util.cpp

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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    Navigation::ArmarXObjects::util
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "util.h"
 
#include <cmath>
#include <string>
 
#include <Eigen/Geometry>
 
#include <VirtualRobot/CollisionDetection/CollisionModel.h>
#include <VirtualRobot/SceneObject.h>
#include <VirtualRobot/SceneObjectSet.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/libraries/armem_vision/OccupancyGridHelper.h>
#include <RobotAPI/libraries/armem_vision/types.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
namespace armarx::navigation::util
{
 
    VirtualRobot::SceneObjectSetPtr
    asSceneObjects(const armem::vision::OccupancyGrid& occupancyGrid,
                   const OccupancyGridHelper::Params& params)
    {
        const OccupancyGridHelper ocHelper(occupancyGrid, params);
        const auto obstacles = ocHelper.obstacles();
 
        const float boxSize = occupancyGrid.resolution;
        const float resolution = occupancyGrid.resolution;
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
 
        ARMARX_CHECK_EQUAL(occupancyGrid.frame, GlobalFrame)
            << "Only occupancy grid in global frame supported.";
 
        VirtualRobot::CoinVisualizationFactory factory;
 
        const Eigen::Isometry3f& world_T_map = occupancyGrid.pose;
 
        for (int x = 0; x < obstacles.rows(); x++)
        {
            for (int y = 0; y < obstacles.cols(); y++)
            {
                if (obstacles(x, y))
                {
                    const Eigen::Vector3f pos{
                        static_cast<float>(x * resolution), static_cast<float>(y * resolution), 0};
 
                    Eigen::Isometry3f map_T_obj = Eigen::Isometry3f::Identity();
                    map_T_obj.translation() = pos;
 
                    Eigen::Isometry3f world_T_obj = world_T_map * map_T_obj;
 
                    auto cube = factory.createBox(boxSize, boxSize, boxSize);
 
                    VirtualRobot::CollisionModelPtr collisionModel(
                        new VirtualRobot::CollisionModel(cube));
 
                    VirtualRobot::SceneObjectPtr sceneObject(new VirtualRobot::SceneObject(
                        "box_" + std::to_string(sceneObjects->getSize()), cube, collisionModel));
                    sceneObject->setGlobalPose(world_T_obj.matrix());
 
                    sceneObjects->addSceneObject(sceneObject);
                }
            }
        }
 
        return sceneObjects;
    }
 
    Eigen::Matrix4f
    getRobotPoseAtXOrientedTowardsY(const Eigen::Vector3f& x, const Eigen::Vector3f& y)
    {
        const auto goalPosition = Eigen::Affine3f{Eigen::Translation3f{x}};
        const auto lookPosition = Eigen::Affine3f{Eigen::Translation3f{y}};
        const Eigen::Vector3f direction = lookPosition.translation() - goalPosition.translation();
        const auto dot = direction.x() * 0 + direction.y() * 1;
        const auto det = direction.x() * 1 - direction.y() * 0;
        const auto angle = -atan2(det, dot);
        const Eigen::Affine3f rot{Eigen::AngleAxisf{angle, Eigen::Vector3f::UnitZ()}};
        const auto pose = (goalPosition * rot).matrix();
        return pose;
    }
} // namespace armarx::navigation::util