ArvizIntrospector.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 )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <map>
#include <optional>
#include <string>
#include <vector>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/ArViz/Client/Layer.h>
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
 
#include <armarx/navigation/core/Graph.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/safety_guard/SafetyGuard.h>
#include <armarx/navigation/server/Navigator.h>
 
#include "DrawerInterface.h"
#include "IntrospectorInterface.h"
 
// forward declaration
namespace armarx::navigation::core
{
    class GlobalTrajectory;
}
 
namespace armarx::navigation::server
{
 
    class ArvizIntrospector : virtual public IntrospectorInterface, virtual public DrawerInterface
    {
    public:
        ArvizIntrospector(armarx::viz::Client arviz,
                          const VirtualRobot::RobotConstPtr& robot,
                          const objpose::ObjectPoseClient& objClient);
        ~ArvizIntrospector() override = default;
 
        void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) override;
        void onGlobalPlannerSubdivision(const GlobalPathSubdivision& subdivision) override;
 
        void onLocalPlannerResult(
            const std::optional<local_planning::LocalPlannerResult>& result) override;
 
        void onRobotPose(const core::Pose& pose) override;
 
        void onGoal(const core::Pose& goal) override;
 
        void success() override;
        void failure() override;
 
        void onGlobalShortestPath(const std::vector<core::Pose>& path) override;
 
        void onGlobalGraph(const core::Graph& graph) override;
 
        void callGenericDrawFunction(std::function<void(viz::Client&)>) override;
 
 
        // // Non-API
        ArvizIntrospector(ArvizIntrospector&& other) noexcept;
        ArvizIntrospector& operator=(ArvizIntrospector&&) noexcept;
 
        void clear();
 
    private:
        void drawGlobalTrajectory(const core::GlobalTrajectory& trajectory);
        void drawGlobalHelperTrajectory(const core::GlobalTrajectory& trajectory);
        void drawGlobalTrajectory(const core::GlobalTrajectory& trajectory,
                                  std::string layerName,
                                  simox::color::Color color);
        void drawGlobalPathSubdivision(const GlobalPathSubdivision& subdivision);
        void drawLocalTrajectory(const std::optional<core::LocalTrajectory>& trajectory);
        void drawRawVelocity(const core::Twist& twist);
        void drawSafeVelocity(const core::Twist& twist);
 
        viz::ScopedClient arviz;
        const VirtualRobot::RobotConstPtr robot;
 
        objpose::ObjectPoseClient objClient;
 
        std::map<std::string, viz::Layer> layers;
 
        // util::Visualization visualization;
 
        std::optional<core::Pose> lastPose;
 
        /// Where the robot has actually been since the current goal was set, sampled by
        /// distance. Kept so the polyline can be rebuilt; ArViz has no append.
        std::vector<core::Pose> travelled;
 
        viz::Layer robotPosesLayer;
    };
 
} // namespace armarx::navigation::server