GraspablePredicateProvider.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    ArmarX::
* @author     Valerij Wittenbeck ( valerij.wittenbeck at  student dot kit dot edu)
* @date       2015
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
 
#include "Box.hpp"
#include <MemoryX/components/GraphNodePoseResolver/GraphNodePoseResolver.h>
#include <MemoryX/components/WorldStateObserver/WorldStateUpdaterBase.h>
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
#include <MemoryX/libraries/helpers/VirtualRobotHelpers/SimoxObjectWrapper.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectInstance.h>
 
namespace memoryx
{
    class GraspablePredicateProviderPropertyDefinitions :
        public WorldStateUpdaterPropertyDefinitions
    {
    public:
        GraspablePredicateProviderPropertyDefinitions(std::string prefix) :
            WorldStateUpdaterPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "DebugDrawerTopicName",
                "DebugDrawerUpdates",
                "Where to draw the provided bounding boxes (if empty -> don't draw)");
            //countertop;sideboard?;fridge;table?
            defineOptionalProperty<std::string>(
                "BoundingBoxesR",
                "2960.0 9885.0 1000.0 1970.0 990.0 500.0;4490.0 7100.0 1000.0 1000.0 1180.0 "
                "500.0;4465.0 10255.0 1750 490.0 500.0 2000;2680 6051 1100 800 800 500",
                "Format: 'xCenter yCenter zCenter xSize ySize zSize' for one 6-tuple, separate "
                "multiple tuples with ';'");
            defineOptionalProperty<std::string>(
                "BoundingBoxesL",
                "3350.0 9960.0 1000.0 1820.0 840.0 500.0;4490.0 7100.0 1000.0 1000.0 1180.0 "
                "500.0;4465.0 10255.0 1750 490.0 500.0 2000;2680 6051 1100 800 800 500",
                "Format: 'xCenter yCenter zCenter xSize ySize zSize' for one 6-tuple, separate "
                "multiple tuples with ';'");
        }
    };
 
    class GraspablePredicateProvider : public WorldStateUpdaterBase
    {
    public:
        GraspablePredicateProvider();
 
        // ManagedIceObject interface
    protected:
        void onInitWorldStateUpdater() override;
        void onConnectWorldStateUpdater() override;
        std::string getDefaultName() const override;
 
        armarx::PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            return armarx::PropertyDefinitionsPtr(
                new GraspablePredicateProviderPropertyDefinitions(getConfigIdentifier()));
        }
 
        // WorldStateUpdaterInterface interface
    public:
        PredicateInfoList getPredicateInfos(const Ice::Current& = Ice::emptyCurrent) override;
        PredicateInstanceList calcPredicates(const Ice::Current& = Ice::emptyCurrent) override;
 
    private:
        struct GraspabilityDescriptor
        {
            std::string className;
            bool hasGraspableSuperclass;
            bool hasLeftGrasp;
            bool hasRightGrasp;
        };
 
        std::vector<Box> stringToBoxes(const std::string& boxesString);
        void addPredicateIfInside(PredicateInstanceList& result,
                                  const std::string& predicateName,
                                  const ObjectInstancePtr& obj,
                                  const std::vector<Box>& boxes);
        std::string debugDrawerTopicName;
        std::vector<Box> boxesL;
        std::vector<Box> boxesR;
        WorkingMemoryInterfacePrx wm;
        WorkingMemoryEntitySegmentBasePrx objectInstances;
        PriorKnowledgeInterfacePrx prior;
        PersistentObjectClassSegmentBasePrx objectClasses;
 
        armarx::DrawColor leftColor;
        armarx::DrawColor rightColor;
        PredicateInfo leftGraspable;
        PredicateInfo rightGraspable;
 
        memoryx::GridFileManagerPtr fileManager;
        std::vector<GraspabilityDescriptor> graspabilityDescriptors;
    };
 
} // namespace memoryx