types.h

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#pragma once
 
#include <filesystem>
#include <map>
#include <vector>
 
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
namespace armarx::armem::robot
{
    struct RobotDescription
    {
        // DateTime timestamp;
 
        std::string name;
        PackagePath xml{"", std::filesystem::path("")};
    };
 
 
    struct Twist
    {
        Eigen::Vector3f linear{Eigen::Vector3f::Zero()};
        Eigen::Vector3f angular{Eigen::Vector3f::Zero()};
    };
 
    struct PlatformState
    {
        Twist twist;
    };
 
    struct ForceTorque
    {
        Eigen::Vector3f force;
        Eigen::Vector3f gravityCompensatedForce;
        Eigen::Vector3f torque;
        Eigen::Vector3f gravityCompensatedTorque;
    };
 
    using ToFArray = Eigen::MatrixXf;
 
    struct ToF
    {
        ToFArray array;
        std::string frame;
    };
 
 
    struct RobotState
    {
        using JointMap = std::map<std::string, float>;
        using Pose = Eigen::Affine3f;
 
        DateTime timestamp;
 
        Pose globalPose;
        JointMap jointMap;
 
        std::optional<armarx::armem::arondto::Proprioception> proprioception;
    };
 
 
    struct Robot
    {
        RobotDescription description;
        std::string instance;
 
        RobotState config;
 
        DateTime timestamp;
 
        std::string name() const;
    };
 
    using Robots = std::vector<Robot>;
    using RobotDescriptions = std::vector<RobotDescription>;
    using RobotStates = std::vector<RobotState>;
 
    std::ostream& operator<<(std::ostream &os, const RobotDescription &rhs);
 
}  // namespace armarx::armem::robot