CollisionAvoidance.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    control::COMPONENT_NAME_SNAKE::skills
 * @author     Meixner ( andre dot meixner at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <experimental/memory>
 
// RobotAPI
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/class/ClassReader.h>
#include <RobotAPI/libraries/armem_objects/client/familiar_object_instance/ObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
//#include <VisionX/libraries/armem_human/client/HumanPoseReader.h>
//#include <VisionX/libraries/armem_human/util.h>
 
// collision_avoidance
#include "armarx/control/client/ComponentPlugin.h"
#include "armarx/control/client/ControllerWrapper.h"
#include "armarx/control/collision_avoidance/skill_provider/Component.h"
//#include "armarx/control/njoint_controller/task_space/ObjectCollisionAvoidanceImpedanceController.h"
//#include "armarx/control/njoint_controller/task_space/ColAvoid.h"
#include <armarx/control/collision_avoidance/aron/CollisionAvoidanceParams.aron.generated.h>
#include <armarx/control/collision_avoidance/constants/constants.h>
#include <armarx/control/common/control_law/aron/CollisionPrimitives.aron.generated.h>
#include <armarx/control/collision_avoidance/component/ComponentInterface.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::collision_avoidance::skills
{
    /**
    * @class CollisionAvoidance
    * @ingroup Library-collision_avoidance
    * @brief Brief description of skill class collision_avoidance.
    *
    * Detailed description of class collision_avoidance.
    */
    class CollisionAvoidance :
        public ::armarx::skills::SimpleSpecializedSkill<
            ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams>
    {
    public:
        using Base = ::armarx::skills::SimpleSpecializedSkill<
            ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams>;
 
        /// Remote parameters of this skill implementation
        struct Remote
        {
            std::experimental::observer_ptr<armarx::control::components::collision_avoidance::ComponentInterfacePrx>
                collisionAvoidanceComponent;
        };
 
        /// Fixed properties of this skill implementation
        struct Properties
        {
            // e.g. std::string someProperty;
        };
 
        static ::armarx::skills::SkillDescription GetSkillDescription();
 
        //CollisionAvoidance(const Remote& r, const Properties& p, const Services& srv);
        CollisionAvoidance(const Remote& r);
 
    private:
        // SimpleSpecializedSkill interface
        // Enable each function you want to override.
        // Base::InitResult init(const SpecializedInitInput&) override;
        using Base::main;
        Base::MainResult main(const SpecializedMainInput& in) override;
 
        using Base::exit;
        Base::ExitResult exit(const SpecializedExitInput&) override;
 
        Remote remote;
        //Properties properties;
    };
 
} // namespace armarx::control::collision_avoidance::skills