Visu.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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/core/time.h>
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h>
// #include <RobotAPI/libraries/armem_objects/types.h>
#include <RobotAPI/libraries/armem_robot_state/server/forward_declarations.h>
 
namespace armarx::armem::server::robot_state
{
 
    /**
     * @brief Models decay of object localizations by decreasing the confidence
     * the longer the object was not localized.
     */
    class Visu : public armarx::Logging
    {
    public:
        Visu(const description::Segment& descriptionSegment,
             const proprioception::Segment& proprioceptionSegment,
             const localization::Segment& localizationSegment);
 
 
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "visu.");
        void init();
        void connect(const viz::Client& arviz, DebugObserverInterfacePrx debugObserver = nullptr);
 
 
    private:
        void visualizeRun();
        void visualizeOnce(const core::time::DateTime& timestamp);
 
 
        void visualizeRobots(viz::Layer& layer,
                             const armem::robot_state::Robots& robots,
                             bool useColModel = false);
 
        static void visualizeFrames(
            viz::Layer& layerFrames,
            const std::unordered_map<std::string, std::vector<Eigen::Isometry3f>>& frames);
 
        static void visualizeFramesIndividual(
            viz::Layer& layerFrames,
            const std::unordered_map<std::string, std::vector<Eigen::Isometry3f>>& frames);
 
 
        void visualizeForceTorque(viz::Layer& layer,
                                  const armem::robot_state::Robot& robot,
                                  const proprioception::SensorValues& sensorValues);
 
        struct RobotModel; // forward declaration
 
        RobotModel* getRobotModel(const armem::robot_state::description::RobotDescription& robotDescription);
 
 
    private:
        viz::Client arviz;
        std::optional<DebugObserverHelper> debugObserver;
 
        const description::Segment& descriptionSegment;
        const proprioception::Segment& proprioceptionSegment;
        const localization::Segment& localizationSegment;
 
        struct RobotModel
        {
            RobotModel(const std::filesystem::path& robotPath);
 
            VirtualRobot::RobotPtr model;
            RobotNameHelperPtr nameHelper;
        };
 
        std::map<std::string, RobotModel> models;
 
        struct Properties
        {
            bool enabled = true;
            float frequencyHz = 25.f;
 
            bool framesEnabled = false;
            bool collisionModelEnabled = false;
 
            struct ForceTorque
            {
                bool enabled = true;
                float forceScale = 1.F;
            };
 
            ForceTorque forceTorque;
        } p;
 
        SimpleRunningTask<>::pointer_type updateTask;
    };
 
} // namespace armarx::armem::server::robot_state