PlatformUnitSimulation.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    ArmarXCore::units
 * @author     Christian Boege (boege dot at kit dot edu)
 * @date       2011
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <string>
 
#include <IceUtil/Time.h>
 
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/PIDController.h>
 
#include "PlatformUnit.h"
 
namespace armarx
{
    /**
     * \class PlatformUnitSimulation
     * \brief Simulates a robot platform.
     * \ingroup RobotAPI-SensorActorUnits-simulation
     */
    class PlatformUnitSimulation : virtual public PlatformUnit
    {
    public:
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return "PlatformUnitSimulation";
        }
 
        void onInitPlatformUnit() override;
        void onStartPlatformUnit() override;
        void onStopPlatformUnit() override;
        void onExitPlatformUnit() override;
 
        void simulationFunction();
 
        // proxy implementation
        void moveTo(Ice::Float targetPlatformPositionX,
                    Ice::Float targetPlatformPositionY,
                    Ice::Float targetPlatformRotation,
                    Ice::Float positionalAccuracy,
                    Ice::Float orientationalAccuracy,
                    const Ice::Current& c = Ice::emptyCurrent) override;
 
        /**
         * \warning Not yet implemented!
         */
        void move(float targetPlatformVelocityX,
                  float targetPlatformVelocityY,
                  float targetPlatformVelocityRotation,
                  const Ice::Current& c = Ice::emptyCurrent) override;
 
        void moveRelative(float targetPlatformOffsetX,
                          float targetPlatformOffsetY,
                          float targetPlatformOffsetRotation,
                          float positionalAccuracy,
                          float orientationalAccuracy,
                          const Ice::Current& c = Ice::emptyCurrent) override;
        void setMaxVelocities(float positionalVelocity,
                              float orientaionalVelocity,
                              const Ice::Current& c = Ice::emptyCurrent) override;
        void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
        /**
         * \see PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    protected:
        std::mutex currentPoseMutex;
        IceUtil::Time lastExecutionTime;
        int intervalMs;
 
        enum PlatformMode
        {
            eUndefined,
            ePositionControl,
            eVelocityControl
        } platformMode;
 
        ::Ice::Float targetPositionX;
        ::Ice::Float targetPositionY;
        ::Ice::Float currentPositionX;
        ::Ice::Float currentPositionY;
        ::Ice::Float targetRotation;
        ::Ice::Float currentRotation;
 
        ::Ice::Float linearVelocityX;
        ::Ice::Float linearVelocityY;
        ::Ice::Float maxLinearVelocity;
        ::Ice::Float angularVelocity;
        ::Ice::Float maxAngularVelocity;
 
        ::Ice::Float positionalAccuracy;
        ::Ice::Float orientationalAccuracy;
 
        std::string referenceFrame;
        MultiDimPIDControllerPtr velPID, posPID;
        Eigen::Vector2f currentTranslationVelocity = Eigen::Vector2f::Zero();
 
        PeriodicTask<PlatformUnitSimulation>::pointer_type simulationTask;
 
 
    private:
        Eigen::Matrix4f currentPlatformPose() const;
 
        RobotStateComponentInterfacePrx robotStateComponent;
 
        std::string agentName;
        std::string robotRootFrame;
    };
} // namespace armarx