LookDirection.h

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#pragma once
 
#include <cstdint>
#include <optional>
#include <string>
 
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/view_selection/client/ViewSelection.h>
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
#include <armarx/view_selection/skills/aron/LookDirection.aron.generated.h>
 
namespace armarx::view_selection::skills
{
    namespace direction
    {
        const Eigen::Vector3f centerPosition{0., 1500., 1500.};
        const Eigen::Vector3f downstraightPosition{0., 1500., 500.};
        const Eigen::Vector3f DeltaUp{0., 0., 1000.};
        const Eigen::Vector3f deltaDown{0., 0., -1000.};
        const Eigen::Vector3f deltaLeft{-1000., 0., 0.};
        const Eigen::Vector3f deltaRight{1000., 0., 0.};
 
        /**
         * The namespace state contains the states of allowed directions.
         * There are 9 states in total:
         * Left+Up     Center+Up     Right + Up
         * Left+Center   Center    Right+Center
         * Left+Down  Center+Down   Right+Down
         */
        namespace state
        {
            using Type = std::uint8_t;
            constexpr std::uint8_t Center = 0;
            constexpr std::uint8_t Up = 0b1;
            constexpr std::uint8_t Down = 0b10;
            constexpr std::uint8_t Left = 0b1000;
            constexpr std::uint8_t Right = 0b10000;
            constexpr std::uint8_t Downstraight = 0b100000;
 
            using StateModFn = state::Type(state::Type);
 
            state::Type from(Eigen::Vector3f targetPosition);
 
            Eigen::Vector3f generateTargetPosition(state::Type state);
 
            state::Type center(state::Type previous);
            state::Type up(state::Type previous);
            state::Type down(state::Type previous);
            state::Type left(state::Type previous);
            state::Type right(state::Type previous);
 
            state::Type downstraight(state::Type previous);
 
        } // namespace state
 
    } // namespace direction
 
    /*
     * The LookDirection class implements all functions except DefaultSkillDescription().
     *
     * For each implemented direction there is a specialized subclass below.
     */
 
    class LookDirection :
        virtual public armarx::skills::SimpleSpecializedSkill<arondto::LookDirectionParams>
    {
    public:
        using Params = arondto::LookDirectionParams;
        using Base = ::armarx::skills::SimpleSpecializedSkill<Params>;
 
        struct Context
        {
            client::ViewSelection& viewSelectionClient;
            // RobotReader from RobotAPI? Would be another option to get current state.
        };
 
        LookDirection(const Context& services,
                      direction::state::StateModFn* stateModFn,
                      armarx::skills::SkillDescription skillDescription);
 
        void connect(const Context& srv);
 
    private:
        using Base::init;
        using Base::main;
 
    private:
        ::armarx::skills::Skill::InitResult init(const Base::SpecializedInitInput& in) override;
        ::armarx::skills::Skill::MainResult main(const Base::SpecializedMainInput& in) override;
 
        void onStopRequested() override;
 
    protected:
        static armarx::skills::SkillDescription
        generateDefaultSkillDescription(std::string name, std::string directionText);
 
    private:
        std::optional<Context> srv_;
        direction::state::StateModFn* stateModFn;
 
        // will be initialized in "init()"
        std::optional<gaze_targets::GazeTarget> gazeTarget;
    };
 
    /*
     * Specialized classes for each direction
     */
 
    class LookUp : public LookDirection
    {
    public:
        LookUp(const Context& services);
 
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
    class LookDown : public LookDirection
    {
    public:
        LookDown(const Context& services);
 
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
    /**
     * This direction forces to look down in the middle
     */
    class LookDownstraight : public LookDirection
    {
    public:
        LookDownstraight(const Context& services);
 
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
    class LookLeft : public LookDirection
    {
    public:
        LookLeft(const Context& services);
 
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
    class LookRight : public LookDirection
    {
    public:
        LookRight(const Context& services);
 
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
    class LookAhead : public LookDirection
    {
    public:
        LookAhead(const Context& services);
 
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
} // namespace armarx::view_selection::skills