Visu.h
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/*
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <optional>
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#include <VirtualRobot/VirtualRobot.h>
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#include <
ArmarXCore/core/logging/Logging.h
>
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#include <
ArmarXCore/core/services/tasks/TaskUtil.h
>
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#include <
ArmarXCore/core/time.h
>
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#include <
ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h
>
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#include "
RobotAPI/libraries/armem/server/wm/memory_definitions.h
"
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#include "
RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
"
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#include <
RobotAPI/components/ArViz/Client/Client.h
>
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#include <
RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
>
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#include <
RobotAPI/libraries/armem_laser_scans/types.h
>
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#include <
RobotAPI/libraries/armem_objects/types.h
>
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#include <
RobotAPI/libraries/armem_robot_state/server/forward_declarations.h
>
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namespace
armarx::armem::server::laser_scans
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{
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struct
ScanPoint
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{
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Eigen::Vector3f
point
;
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float
intensity
;
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};
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/**
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* @brief Models decay of object localizations by decreasing the confidence
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* the longer the object was not localized.
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*/
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class
Visu
:
public
armarx::Logging
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{
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public
:
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Visu
();
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void
defineProperties
(
armarx::PropertyDefinitionsPtr
defs,
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const
std::string& prefix =
"visu."
);
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void
init
(
const
wm::CoreSegment
* coreSegment,
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armem::robot_state::VirtualRobotReader
* virtualRobotReader);
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void
connect
(
const
viz::Client
& arviz,
DebugObserverInterfacePrx
debugObserver =
nullptr
);
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private
:
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void
visualizeRun();
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void
visualizeOnce(
const
Time
& timestamp);
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viz::Client
arviz;
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std::optional<DebugObserverHelper> debugObserver;
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struct
Properties
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{
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bool
enabled
=
true
;
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bool
uniformColor =
false
;
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bool
colorByIntensity =
true
;
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float
frequencyHz = 5;
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int
maxRobotAgeMs = 100;
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} p;
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SimpleRunningTask<>::pointer_type
updateTask;
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armem::robot_state::VirtualRobotReader
* virtualRobotReader;
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std::map<std::string, std::pair<VirtualRobot::RobotPtr, DateTime>> robots;
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VirtualRobot::RobotPtr
getSynchronizedRobot(
const
std::string& name,
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const
DateTime
& timestamp);
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void
visualizeScan(
const
std::vector<ScanPoint>& points,
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const
std::string& sensorName,
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const
std::string& agentName,
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const
viz::Color
& color);
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std::map<std::string, armem::laser_scans::LaserScanStamped> getCurrentLaserScans();
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const
wm::CoreSegment
* coreSegment;
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};
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}
// namespace armarx::armem::server::laser_scans
Client.h
armarx::armem::robot_state::VirtualRobotReader
The VirtualRobotReader class.
Definition:
VirtualRobotReader.h:40
armarx::armem::server::laser_scans::Visu::Visu
Visu()
Definition:
Visu.cpp:37
armarx::armem::server::laser_scans::Visu::init
void init(const wm::CoreSegment *coreSegment, armem::robot_state::VirtualRobotReader *virtualRobotReader)
Definition:
Visu.cpp:57
types.h
armarx::armem::server::laser_scans
This file is part of ArmarX.
Definition:
LaserScansMemory.cpp:35
armarx::armem::server::laser_scans::Visu::connect
void connect(const viz::Client &arviz, DebugObserverInterfacePrx debugObserver=nullptr)
Definition:
Visu.cpp:65
memory_definitions.h
armarx::armem::server::laser_scans::ScanPoint::intensity
float intensity
Definition:
Visu.h:46
armarx::armem::server::laser_scans::ScanPoint
Definition:
Visu.h:43
forward_declarations.h
armarx::armem::server::laser_scans::Visu::defineProperties
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string &prefix="visu.")
Definition:
Visu.cpp:43
armarx::armem::server::laser_scans::Visu
Models decay of object localizations by decreasing the confidence the longer the object was not local...
Definition:
Visu.h:53
types.h
armarx::viz::Color
Definition:
Color.h:13
enabled
std::atomic< bool > * enabled
Definition:
RemoteGuiWidgetController.cpp:75
armarx::armem::server::laser_scans::ScanPoint::point
Eigen::Vector3f point
Definition:
Visu.h:45
VirtualRobotReader.h
TaskUtil.h
armarx::armem::server::wm::CoreSegment
base::CoreSegmentBase
Definition:
memory_definitions.h:86
armarx::core::time::DateTime
Represents a point in time.
Definition:
DateTime.h:24
DebugObserverHelper.h
armarx::Logging
Base Class for all Logging classes.
Definition:
Logging.h:232
IceUtil::Handle< class PropertyDefinitionContainer >
IceInternal::ProxyHandle<::IceProxy::armarx::DebugObserverInterface >
time.h
Logging.h
armarx::viz::Client
Definition:
Client.h:109
SpecializedCoreSegment.h
VirtualRobot::RobotPtr
std::shared_ptr< class Robot > RobotPtr
Definition:
Bus.h:18
RobotAPI
libraries
armem_laser_scans
server
Visu.h
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