person_simulator_skill_provider.cpp

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#include "person_simulator_skill_provider.h"
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
#include <VisionX/libraries/person_simulator/skills/CreateHumanPose.h>
#include <VisionX/libraries/person_simulator/skills/CreateHumanPoseWithFaceRecognition.h>
#include <VisionX/libraries/person_simulator/skills/CreateHumanProfile.h>
 
namespace visionx::components::person_simulator_skill_provider
{
    Component::Component()
    {
        addPlugin(virtualRobotReaderPlugin);
    }
 
    const std::string Component::defaultName = "person_simulator_skill_provider";
 
    armarx::PropertyDefinitionsPtr
    Component::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr def =
            new armarx::ComponentPropertyDefinitions(getConfigIdentifier());
 
        def->required(properties.robotName, "RobotName", "Default robot name.");
        def->required(properties.poseProviderName, "Pose provider segment name");
        def->required(properties.profileProviderName, "Profile provider segment name");
        def->required(properties.poseModelId, "Pose Model ID");
        def->required(properties.jointDisplacement,
                      "Joint displacement",
                      "The distance between a joint and the middle axis in generated poses.");
 
 
        return def;
    }
 
    void
    Component::onInitComponent()
    {
        // Topics and properties defined above are automagically registered.
 
        // Keep debug observer data until calling `sendDebugObserverBatch()`.
        // (Requies the armarx::DebugObserverComponentPluginUser.)
        // setDebugObserverBatchModeEnabled(true);
    }
 
    void
    Component::onConnectComponent()
    {
        // Do things after connecting to topics and components.
        VisionX::person_simulator::core::PersonSimulator::Remote remote = {
            memoryNameSystem(), virtualRobotReaderPlugin->get()};
 
        {
            addSkillFactory<VisionX::person_simulator::skills::CreateHumanProfile>(remote,
                                                                                   properties);
        }
 
        {
            addSkillFactory<VisionX::person_simulator::skills::CreateHumanPose>(remote, properties);
        }
 
        {
            addSkillFactory<VisionX::person_simulator::skills::CreateHumanPoseWithFaceRecognition>(
                remote, properties);
        }
    }
 
    void
    Component::onDisconnectComponent()
    {
    }
 
    void
    Component::onExitComponent()
    {
    }
 
    std::string
    Component::getDefaultName() const
    {
        return Component::defaultName;
    }
 
    std::string
    Component::GetDefaultName()
    {
        return Component::defaultName;
    }
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(Component, Component::GetDefaultName());
 
} // namespace visionx::components::person_simulator_skill_provider