utils.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     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Geometry>
 
#include <SimoxUtility/json.h>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/core/Pose.h>
 
#include <armarx/control/common/mp/aron/MPConfig.aron.generated.h>
#include <armarx/control/common/type.h>
 
//#include <mplib/core/types.h>
 
namespace armarx::control::common
{
 
    namespace control_law::helper
    {
        /// helper functions
        Eigen::Vector4f calculateTransitionWeights(float z1, float z2);
    } // namespace control_law::helper
 
    using DVec = std::vector<double>;
    Eigen::VectorXf getEigenVec(nlohmann::json& userConfig,
                                nlohmann::json& defaultConfig,
                                const std::string& entryName,
                                int size = 0,
                                int value = 0);
 
    template <typename T>
    void
    getEigenVec(nlohmann::json& userConfig,
                nlohmann::json& defaultConfig,
                const std::string& entryName,
                T& vec)
    {
        if (userConfig.find(entryName) != userConfig.end())
        {
            vec = userConfig[entryName];
        }
        else
        {
            vec = defaultConfig[entryName];
        }
    }
 
    void
    getEigenMatrix(nlohmann::json& userConfig, const std::string& entryName, Eigen::MatrixXf& mat);
 
    Eigen::VectorXf getEigenVecWithDefault(nlohmann::json& userConfig,
                                           Eigen::VectorXf defaultValue,
                                           const std::string& entryName);
 
    template <typename T>
    T
    getValue(nlohmann::json& userConfig,
             nlohmann::json& defaultConfig,
             const std::string& entryName)
    {
        if (userConfig.find(entryName) != userConfig.end())
        {
            return userConfig[entryName].get<T>();
        }
        else
        {
            return defaultConfig[entryName].get<T>();
        }
    }
 
    template <typename T>
    T
    getValueWithDefault(nlohmann::json& userConfig, T defaultValue, const std::string& entryName)
    {
        if (userConfig.find(entryName) != userConfig.end())
        {
            return userConfig[entryName].get<T>();
        }
        else
        {
            return defaultValue;
        }
    }
 
    void
    debugEigenPose(StringVariantBaseMap& datafields, const std::string& name, Eigen::Matrix4f pose);
    void debugEigenMat(StringVariantBaseMap& datafields,
                       const std::string& name,
                       const Eigen::MatrixXd& mat);
    void debugEigenMat(StringVariantBaseMap& datafields,
                       const std::string& name,
                       const Eigen::MatrixXf& mat);
    void
    debugEigenVec(StringVariantBaseMap& datafields, const std::string& name, Eigen::VectorXf vec);
 
    void
    debugStdVec(StringVariantBaseMap& datafields, const std::string& name, std::vector<float> vec);
 
    void getError(Eigen::Matrix4f& currentPose,
                  Eigen::Vector3d& targetPosition,
                  Eigen::Quaterniond& targetQuaternion,
                  double& posiError,
                  double& oriError);
 
    void to_json(nlohmann::json& j, const Pose& fp);
 
    void from_json(const nlohmann::json& j, Pose& fp);
 
    void to_json(nlohmann::json& j, const PosePtr& fp);
 
    void from_json(const nlohmann::json& j, PosePtr& fp);
 
    void to_json(nlohmann::json& j, const PoseBasePtr& fp);
 
    void from_json(const nlohmann::json& j, PoseBasePtr& fp);
 
    Eigen::Block<Eigen::Matrix4f, 3, 3> getOri(Eigen::Matrix4f& matrix);
    Eigen::Matrix3f getOri(const Eigen::Matrix4f& matrix);
    Eigen::Matrix3f getOriT(const Eigen::Matrix4f& matrix);
    void setOri(Eigen::Matrix4f& matrix, const Eigen::Ref<const Eigen::Matrix3f>& ori);
 
    Eigen::Block<Eigen::Matrix4f, 3, 1> getPos(Eigen::Matrix4f& matrix);
    Eigen::Vector3f getPos(const Eigen::Matrix4f& matrix);
    void setPos(Eigen::Matrix4f& matrix, const Eigen::Ref<const Eigen::Vector3f>& pos);
 
    void skew(const Eigen::Vector3f& vec, Eigen::Ref<Eigen::Matrix3f> result);
 
    PosePtr dVecToPose(const DVec& dvec);
 
    /**
     *  @brief  create Eigen:Matrix4f from 7D double vector.
     *  @param  dvec  [x, y, z, qw, qx, qy, qz] format
     *  @return Eigen::Matrix4f \in SE(3)
     *
     *  Note that, the order of the quaternion elements follows w, x, y, z format
     */
    Eigen::Matrix4f dVecToMat4(const DVec& dvec);
    Eigen::Matrix4f vec7fToMat4f(const Eigen::VectorXf& vec);
 
    DVec poseToDVec(PosePtr& pose);
 
    /**
     *  @brief  convert Eigen:Matrix4f to 7D double vector.
     *  @param  mat Eigen::Matrix4f \in SE(3)
     *  @return vector of format [x, y, z, qw, qx, qy, qz]
     *
     *  Note that, the order of the quaternion elements follows w, x, y, z format
     */
    DVec mat4ToDVec(const Eigen::Matrix4f& mat);
 
    std::vector<float> poseToFVec(PosePtr& pose);
 
    std::vector<float> mat4ToFVec(const Eigen::Matrix4f& mat);
 
    std::string dVecToString(const DVec& dvec);
 
    Eigen::VectorXf vecToEigen(std::vector<float>& vec);
    void dvecToEigenf(std::vector<double>& vec, Eigen::VectorXf& result);
 
    std::string sVecToString(const std::vector<std::string>& vec,
                             const std::string& delimiter = ", ");
 
    armarx::control::common::mp::arondto::MPTraj
    mpTrajFromFile(std::string filename, bool containsHeader = true, bool noTimeStamp = false);
 
    /**
     *  @brief  create a dummy trajectory that only has zeros for every dimension.
     *  @param  dimension  the dimension of the trajectory, e.g. 7d for taskspace and
     *          Nd for N-joint kinematic chain.
     *  @param  timesteps  the total number of timesteps in the trajectory
     *  @return the MPTraj instance
     *
     *  Note that, we you use this to configure MPs and execute it after, you'll have to set
     *  a proper start and goal for it, either set them in the MPListConfig for the corresponding
     *  MP and call startAll(), or use start("MPName", start, goal, duration_second).
     *  Otherwise, the MP will assume the first and last timestep being the start and goal, which
     *  are all zeros and therefore wrong for your task.
     */
    mp::arondto::MPTraj createDummyTraj(const int dimension, const int timesteps = 100);
 
    mp::arondto::MPConfig getDefaultMPConfig(
        MPType mpType,
        const std::string& name,
        const std::string& nodeSetName,
        const double& durationSec = -1.0,
        const std::vector<mp::arondto::MPTraj>& mpTraj = std::vector<mp::arondto::MPTraj>(),
        const std::vector<mp::arondto::ListViaPoint>& viaPointList =
            std::vector<mp::arondto::ListViaPoint>());
 
    mp::arondto::MPConfig
    getDefaultMPConfig(MPType mpType,
                       const std::string& name,
                       const std::string& nodeSetName,
                       const double& durationSec,
                       const std::vector<std::string>& mpTraj = std::vector<std::string>(),
                       const std::vector<mp::arondto::ListViaPoint>& viaPointList =
                           std::vector<mp::arondto::ListViaPoint>());
 
    void addViaPoint(mp::arondto::MPConfig& cfg,
                     const double& canValue,
                     const std::vector<double>& viaPoint);
    void addViaPoint(mp::arondto::MPConfig& cfg,
                     const double& canValue,
                     const std::vector<float>& viaPoint);
    void addViaPoint(mp::arondto::MPConfig& cfg,
                     const double& canValue,
                     const Eigen::VectorXf& viaPoint);
 
    void validateTSViaPoint(std::vector<double>& viaPoint, std::vector<double>& viaPointReference);
 
    void
    addViaPoint(mp::arondto::MPConfig& cfg, const double& canValue, const Eigen::Matrix4f& viaPose);
 
    void appendToViapointList(std::vector<mp::arondto::ListViaPoint>& vpList,
                              const double canonicalValue,
                              const std::vector<double>& viaPoint);
    void appendToViapointList(std::vector<mp::arondto::ListViaPoint>& vpList,
                              const double canonicalValue,
                              const std::vector<float>& viaPoint);
    void appendToViapointList(std::vector<mp::arondto::ListViaPoint>& vpList,
                              const double canonicalValue,
                              const Eigen::VectorXf& viaPoint);
    void appendToViapointList(std::vector<mp::arondto::ListViaPoint>& vpList,
                              const double canonicalValue,
                              const Eigen::Matrix4f& viaPose);
 
    float getDeltaAngleBetweenRotMat(const Eigen::Matrix3f& rotMat1,
                                     const Eigen::Matrix3f& rotMat2);
    float getDeltaAngleBetweenPose(const Eigen::Matrix4f& pose1, const Eigen::Matrix4f& pose2);
 
    bool poseDeviationTooLarge(const Eigen::Matrix4f& currentPose,
                               const Eigen::Matrix4f& desiredPose,
                               float positionThrMM,
                               float angleThrDeg);
    void reportPoseDeviationWarning(const std::string& who,
                                    const Eigen::Matrix4f& pose1,
                                    const Eigen::Matrix4f& pose2,
                                    const std::string& namePose1,
                                    const std::string& namePose2);
    bool detectAndReportPoseDeviationWarning(const Eigen::Matrix4f& pose1,
                                             const Eigen::Matrix4f& pose2,
                                             const std::string& namePose1,
                                             const std::string& namePose2,
                                             float positionThrMM,
                                             float angleThrDeg,
                                             const std::string& who);
 
    Eigen::Matrix4f mirrorLeftRightPose(Eigen::Matrix4f& sourcePose);
    Eigen::Matrix4f mirrorLeftRightOri(Eigen::Matrix4f& sourcePose);
    Eigen::Matrix3f mirrorLeftRightOri(Eigen::Matrix3f& sourcePose);
} // namespace armarx::control::common