SocialCostmapBuilder.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 )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/types.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/human/types.h>
 
namespace armarx::navigation::components::social_cost_map
{
 
    class SocialCostmapBuilder
    {
    public:
        enum class Mode
        {
            Mode1,
            Empty
        };
 
        SocialCostmapBuilder(const navigation::algorithms::SceneBounds sceneBounds,
                             const navigation::algorithms::Costmap::Parameters& parameters);
 
        [[nodiscard]] navigation::algorithms::Costmap create(const navigation::human::Humans& humans, Mode mode);
 
        [[nodiscard]] navigation::algorithms::Costmap create(const std::vector<navigation::core::Pose2D>& humans, Mode mode);
 
    private:
        static Eigen::MatrixXf createUniformGrid(const navigation::algorithms::SceneBounds& sceneBounds,
                                                 const navigation::algorithms::Costmap::Parameters& parameters);
 
        float computeCostMode1(const navigation::core::Position& position,
                               const std::vector<navigation::core::Pose2D>& humanPoses);
 
        void fillGridCostsMode1(navigation::algorithms::Costmap& costmap, const std::vector<navigation::core::Pose2D>& humanPoses);
 
        void initializeMask(navigation::algorithms::Costmap& costmap);
 
        static std::vector<navigation::core::Pose2D> getHumanPoses(const navigation::human::Humans& humans);
 
        // const VirtualRobot::RobotPtr robot;
        const navigation::algorithms::SceneBounds sceneBounds;
        const navigation::algorithms::Costmap::Parameters parameters;
 
        struct HumanPose
        {
            const navigation::core::Pose global_T_human;
            const navigation::core::Pose global_T_hand;
        };
    };
 
} // namespace armarx::navigation::algorithms