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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "util.h"
 
#include <algorithm>
#include <optional>
#include <string>
#include <vector>
 
#include <Eigen/Geometry>
 
#include <VirtualRobot/ManipulationObject.h> // IWYU pragma: keep
#include <VirtualRobot/SceneObjectSet.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/BaseIO.h>
#include <VirtualRobot/XML/ObjectIO.h>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
 
#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
#include "RobotAPI/libraries/ArmarXObjects/ObjectPose.h"
#include "RobotAPI/libraries/ArmarXObjects/forward_declarations.h"
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
 
namespace armarx::objpose::util
{
 
    objpose::ObjectPoseSeq
    filterObjects(objpose::ObjectPoseSeq objects,
                  const std::vector<std::string>& datasetDisableList)
    {
        const auto isInDisableList = [&datasetDisableList](const objpose::ObjectPose& objectPose)
        {
            const auto dataset = objectPose.objectID.dataset();
 
            return std::find(datasetDisableList.begin(), datasetDisableList.end(), dataset) !=
                   datasetDisableList.end();
        };
 
        objects.erase(std::remove_if(objects.begin(), objects.end(), isInDisableList),
                      objects.end());
        return objects;
    }
 
    objpose::ObjectPoseSeq
    staticObjects(objpose::ObjectPoseSeq objects)
    {
        const auto isDynamic = [](const objpose::ObjectPose& objectPose)
        { return not objectPose.isStatic; };
 
        objects.erase(std::remove_if(objects.begin(), objects.end(), isDynamic), objects.end());
        return objects;
    }
 
    objpose::ObjectPoseSeq
    nonArticulatedObjects(objpose::ObjectPoseSeq objects)
    {
        ObjectFinder finder;
        finder.setLogObjectDiscoveryError(false);
 
        const auto isArticulated = [&finder](const objpose::ObjectPose& objectPose)
        {
            const auto objInfo = finder.findObject(objectPose.objectID);
            ARMARX_CHECK_NOT_NULL(objInfo) << objectPose.objectID;
            const bool hasArticulatedModel = objInfo->getArticulatedModel().has_value();
            return hasArticulatedModel;
        };
 
        objects.erase(std::remove_if(objects.begin(), objects.end(), isArticulated), objects.end());
        return objects;
    }
 
    objpose::ObjectPoseSeq
    articulatedObjects(objpose::ObjectPoseSeq objects)
    {
        ObjectFinder finder;
        finder.setLogObjectDiscoveryError(false);
 
        const auto isNonArticulated = [&finder](const objpose::ObjectPose& objectPose)
        {
            const auto objInfo = finder.findObject(objectPose.objectID);
            ARMARX_CHECK_NOT_NULL(objInfo) << objectPose.objectID;
            const bool hasArticulatedModel = objInfo->getArticulatedModel().has_value();
            return not hasArticulatedModel;
        };
 
        objects.erase(std::remove_if(objects.begin(), objects.end(), isNonArticulated),
                      objects.end());
        return objects;
    }
 
    std::optional<objpose::ObjectPose>
    findObject(const objpose::ObjectPoseSeq& objectPoses, const armarx::ObjectID& objectID)
    {
        const auto matchesId = [&objectID](const objpose::ObjectPose& objectPose) -> bool
        { return objectPose.objectID == objectID; };
 
        const auto it = std::find_if(objectPoses.begin(), objectPoses.end(), matchesId);
        if (it != objectPoses.end())
        {
            return *it;
        }
 
        return std::nullopt;
    }
 
    VirtualRobot::ManipulationObjectPtr
    asManipulationObject(const objpose::ObjectPose& objectPose,
                         const VirtualRobot::ObjectIO::ObjectDescription loadMode)
    {
        ObjectFinder finder;
        finder.setLogObjectDiscoveryError(false);
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
        if (auto obstacle = finder.loadManipulationObject(objectPose, loadMode))
        {
            obstacle->setName(objectPose.objectID.str());
            obstacle->setGlobalPose(objectPose.objectPoseGlobal);
            return obstacle;
        }
 
        ARMARX_WARNING << "Failed to load scene object `" << objectPose.objectID << "`";
        return nullptr;
    }
 
    VirtualRobot::SceneObjectSetPtr
    asSceneObjects(const objpose::ObjectPoseSeq& objectPoses,
                   const VirtualRobot::ObjectIO::ObjectDescription loadMode)
    {
        ObjectFinder finder;
        finder.setLogObjectDiscoveryError(false);
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
        for (const auto& objectPose : objectPoses)
        {
            ARMARX_VERBOSE << "Loading object `" << objectPose.objectID << "`";
            if (auto obstacle = finder.loadManipulationObject(objectPose, loadMode))
            {
                obstacle->setName(objectPose.objectID.str());
                obstacle->setGlobalPose(objectPose.objectPoseGlobal);
                sceneObjects->addSceneObject(obstacle);
            }
        }
 
        return sceneObjects;
    }
 
    VirtualRobot::SceneObjectSetPtr
    asSceneObjects(const VirtualRobot::SceneObjectSetPtr& existingSceneObjectSet,
                   const objpose::ObjectPoseSeq& objectPoses,
                   const VirtualRobot::ObjectIO::ObjectDescription loadMode)
    {
 
        // instantiate a local cache to check whether a certain object (by id) already exists
        std::map<armarx::ObjectID, VirtualRobot::SceneObjectPtr> existingSceneObjectSetMap;
 
        if (existingSceneObjectSet)
        {
            for (const auto& sceneObject : existingSceneObjectSet->getSceneObjects())
            {
                existingSceneObjectSetMap.emplace(armarx::ObjectID(sceneObject->getName()),
                                                  sceneObject);
            }
        }
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
 
        objpose::ObjectPoseSeq existingObjectPoses;
        objpose::ObjectPoseSeq objectPosesToLoad;
 
        // split the provided objectPoses into a list of (1) already loaded and (2) to be loaded
        for (const auto& objectPose : objectPoses)
        {
            if (existingSceneObjectSetMap.count(objectPose.objectID) > 0)
            {
                existingObjectPoses.push_back(objectPose);
            }
            else
            {
                objectPosesToLoad.push_back(objectPose);
            }
        }
 
        // for the ones that are already available, synchronize their state
        for (const auto& objectPose : existingObjectPoses)
        {
            const VirtualRobot::SceneObjectPtr& sceneObject =
                existingSceneObjectSetMap.at(objectPose.objectID);
            sceneObject->setGlobalPose(objectPose.objectPoseGlobal);
            sceneObjects->addSceneObject(sceneObject);
        }
 
        if (not objectPosesToLoad.empty())
        {
            ObjectFinder finder;
            finder.setLogObjectDiscoveryError(false);
 
            for (const auto& objectPose : objectPosesToLoad)
            {
                ARMARX_VERBOSE << "Loading object `" << objectPose.objectID << "`";
                if (auto obstacle = finder.loadManipulationObject(objectPose, loadMode))
                {
                    obstacle->setName(objectPose.objectID.str());
                    obstacle->setGlobalPose(objectPose.objectPoseGlobal);
                    sceneObjects->addSceneObject(obstacle);
                }
            }
        }
 
        return sceneObjects;
    }
 
    VirtualRobot::SceneObjectPtr
    asSceneObject(const objpose::ObjectPose& objectPose,
                  const VirtualRobot::ObjectIO::ObjectDescription loadMode)
    {
        ObjectFinder finder;
        finder.setLogObjectDiscoveryError(false);
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
        if (auto obstacle = finder.loadManipulationObject(objectPose, loadMode))
        {
            obstacle->setName(objectPose.objectID.str());
            obstacle->setGlobalPose(objectPose.objectPoseGlobal);
            return obstacle;
        }
        return nullptr;
    }
 
 
} // namespace armarx::objpose::util