GazeControllerStatus.ice

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#pragma once
 
#include <ArmarXCore/interface/core/time.ice>
 
module armarx
{
    module view_selection
    {
        module gaze_controller
        {
            /**
             * Periodic report of the low-level gaze controller's residual.
             *
             * Deliberately raw: the controller does not decide whether the gaze counts as fixed on
             * the target, it only reports how far off it currently is.  The gaze scheduler applies
             * the thresholds, because it is the part that knows which target is active and who
             * requested it.  This is also why this slice depends on ArmarXCoreInterfaces only --
             * the controller runs in the RobotUnit and must not pull in the memory.
             */
            struct GazeControllerStatus
            {
                /// Echoed back from the controller config.  Identifies which target the residual
                /// refers to, so a report about a superseded target cannot be misattributed.
                long targetId;
 
                string targetName;
 
                /// Angle between the gaze ray and the direction to the target [rad].
                float angularError;
 
                /// Lateral miss distance at target range [mm].
                float lateralError;
 
                /// False if the target is out of reach (joint limits hit, or no IK solution).
                bool targetReachable;
 
                armarx::core::time::dto::DateTime timestamp;
            };
 
            interface GazeControllerStatusListener
            {
                void reportGazeControllerStatus(GazeControllerStatus status);
            };
        };
    };
};