UnimanualAffordanceArmarX.h

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as
 * published by the Free Software Foundation; either version 2 of
 * the License, or (at your option) any later version.
 *
 * 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 Lesser 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    AffordanceKitArmarX
 * @author     Peter Kaiser ( peter dot kaiser at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
 
#include <AffordanceKit/UnimanualAffordance.h>
#include <Inventor/nodes/SoCoordinate3.h>
#include <Inventor/nodes/SoLineSet.h>
#include <Inventor/nodes/SoMaterial.h>
 
namespace AffordanceKitArmarX
{
 
    class UnimanualAffordanceArmarX
    {
    public:
        UnimanualAffordanceArmarX(const AffordanceKit::UnimanualAffordancePtr& unimanualAffordance);
        ~UnimanualAffordanceArmarX();
 
        void visualize(const armarx::DebugDrawerInterfacePrx& debugDrawer,
                       const std::string& layerName,
                       const std::string& id,
                       float minExpectedProbability,
                       const AffordanceKit::PrimitivePtr& primitive);
 
        void reset();
 
    protected:
        Eigen::Vector3f computeSamplingPosition(const Eigen::Matrix4f& pose, float offset);
        float computeSamplingDistance(const Eigen::Matrix4f& sampling1,
                                      const Eigen::Matrix4f& sampling2);
 
    protected:
        AffordanceKit::UnimanualAffordancePtr affordance;
 
        SoCoordinate3* visualizationCoordinateNode;
        SoMaterial* visualizationMaterialNode;
        SoLineSet* visualizationLineSetNode;
        SoSeparator* visualizationNode;
    };
 
    using UnimanualAffordanceArmarXPtr = std::shared_ptr<UnimanualAffordanceArmarX>;
 
} // namespace AffordanceKitArmarX