ProxemicZoneCreator.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     Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <armarx/navigation/human/types.h>
 
namespace armarx::navigation::human
{
 
    class ProxemicZoneCreator
    {
 
    public:
        struct ProxemicParameters
        {
            float intimateWeight = 2.0;
            float personalWeight = 1.0;
 
            float intimateRadius = 400;
            float personalRadius = 400;
 
            float movementInfluence = 0.8;
            // an offset applied to the intimate and personal zone in the coordinate system of the human
            // a positive x-value means an offset to the right
            // a positive y-value means an offset to the front
            Eigen::Vector2f offset{50, 50};
        };
 
        ProxemicZoneCreator()
        {
            intimatePenalty = {.minDistance = 0.1, .epsilon = 0, .exponent = 1.2};
            personalPenalty = {.minDistance = 0.1, .epsilon = 0, .exponent = 1.2};
        }
 
        ProxemicZoneCreator(ProxemicParameters& params,
                            ExponentialPenaltyModel& intimatePenalty,
                            ExponentialPenaltyModel& personalPenalty) :
            params(params), intimatePenalty(intimatePenalty), personalPenalty(personalPenalty)
        {
        }
 
        ProxemicZones createProxemicZones(const Human& human);
 
    private:
        ProxemicParameters params;
        ExponentialPenaltyModel intimatePenalty;
        ExponentialPenaltyModel personalPenalty;
    };
 
} // namespace armarx::navigation::human