PersonSimulator.h

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/*
 * This file is part of ArmarX.
 *
 * 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    VisionX::COMPONENT_NAME_SNAKE::core
 * @author     Peter Albrecht ( usnlf at student dot kit dot edu)
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Geometry>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include "RobotAPI/libraries/armem/client/Writer.h"
#include "RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h"
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <VisionX/libraries/armem_human/types.h>
 
namespace VisionX::person_simulator::core
{
    /**
    * @class PersonSimulator
    * @brief The core library for interaction with the person memory. Provides functions for creation and updating of entries.
    */
    class PersonSimulator
    {
    public:
        /// Remote parameters of this skill implementation
        struct Remote
        {
            // for interaction with memory
            armarx::armem::client::MemoryNameSystem mns;
            // for robot position
            armarx::armem::robot_state::VirtualRobotReader& robotReader;
        };
 
        /// Fixed properties of this skill implementation
        struct Properties
        {
            // the name of the robot, for camera frames
            std::string robotName;
            // the poseModelId to use for new poses
            std::string poseModelId;
            std::string profileProviderName;
            std::string poseProviderName;
            float jointDisplacement;
        };
 
        struct GeneratedPoseParams
        {
            float hipHeight;
            float pelvisHeight;
            float shoulderHeight;
            float headHeight;
            float earHeight;
        };
 
        /// Constructor of this skill implementation
        PersonSimulator(const Remote& r, const Properties& p);
 
        // API
        // note: robot name is specified in properties
        void createHumanProfile(const std::string& profileName);
        void createFaceRecognition(const Eigen::Vector3f& facePosition,
                                   std::optional<std::string> entityName);
 
        /// return values are copies of the committed poses, needed for creating a pose+facerecognition
        armarx::armem::human::HumanPose createHumanPose(const std::string& humanId,
                                                        Eigen::Vector2f meanFloorPosition,
                                                        float clockwiseOrientationDegrees);
        armarx::armem::human::HumanPose
        createHumanPoseFacingRobot(const std::string& humanId, Eigen::Vector2f meanFloorPosition);
 
        std::optional<armarx::armem::MemoryID> findProfileId(std::string& entityId);
 
    private:
        Remote remote;
        Properties properties;
        GeneratedPoseParams generatedPoseParams;
 
        unsigned int faceRecognitionIdCounter = 0;
 
        static std::string increaseAndConvert(unsigned int& counter);
 
        /// Constructs the "default" pose with partially incomplete keypoints (see "constructKeyPoint")
        std::map<std::string, armarx::armem::human::PoseKeypoint>
        constructDefaultKeypoints(Eigen::Vector2f meanFloorPosGlobal,
                                  float clockwiseOrientationDegrees);
 
        /// Constructs a keypoint at a given position. Only the global position is set; everything else is an identity.
        armarx::armem::human::PoseKeypoint constructKeyPoint(Eigen::Vector3f globalPos,
                                                             const std::string& label);
    };
 
} // namespace VisionX::person_simulator::core