Visualization.h

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#pragma once
 
#include <atomic>
#include <cstdint>
#include <mutex>
#include <utility>
 
#include <Eigen/Core>
 
#include <ArmarXCore/core/PackagePath.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
#include <RobotAPI/components/ArViz/Client/elements/Robot.h>
 
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/basic_types.h>
 
namespace armarx::navigation::util
{
 
    class Visualization
    {
 
    public:
        struct Params
        {
            armarx::PackagePath robotModelFileName;
 
            bool enableVisualization = true;
            bool enableTrajectoryVisualization = false;
 
            int hideDelaySeconds = 2; // [s]
 
            int alphaValue = 30;
        };
 
        Visualization(armarx::viz::Client& arviz, const Params& params);
 
        Visualization(Visualization&& other) noexcept :
            params(std::move(other.params)), arviz(other.arviz), robotVis(other.robotVis)
        {
        }
 
        void setTarget(const core::Pose& m);
 
        void success();
        void failed();
 
 
        void visualize(const core::GlobalTrajectory& trajectory);
 
        void
        updateParams(const Params& params)
        {
            std::lock_guard g{paramsMutex};
            this->params = params;
        }
 
    private:
        void visualizeTrajectory(const core::GlobalTrajectory& trajectory);
 
        void asyncHideDelayed();
 
        std::atomic<std::int64_t> lastUpdate = 0;
 
        // Params
        std::mutex paramsMutex;
        Params params;
 
        // ArViz
        std::mutex mutex;
        armarx::viz::ScopedClient arviz;
 
        viz::Robot robotVis{""};
    };
 
} // namespace armarx::navigation::util