SceneProvider.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       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <string>
#include <vector>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <armarx/navigation/core/DynamicScene.h>
#include <armarx/navigation/core/StaticScene.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/memory/client/human/Reader.h>
#include <armarx/navigation/memory/client/costmap3d/Reader.h>
#include <armarx/navigation/server/scene_provider/SceneProviderInterface.h>
 
namespace armarx::navigation::memory::client
{
    namespace graph
    {
        class Reader;
    }
 
    namespace costmap
    {
        class Reader;
    }
 
    namespace human
    {
        class Reader;
    }
 
    namespace laser_scanner_features
    {
        class Reader;
    }
 
} // namespace armarx::navigation::memory::client
 
namespace armarx::navigation::server::scene_provider
{
 
    class SceneProvider : virtual public SceneProviderInterface
    {
    public:
        struct InjectedServices
        {
 
            memory::client::graph::Reader* graphReader;
 
            memory::client::costmap::Reader* costmapReader;
            memory::client::costmap3d::Reader* costmap3dReader;
            // armem::vision::occupancy_grid::client::Reader occupancyGridReader;
 
            // `robot_state` memory reader and writer
            armem::robot_state::VirtualRobotReader* virtualRobotReader;
 
            memory::client::human::Reader* humanReader;
 
            memory::client::laser_scanner_features::Reader* laserScannerFeaturesReader;
 
            objpose::ObjectPoseClient objectPoseClient;
        };
 
        struct Config
        {
            std::string robotName;
 
            std::string staticCostmapProviderName = "distance_to_obstacle_costmap_provider";
            std::string staticCostmapName = "distance_to_obstacles";
            std::string costmap3dProviderName = "orientation_aware_costmap3d_provider";
            std::string costmap3dName = "distance_to_obstacles";
 
            std::string humanProviderName = "dynamic_scene_provider";
            std::string laserScannerFeaturesProviderName = "dynamic_scene_provider";
 
            std::vector<std::string> primitiveApproximationModels = {"navigation"};
        };
 
        SceneProvider(const InjectedServices& srv, const Config& config);
 
        const core::Scene& scene() const override;
 
        bool initialize(const DateTime& timestamp) override;
        bool synchronize(const DateTime& timestamp, bool fullUpdate) override;
 
 
    private:
        VirtualRobot::RobotConstPtr getRobot(const DateTime& timestamp) const;
        core::StaticScene getStaticScene(const DateTime& timestamp) const;
        core::DynamicScene getDynamicScene(const DateTime& timestamp);
        core::SceneGraph getSceneGraph(const DateTime& timestamp) const;
 
        InjectedServices srv;
        Config config;
 
        core::Scene scn;
 
 
        // internal cache
        mutable VirtualRobot::SceneObjectSetPtr objects;
    };
} // namespace armarx::navigation::server::scene_provider