Component.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/>.
 *
 * @package    mobile_manipulation::ArmarXObjects::handover_visualization
 * @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 <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
 
#include <armarx/navigation/components/social_cost_map/ComponentInterface.h>
#include <armarx/navigation/memory/client/costmap/Writer.h>
#include <armarx/navigation/memory/client/human/Reader.h>
#include <armarx/navigation/memory/client/rooms/Reader.h>
 
#include <VisionX/libraries/armem_human/client/HumanPoseReader.h>
#include <VisionX/libraries/armem_human/client/PersonInstanceReader.h>
 
namespace armarx::navigation::components::social_cost_map
{
 
    class Component :
        virtual public armarx::Component,
        virtual public armarx::navigation::components::social_cost_map::ComponentInterface,
        virtual public armarx::ObjectPoseClientPluginUser,
        virtual public armarx::ArVizComponentPluginUser,
        virtual public armarx::DebugObserverComponentPluginUser
    {
    public:
        Component();
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
 
    protected:
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        /// @see armarx::ManagedIceObject::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::ManagedIceObject::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onDisconnectComponent()
        void onDisconnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onExitComponent()
        void onExitComponent() override;
 
 
        /* (Requires armarx::LightweightRemoteGuiComponentPluginUser.)
        /// This function should be called once in onConnect() or when you
        /// need to re-create the Remote GUI tab.
        void createRemoteGuiTab();
 
        /// After calling `RemoteGui_startRunningTask`, this function is
        /// called periodically in a separate thread. If you update variables,
        /// make sure to synchronize access to them.
        void RemoteGui_update() override;
        */
 
 
    private:
        void visualizeOnce();
 
 
        static const std::string defaultName;
 
        // Private member variables go here.
 
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            std::string robotName = "Armar6";
            float taskPeriodMs = 100;
 
            struct
            {
                std::string providerName = "OpenNIPointCloudProvider";
                std::string naviProviderName = "dynamic_scene_provider";
            } human;
 
            bool enableHumanPoseReader = true;
            bool enableHumanPersonInstanceReader = true;
            bool enableNavigationHumanPoseReader = false;
 
            bool restrictToRooms = true;
            std::string roomNames = "2.2.02-Dining Area"; // comma separated list
        };
 
        Properties properties;
 
        template <typename T>
        using ReaderWriterPlugin = armarx::armem::client::plugins::ReaderWriterPlugin<T>;
 
        // ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin =
        //     nullptr;
 
        ReaderWriterPlugin<armarx::navigation::memory::client::rooms::Reader>*
            navigationRoomReaderPlugin = nullptr;
 
        ReaderWriterPlugin<armarx::armem::human::client::Reader>* humanPoseReaderPlugin = nullptr;
        ReaderWriterPlugin<armarx::navigation::memory::client::human::Reader>*
            navigationHumanPoseReaderPlugin = nullptr;
 
        ReaderWriterPlugin<armarx::armem::human::client::PersonInstanceReader>*
            humanPersonInstanceReaderPlugin = nullptr;
 
        ReaderWriterPlugin<armarx::navigation::memory::client::costmap::Writer>*
            costmapWriterPlugin = nullptr;
 
        armarx::PeriodicTask<Component>::pointer_type periodicTask;
 
        VirtualRobot::SceneObjectSetPtr objects;
    };
 
} // namespace armarx::navigation::components::social_cost_map