aron_conversions.cpp

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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 )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "aron_conversions.h"
 
#include <stdexcept>
 
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/transform.hpp>
 
#include <RobotAPI/libraries/aron/core/aron_conversions.h>
 
#include <armarx/navigation/core/aron/BoundingBox.aron.generated.h>
#include <armarx/navigation/core/aron_conversions.h>
#include <armarx/navigation/safety_guard/LaserBasedProximity.h>
#include <armarx/navigation/safety_guard/aron/LaserBasedProximityParams.aron.generated.h>
 
namespace armarx::navigation::safety_guard
{
    void
    fromAron(const arondto::ProximityFieldParams& dto, ProximityFieldParams& bo)
    {
        aron::fromAron(dto.reduceVelocity, bo.reduceVelocity);
 
        aron::fromAron(dto.minimumDistance, bo.safetyDistance);
        aron::fromAron(dto.maximumDistance, bo.influenceDistance);
        aron::fromAron(dto.k, bo.k);
        aron::fromAron(dto.lambda, bo.lambda);
    }
 
    void
    toAron(arondto::ProximityFieldParams& dto, const ProximityFieldParams& bo)
    {
        aron::toAron(dto.reduceVelocity, bo.reduceVelocity);
 
        aron::toAron(dto.minimumDistance, bo.safetyDistance);
        aron::toAron(dto.maximumDistance, bo.influenceDistance);
        aron::toAron(dto.k, bo.k);
        aron::toAron(dto.lambda, bo.lambda);
    }
 
    void
    fromAron(const arondto::LaserBasedProximityParams& dto, LaserBasedProximityParams& bo)
    {
        aron::fromAron(dto.enableHumans, bo.enableHumans);
        aron::fromAron(dto.enableLaserScanner, bo.enableLaserScanners);
 
        fromAron(dto.humanProximityField, bo.humanProximityField);
        fromAron(dto.laserScannerProximityField, bo.laserScannerProximityField);
 
        bo.ignoredRegions = dto.ignoredRegions |
                            ranges::views::transform(
                                [](const core::arondto::BoundingBox2D& bbDto) -> Eigen::AlignedBox2f
                                {
                                    Eigen::AlignedBox2f bbBo;
                                    core::fromAron(bbDto, bbBo);
                                    return bbBo;
                                }) |
                            ranges::to_vector;
 
        aron::fromAron(dto.ignoreAttachedObjects, bo.ignoreAttachedObjects);
 
        aron::fromAron(dto.enableLaserScannerFiltering, bo.enableLaserScannerFiltering);
        aron::fromAron(dto.laserScannerFilteringThreshold, bo.laserScannerFilteringThreshold);
        aron::fromAron(dto.laserScannerMaxFilteringDistance, bo.laserScannerMaxFilteringDistance);
 
        fromAron(dto.mode, bo.laserScannerProximityField.mode);
        fromAron(dto.mode, bo.humanProximityField.mode);
    }
 
    void
    toAron(arondto::LaserBasedProximityParams& dto, const LaserBasedProximityParams& bo)
    {
        aron::toAron(dto.enableHumans, bo.enableHumans);
        aron::toAron(dto.enableLaserScanner, bo.enableLaserScanners);
 
        toAron(dto.humanProximityField, bo.humanProximityField);
        toAron(dto.laserScannerProximityField, bo.laserScannerProximityField);
 
        dto.ignoredRegions = bo.ignoredRegions |
                             ranges::views::transform(
                                 [](const Eigen::AlignedBox2f& bbBo) -> core::arondto::BoundingBox2D
                                 {
                                     core::arondto::BoundingBox2D bbDto;
                                     core::toAron(bbDto, bbBo);
                                     return bbDto;
                                 }) |
                             ranges::to_vector;
 
        aron::toAron(dto.ignoreAttachedObjects, bo.ignoreAttachedObjects);
 
        aron::toAron(dto.enableLaserScannerFiltering, bo.enableLaserScannerFiltering);
        aron::toAron(dto.laserScannerFilteringThreshold, bo.laserScannerFilteringThreshold);
        aron::toAron(dto.laserScannerMaxFilteringDistance, bo.laserScannerMaxFilteringDistance);
 
        toAron(dto.mode, bo.laserScannerProximityField.mode);
        toAron(dto.mode, bo.humanProximityField.mode);
    }
 
    void
    fromAron(const arondto::LaserBasedProximityMode& dto, ProximityFieldParams::Mode& bo)
    {
        switch (dto.value)
        {
            case arondto::LaserBasedProximityMode::DISABLED:
                bo = ProximityFieldParams::Mode::Disabled;
                break;
            case arondto::LaserBasedProximityMode::DIRECTION_DEPENDENT:
                bo = ProximityFieldParams::Mode::DirectionDependent;
                break;
            case arondto::LaserBasedProximityMode::DIRECTION_INDEPENDENT:
                bo = ProximityFieldParams::Mode::DirectionIndependent;
                break;
            default:
                throw std::runtime_error("Invalid LaserBasedProximityMode value");
        }
    }
 
    void
    toAron(arondto::LaserBasedProximityMode& dto, const ProximityFieldParams::Mode& bo)
    {
        switch (bo)
        {
            case ProximityFieldParams::Mode::Disabled:
                dto.value = arondto::LaserBasedProximityMode::DISABLED;
                break;
            case ProximityFieldParams::Mode::DirectionDependent:
                dto.value = arondto::LaserBasedProximityMode::DIRECTION_DEPENDENT;
                break;
            case ProximityFieldParams::Mode::DirectionIndependent:
                dto.value = arondto::LaserBasedProximityMode::DIRECTION_INDEPENDENT;
                break;
            default:
                throw std::runtime_error("Invalid ProximityFieldParams::Mode value");
        }
    }
} // namespace armarx::navigation::safety_guard