaultName() const override
        {
            return "KinematicUnit";
        }
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onExitComponent() override;
 
        /**
         * \return the robot xml filename as specified in the configuration
         */
        std::string getRobotFilename(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /*!
         * \brief getArmarXPackages
         * \return All dependent packages, which might contain a robot file.
         */
        std::vector< std::string > getArmarXPackages(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         *
         * \return  The name of this robot instance.
         */
        std::string getRobotName(const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         *
         * \return  The name of this robot instance.
         */
        std::string getRobotNodeSetName(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         *
         * \return  The name of the report topic
         */
        std::string getReportTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
 
        virtual void onInitKinematicUnit() = 0;
        virtual void onStartKinematicUnit() = 0;
        virtual void onExitKinematicUnit() = 0;
 
        // proxy implementation
        virtual void requestKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = Ice::emptyCurrent);
        virtual void releaseKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = Ice::emptyCurrent);
        void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = Ice::emptyCurrent) override;
        void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = Ice::emptyCurrent) override;
        void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = Ice::emptyCurrent) override;
 
 
        //other
        void setJointAnglesToZero();
        void setJointVelocitiesToZero();
 
        /**
         * \see PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    protected:
        KinematicUnitListenerPrx listenerPrx;
 
        std::string relativeRobotFile;
        VirtualRobot::RobotPtr robot;
        std::string robotNodeSetName;
        std::string listenerName;
        std::vector< VirtualRobot::RobotNodePtr > robotNodes;
        std::vector<std::string> armarXPackages;
    };
}