ObjectCollisionAvoidanceImpedanceController.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    ...
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
#include <armarx/control/common/control_law/CollisionAvoidance.h>
#include <armarx/control/common/control_law/aron/ObjectCollisionAvoidanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/CollisionPrimitives.aron.generated.h>
 
#include <armarx/control/common/device.h>
#include <armarx/control/njoint_controller/core/CollisionAvoidanceCore.h>
#include <armarx/control/njoint_controller/core/ObjectCollisionAvoidanceCore.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
#include <armarx/control/njoint_controller/task_space/ImpedanceController.h>
 
#include <simox/control/environment/CollisionRobot.h>
#include <simox/control/geodesics/metric/inertia.h>
#include <simox/control/impl/simox/robot/Robot.h>
 
#include <Eigen/Core>
 
namespace armarx::control::njoint_controller::task_space
{
    /**
    * @defgroup Library-NJointTaskspaceCollisionAvoidanceImpedanceController NJointTaskspaceCollisionAvoidanceImpedanceController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointTaskspaceCollisionAvoidanceImpedanceController.
    *
    * @class NJointTaskspaceCollisionAvoidanceImpedanceController
    * @ingroup Library-NJointTaskspaceCollisionAvoidanceImpedanceController
    * @brief Brief description of class NJointTaskspaceCollisionAvoidanceImpedanceController.
    *
    * Detailed description of class NJointTaskspaceCollisionAvoidanceImpedanceController.
    */
    class NJointTaskspaceObjectCollisionAvoidanceImpedanceController :
        virtual public NJointTaskspaceImpedanceController,
        virtual public NJointTaskspaceObjectCollisionAvoidanceImpedanceControllerInterface,
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        using ConfigPtrT = ConfigurableNJointControllerConfigPtr;
        using CollisionCtrlCfg =
            common::control_law::arondto::ObjectCollisionAvoidanceTSImpedanceControllerConfig;
 
        NJointTaskspaceObjectCollisionAvoidanceImpedanceController(
            const RobotUnitPtr& robotUnit,
            const NJointControllerConfigPtr& config,
            const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
 
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
 
        void updateCollisionObjects(const std::string& primitiveSourceName,
                                    const ::armarx::aron::data::dto::DictPtr& scene,
                                    const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        /// NJointController interface for collision avoidance
        void
        updateCollisionAvoidanceConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                                       const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        ::armarx::aron::data::dto::DictPtr
        getCollisionAvoidanceConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        static WidgetDescription::WidgetPtr
        GenerateConfigDescription(const VirtualRobot::RobotPtr&,
                                  const std::map<std::string, ConstControlDevicePtr>&,
                                  const std::map<std::string, ConstSensorDevicePtr>&);
 
        static ConfigPtrT GenerateConfigFromVariants(const StringVariantBaseMap& values);
 
        void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                          const Ice::Current& iceCurrent) override;
        ::armarx::aron::data::dto::DictPtr getConfig(const Ice::Current& iceCurrent) override;
 
    protected:
        void limbRT(ArmPtr& arm, const double deltaT);
        void onPublish(const SensorAndControl& sc,
                       const DebugDrawerInterfacePrx& drawer,
                       const DebugObserverInterfacePrx&) override;
 
        void collLimbPublish(core::ObjectCollisionAvoidanceBase::NodeSetData& arm,
                             const DebugObserverInterfacePrx& debugObs);
 
        void collObjectPublish(const std::vector<hpp::fcl::CollisionObject>& objects,
                               const DebugObserverInterfacePrx& debugObs,
                               const std::string& layerSuffix);
 
        void sendCollisionObjects();
 
        /// NJointControllerBase interface
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
 
        std::map<std::string, std::vector<hpp::fcl::CollisionObject>> collisionObjects;
        core::ObjectCollisionAvoidanceBasePtr coll = nullptr;
 
 
    private:
        //TODO make private again: core::ObjectCollisionAvoidanceBasePtr coll = nullptr;
        std::atomic_bool collReady{false};
 
        CollisionCtrlCfg userCfgWithColl;
 
        Eigen::Isometry3d matrixToIsometry(Eigen::Matrix<double, 4, 4> transformation);
    };
} // namespace armarx::control::njoint_controller::task_space