Impl.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    RobotAPI::ArmarXObjects::RobotStatePredictionClientExample
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
#include <vector>
 
#include <ArmarXCore/util/tasks.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/forward_declarations.h>
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
 
#include "RobotStatePredictionClient.h"
 
namespace armarx::robot_state_prediction_client_example
{
 
    class Impl
    {
    public:
        Impl();
        ~Impl();
 
 
        void defineProperties(IceUtil::Handle<armarx::PropertyDefinitionContainer>& defs,
                              const std::string& prefix);
        void connect(armem::client::MemoryNameSystem& mns, viz::Client arviz);
 
        void start();
        void stop();
 
        void run();
        void runOnce();
 
 
    public:
        struct Properties
        {
            float updateFrequencyHz = 10;
 
            std::string robotName = "Armar6";
            float predictAheadSeconds = 1.0;
        };
 
        Properties properties;
 
        struct Remote
        {
            viz::Client arviz;
        };
 
        Remote remote;
 
        armarx::SimpleRunningTask<>::pointer_type task;
 
 
        armem::robot_state::RobotStatePredictionClient client;
 
        std::optional<std::vector<armem::MemoryID>> localizationEntityIDs;
        std::optional<std::vector<armem::MemoryID>> propioceptionEntityIDs;
        std::optional<viz::Robot> robotViz;
    };
} // namespace armarx::robot_state_prediction_client_example