RobotIK.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2015-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    RobotComponents::ArmarXObjects::RobotIK
 * @author     Joshua Haustein ( joshua dot haustein at gmail dot com )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
#include <RobotComponents/interface/components/RobotIK.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/interface/core/RobotState.h>
 
#include <VirtualRobot/IK/GenericIKSolver.h>
 
#include <mutex>
 
namespace armarx
{
    class RobotIKPropertyDefinitions:
        public ComponentPropertyDefinitions
    {
    public:
        RobotIKPropertyDefinitions(std::string prefix):
            ComponentPropertyDefinitions(prefix)
        {
            defineRequiredProperty<std::string>("RobotFileName", "Filename of VirtualRobot robot model (e.g. robot_model.xml)");
            //Define optional properties
            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the robot state component that should be used");
            defineOptionalProperty<std::string>("ReachabilitySpacesFolder", "Path to a folder containing reachability spaces");
            defineOptionalProperty<int>("NumIKTrials", 10, "Number of trials to find an ik solution");
            defineOptionalProperty<std::string>("InitialReachabilitySpaces", "", "Reachability spaces to load initially (semi-colon separated)");
        }
    };
 
    class ARMARXCOMPONENT_IMPORT_EXPORT RobotIK :
        virtual public Component,
        virtual public RobotIKInterface
    {
    public:
 
        virtual std::string getRobotFilename(const Ice::Current&) const;
 
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        std::string getDefaultName() const override
        {
            return "RobotIK";
        }
 
        NameValueMap computeIKFramedPose(const std::string& robotNodeSetName,
                                         const FramedPoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current& = Ice::emptyCurrent) override;
 
        NameValueMap computeIKGlobalPose(const std::string& robotNodeSetName,
                                         const PoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current& = Ice::emptyCurrent) override;
 
        ExtendedIKResult computeExtendedIKGlobalPose(const std::string& robotNodeSetName,
                const PoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current& = Ice::emptyCurrent) override;
 
        NameValueMap computeCoMIK(const std::string& robotNodeSetJoints, const CoMIKDescriptor& desc, const Ice::Current& = Ice::emptyCurrent) override;
 
        NameValueMap computeHierarchicalDeltaIK(const std::string& robotNodeSet,
                                                const IKTasks& iktasks, const CoMIKDescriptor& comIK,
                                                float stepSize, bool avoidJointLimits, bool enableCenterOfMass, const Ice::Current& = Ice::emptyCurrent) override;
 
        bool createReachabilitySpace(const std::string& chainName, const std::string& coordinateSystem, float stepTranslation, float stepRotation,
                                     const WorkspaceBounds& minBounds, const WorkspaceBounds& maxBounds, int numSamples, const Ice::Current& = Ice::emptyCurrent) override;
 
        bool defineRobotNodeSet(const std::string& name, const NodeNameList& nodes,
                                const std::string& tcpName, const std::string& rootNode, const Ice::Current& = Ice::emptyCurrent) override;
 
        bool hasReachabilitySpace(const std::string& chainName, const Ice::Current& = Ice::emptyCurrent) const override;
 
        bool isFramedPoseReachable(const std::string& chainName, const FramedPoseBasePtr& tcpPose, const Ice::Current& = Ice::emptyCurrent) const override;
 
        bool isPoseReachable(const std::string& chainName, const PoseBasePtr& tcpPose, const Ice::Current& = Ice::emptyCurrent) const override;
 
        bool loadReachabilitySpace(const std::string& filename, const Ice::Current& = Ice::emptyCurrent) override;
 
        bool saveReachabilitySpace(const std::string& robotNodeSet, const std::string& filename, const Ice::Current& = Ice::emptyCurrent) const override;
 
 
    protected:
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
 
    private:
        bool solveIK(const Eigen::Matrix4f& tcpPose, armarx::CartesianSelection cs, VirtualRobot::RobotNodeSetPtr nodeSet);
        void computeIK(const std::string& robotNodeSetName, const Eigen::Matrix4f& tcpPose,
                       armarx::CartesianSelection cs, NameValueMap& iksolution);
 
        void computeIK(VirtualRobot::RobotNodeSetPtr nodeSet, const Eigen::Matrix4f& tcpPose,
                       armarx::CartesianSelection cs, NameValueMap& iksolution);
 
        void computeIK(const std::string& robotNodeSetName, const Eigen::Matrix4f& tcpPose,
                       armarx::CartesianSelection cs, ExtendedIKResult& iksolution);
 
        void computeIK(VirtualRobot::RobotNodeSetPtr nodeSet, const Eigen::Matrix4f& tcpPose,
                       armarx::CartesianSelection cs, ExtendedIKResult& iksolution);
 
        Eigen::Matrix4f toGlobalPose(const FramedPoseBasePtr& tcpPose) const;
        Eigen::Matrix4f toReachabilityMapFrame(const FramedPoseBasePtr& tcpPose, const std::string& chainName) const;
 
        bool isReachable(const std::string& setName, const Eigen::Matrix4f& tcpPose) const;
 
        VirtualRobot::IKSolver::CartesianSelection convertCartesianSelection(armarx::CartesianSelection cs) const;
 
        VirtualRobot::JacobiProvider::InverseJacobiMethod convertInverseJacobiMethod(armarx::InverseJacobiMethod aenum) const;
 
        void synchRobot() const;
 
        // Lock this mutex if you plan to modify the robot model
        // Exception: When adding node sets we don't need to.
        // Invariant: We never delete node sets nor nodes!
        mutable std::recursive_mutex _modifyRobotModelMutex;
        // Lock this mutex if you are adding a node set, to ensure we do not add
        // a similar node set at the same time.
        mutable std::recursive_mutex _editRobotNodeSetsMutex;
        // Lock this mutex if you are reading or editing the reachability cache.
        mutable std::recursive_mutex _accessReachabilityCacheMutex;
        // Needs to be locked when computing IKs! Internally thread safe though.
        VirtualRobot::RobotPtr _robotModel;
        std::string _robotFile;
        RobotStateComponentInterfacePrx _robotStateComponentPrx;
        SharedRobotInterfacePrx _synchronizedRobot;
        DebugDrawerInterfacePrx debugDrawer;
 
        // Reachability cache: not thread safe, always lock!
        using ReachabilityCacheType = std::map<std::string, VirtualRobot::WorkspaceRepresentationPtr>;
        ReachabilityCacheType _reachabilities;
        int _numIKTrials;
    };
 
}