PlatformSubUnit.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    RobotAPI::ArmarXObjects::PlatformSubUnit
 * @author     Raphael ( raphael dot grimm at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <Eigen/Core>
 
#include <VirtualRobot/MathTools.h>
 
#include <RobotAPI/components/units/PlatformUnit.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/Pose.h>
 
#include "../NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h"
#include "../SensorValues/SensorValueHolonomicPlatform.h"
#include "RobotUnitSubUnit.h"
 
namespace armarx
{
    class GlobalRobotPoseCorrectionSensorDevice;
 
    TYPEDEF_PTRS_HANDLE(PlatformSubUnit);
 
    class PlatformSubUnit :
        virtual public RobotUnitSubUnit,
        virtual public PlatformUnit,
        virtual public PlatformSubUnitInterface
    {
    public:
        void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
 
        // PlatformUnitInterface interface
        void move(Ice::Float vx,
                  Ice::Float vy,
                  Ice::Float vr,
                  const Ice::Current& = Ice::emptyCurrent) override;
        void moveTo(Ice::Float rx,
                    Ice::Float ry,
                    Ice::Float rr,
                    Ice::Float lac,
                    Ice::Float rac,
                    const Ice::Current& = Ice::emptyCurrent) override;
        void moveRelative(Ice::Float rx,
                          Ice::Float ry,
                          Ice::Float rr,
                          Ice::Float lac,
                          Ice::Float rac,
                          const Ice::Current& = Ice::emptyCurrent) override;
        void setMaxVelocities(Ice::Float mxVLin,
                              Ice::Float mxVAng,
                              const Ice::Current& = Ice::emptyCurrent) override;
 
        // PlatformUnit interface
        void
        onInitPlatformUnit() override
        {
        }
 
        void
        onStartPlatformUnit() override
        {
            agentName = robotStateComponent->getRobotName();
            robotRootFrame = robotStateComponent->getSynchronizedRobot()->getRootNode()->getName();
        }
 
        void
        onExitPlatformUnit() override
        {
        }
 
        void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
 
        NJointHolonomicPlatformUnitVelocityPassThroughControllerPtr pt;
        NJointHolonomicPlatformRelativePositionControllerPtr relativePosCtrl;
        NJointHolonomicPlatformGlobalPositionControllerPtr globalPosCtrl;
 
        std::size_t platformSensorIndex;
 
    protected:
        mutable std::mutex dataMutex;
 
        Ice::Float maxVLin = std::numeric_limits<Ice::Float>::infinity();
        Ice::Float maxVAng = std::numeric_limits<Ice::Float>::infinity();
 
 
    private:
        std::string agentName;
        std::string robotRootFrame;
    };
} // namespace armarx