NavigateToWithObstacleAvoidance.cpp

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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       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "NavigateToWithObstacleAvoidance.h"
 
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/client/Navigator.h>
#include <armarx/navigation/client/PathBuilder.h>
#include <armarx/navigation/client/services/IceNavigatorFactory.h>
#include <armarx/navigation/client/services/MemoryPolling.h>
#include <armarx/navigation/client/services/SimpleEventHandler.h>
#include <armarx/navigation/client/types.h>
#include <armarx/navigation/global_planning/SPFA.h>
#include <armarx/navigation/global_planning/optimization/OrientationOptimizer.h>
#include <armarx/navigation/local_planning/TimedElasticBandsParams.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
 
//#include <ArmarXCore/core/time/TimeUtil.h>
//#include <ArmarXCore/observers/variant/DatafieldRef.h>
 
namespace armarx::navigation::statecharts::navigation_group
{
    // DO NOT EDIT NEXT LINE
    NavigateToWithObstacleAvoidance::SubClassRegistry
        NavigateToWithObstacleAvoidance::Registry(NavigateToWithObstacleAvoidance::GetName(),
                                                  &NavigateToWithObstacleAvoidance::CreateInstance);
 
    void
    NavigateToWithObstacleAvoidance::onEnter()
    {
        // put your user code for the enter-point here
        // execution time should be short (<100ms)
    }
 
    void
    NavigateToWithObstacleAvoidance::run()
    {
        const auto v = in.getTargetPosition();
        ARMARX_INFO << VAROUT(v);
 
        core::Pose target = core::Pose::Identity();
        target.linear() = Eigen::AngleAxisf(v->z, Eigen::Vector3f::UnitZ()).toRotationMatrix();
        target.translation().head<2>() = Eigen::Vector2f(v->x, v->y);
 
        ARMARX_INFO << "Moving to target \n" << VAROUT(target.matrix());
 
        core::GeneralConfig generalConfig{};
        armarx::navigation::global_planning::SPFAParams globalPlannerParams;
 
        if (in.isMaxAngularVelocitySet())
        {
            generalConfig.maxVel.angular = in.getMaxAngularVelocity();
            // TODO: what to do when not set
        }
 
        if (in.isMaxLinearVelocitySet())
        {
            generalConfig.maxVel.linear = in.getMaxLinearVelocity();
            // TODO: what to do when not set
        }
 
        if (in.isRotateIntoMovementDirectionSet())
        {
            if (not in.getRotateIntoMovementDirection())
            {
                ARMARX_INFO << "Will not rotate into movement direction.";
                globalPlannerParams.optimizerParams.iterations = 1;
                globalPlannerParams.optimizerParams.movementDirWeightStart = 0.F;
                globalPlannerParams.optimizerParams.movementDirWeightEnd = 0.F;
            }
        }
        else
        {
            globalPlannerParams.optimizerParams.iterations = 1;
            globalPlannerParams.optimizerParams.movementDirWeightStart = 0.F;
            globalPlannerParams.optimizerParams.movementDirWeightEnd = 10.F;
        }
 
        if (in.isOrientationOptimizationSmoothnessWeightSet())
        {
            ARMARX_CHECK_GREATER_EQUAL(in.getOrientationOptimizationSmoothnessWeight(), 0);
            globalPlannerParams.optimizerParams.smoothnessWeight =
                in.getOrientationOptimizationSmoothnessWeight();
        }
 
        if (in.isPredefinedRotationDirectionSet())
        {
            using armarx::navigation::global_planning::optimization::RotationDirection;
            ARMARX_INFO << "Using predefined rotation direction: "
                        << (in.getPredefinedRotationDirection() ? "Clockwise" : "CounterClockwise");
            globalPlannerParams.optimizerParams.predefinedRotationDirection =
                in.getPredefinedRotationDirection() ? RotationDirection::Clockwise
                                                    : RotationDirection::CounterClockwise;
        }
 
 
        // parameterize the navigation stack
        client::NavigationStackConfig cfg;
        cfg.general(generalConfig);
        cfg.globalPlanner(globalPlannerParams);
 
        if (in.getUseLocalPlanner())
        {
            cfg.localPlanner(local_planning::TimedElasticBandsParams{});
        }
 
        // configure the `navigator` which provides a simplified and typed interface to the navigation server
        client::IceNavigatorFactory iceNavigatorFactory(getNavigator());
 
        armem::client::MemoryNameSystem mns(getMemoryNameSystem());
 
        client::MemoryPolling memoryEventPolling(GetName(), mns);
 
        // register our config
        ARMARX_INFO << "Registering config";
        client::NavigatorHandlePtr iceNavigator = iceNavigatorFactory.createConfig(cfg, GetName());
 
        client::Navigator navigator{client::Navigator::InjectedServices{
            .navigator = iceNavigator.get(), .subscriber = &memoryEventPolling}};
 
        // assemble the path, which might consist of waypoints and a goal (the goal is just the last `waypoint`)
 
        // execute
        ARMARX_INFO << "Sending navigation request";
        navigator.moveTo(target, core::NavigationFrame::Absolute);
 
        // Wait until goal is reached
        ARMARX_INFO << "Waiting until goal is reached.";
        client::StopEvent se = navigator.waitForStop();
        if (se)
        {
            ARMARX_INFO << "Goal " << QUOTED(in.getTargetPosition())  << "reached.";
        }
        else
        {
            if (se.isSafetyStopTriggeredEvent())
            {
                ARMARX_ERROR << "Safety stop was triggered!";
                emitFailure();
            }
            else if (se.isUserAbortTriggeredEvent())
            {
                ARMARX_ERROR << "Aborted by user!";
                emitFailure();
            }
            else if (se.isInternalErrorEvent())
            {
                ARMARX_ERROR << "Unknown internal error occured! "
                             << se.toInternalErrorEvent().message;
                emitFailure();
            }
        }
 
        emitSuccess();
    }
 
    //void NavigateToWithObstacleAvoidance::onBreak()
    //{
    //    // put your user code for the breaking point here
    //    // execution time should be short (<100ms)
    //}
 
    void
    NavigateToWithObstacleAvoidance::onExit()
    {
        // put your user code for the exit point here
        // execution time should be short (<100ms)
    }
 
    // DO NOT EDIT NEXT FUNCTION
    XMLStateFactoryBasePtr
    NavigateToWithObstacleAvoidance::CreateInstance(XMLStateConstructorParams stateData)
    {
        return XMLStateFactoryBasePtr(new NavigateToWithObstacleAvoidance(stateData));
    }
} // namespace armarx::navigation::statecharts::navigation_group