MotionModelAttachedToOtherObject.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "MotionModelAttachedToOtherObject.h"
 
#include <ArmarXCore/core/exceptions/LocalException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
 
#include <RobotAPI/libraries/core/Pose.h>
 
#include <MemoryX/core/entity/ProbabilityMeasures.h>
 
namespace memoryx
{
    MotionModelAttachedToOtherObject::MotionModelAttachedToOtherObject(
        armarx::RobotStateComponentInterfacePrx robotStateProxy,
        armarx::ChannelRefPtr channelRefToObjectToWhichThisIsAttached) :
        AbstractMotionModel(robotStateProxy)
    {
        this->channelRefToObjectToWhichThisIsAttached = channelRefToObjectToWhichThisIsAttached;
        channelRefIsValid = true;
 
        armarx::FramedPositionPtr positionOfAtObj =
            channelRefToObjectToWhichThisIsAttached->get<armarx::FramedPosition>("position");
        armarx::FramedOrientationPtr orientationOfAtObj =
            channelRefToObjectToWhichThisIsAttached->get<armarx::FramedOrientation>("orientation");
        armarx::LinkedPosePtr poseOfAtObj =
            new armarx::LinkedPose(orientationOfAtObj->toEigen(),
                                   positionOfAtObj->toEigen(),
                                   positionOfAtObj->frame,
                                   robotStateProxy->getSynchronizedRobot());
        //        ARMARX_INFO_S << VAROUT(*positionOfAtObj);
        //        ARMARX_INFO_S << VAROUT(*poseOfAtObj);
        Eigen::Matrix4f globalPoseOfAtObj = poseOfAtObj->toGlobal()->toEigen();
        //        ARMARX_INFO_S << VAROUT(globalPoseOfAtObj);
        initialGlobalPoseOfObjectToWhichThisIsAttached = new armarx::Variant();
        armarx::VariantPtr::dynamicCast(initialGlobalPoseOfObjectToWhichThisIsAttached)
            ->setClass(new armarx::MatrixFloat(globalPoseOfAtObj));
        globalPoseOfObjectToWhichThisIsAttachedAtLocalizationStart = new armarx::Variant();
        armarx::VariantPtr::dynamicCast(globalPoseOfObjectToWhichThisIsAttachedAtLocalizationStart)
            ->setClass(new armarx::MatrixFloat(globalPoseOfAtObj));
    }
 
    armarx::LinkedPosePtr
    MotionModelAttachedToOtherObject::getPredictedPoseInternal()
    {
        if (channelRefIsValid)
        {
            try
            {
                //        ARMARX_INFO_S << VAROUT(*poseAtLastLocalization);
                armarx::LinkedPosePtr oldPoseGlobal =
                    armarx::LinkedPosePtr::dynamicCast(poseAtLastLocalization)->toGlobal();
 
                armarx::SharedRobotInterfacePrx currentRobotSnapshot =
                    robotStateProxy->getRobotSnapshot(
                        robotStateProxy->getSynchronizedRobot()->getName());
 
                // determine transformation of the object to which this one is attached in global coordinates
                armarx::FramedPositionPtr positionOfAtObj =
                    armarx::ChannelRefPtr::dynamicCast(channelRefToObjectToWhichThisIsAttached)
                        ->get<armarx::FramedPosition>("position");
                armarx::FramedOrientationPtr orientationOfAtObj =
                    armarx::ChannelRefPtr::dynamicCast(channelRefToObjectToWhichThisIsAttached)
                        ->get<armarx::FramedOrientation>("orientation");
                armarx::LinkedPosePtr poseOfAtObj =
                    new armarx::LinkedPose(orientationOfAtObj->toEigen(),
                                           positionOfAtObj->toEigen(),
                                           positionOfAtObj->frame,
                                           currentRobotSnapshot);
                armarx::LinkedPosePtr globalPoseOfAtObj = poseOfAtObj->toGlobal();
                Eigen::Matrix4f initPoseOfAtObj =
                    armarx::VariantPtr::dynamicCast(initialGlobalPoseOfObjectToWhichThisIsAttached)
                        ->getClass<armarx::MatrixFloat>()
                        ->toEigen();
                Eigen::Matrix4f trafoOfObjectToWhichThisIsAttached =
                    globalPoseOfAtObj->toEigen() * initPoseOfAtObj.inverse();
 
                //        ARMARX_VERBOSE_S << "new pose: " << globalPoseOfAtObj->toEigen() * initPoseOfAtObj.inverse() * oldPoseGlobal->toEigen();
 
                Eigen::Matrix4f predictedPose =
                    trafoOfObjectToWhichThisIsAttached * oldPoseGlobal->toEigen();
 
                armarx::LinkedPosePtr ret = new armarx::LinkedPose(
                    predictedPose, armarx::GlobalFrame, currentRobotSnapshot);
 
                return ret;
            }
            catch (...)
            {
                armarx::handleExceptions();
                channelRefIsValid = false;
                ARMARX_ERROR_S << "The ChannelRef of the object to which this is attached is not "
                                  "valid (anymore). Did you release that object?";
            }
        }
        return armarx::LinkedPosePtr::dynamicCast(poseAtLastLocalization);
    }
 
    void
    MotionModelAttachedToOtherObject::setPoseAtLastLocalisation(
        const armarx::LinkedPoseBasePtr& poseAtLastLocalization,
        const armarx::PoseBasePtr& globalRobotPoseAtLastLocalization,
        const MultivariateNormalDistributionBasePtr& uncertaintyAtLastLocalization,
        const Ice::Current& c)
    {
        if (channelRefIsValid)
        {
            try
            {
 
                std::unique_lock lock(motionPredictionLock);
                //        ARMARX_WARNING_S << "setpose attached: " << VAROUT(*poseAtLastLocalization);
                this->poseAtLastLocalization = poseAtLastLocalization;
 
                // this one is probably unnecessary now
                this->globalRobotPoseAtLastLocalization = globalRobotPoseAtLastLocalization;
 
                initialGlobalPoseOfObjectToWhichThisIsAttached =
                    armarx::VariantPtr::dynamicCast(
                        globalPoseOfObjectToWhichThisIsAttachedAtLocalizationStart)
                        ->clone();
 
                if (uncertaintyAtLastLocalization)
                {
                    this->uncertaintyAtLastLocalization = uncertaintyAtLastLocalization;
                }
            }
            catch (...)
            {
                armarx::handleExceptions();
                channelRefIsValid = false;
                ARMARX_ERROR_S << "The ChannelRef of the object to which this is attached is not "
                                  "valid (anymore). Did you release that object?";
            }
        }
    }
 
    memoryx::MultivariateNormalDistributionBasePtr
    MotionModelAttachedToOtherObject::getUncertaintyInternal()
    {
        if (uncertaintyAtLastLocalization)
        {
            return uncertaintyAtLastLocalization;
        }
        else
        {
            return NULL;
        }
    }
 
    void
    MotionModelAttachedToOtherObject::savePredictedPoseAtStartOfCurrentLocalization(
        const Ice::Current& c)
    {
        AbstractMotionModel::savePredictedPoseAtStartOfCurrentLocalization(c);
 
        armarx::FramedPositionPtr positionOfAtObj =
            armarx::ChannelRefPtr::dynamicCast(channelRefToObjectToWhichThisIsAttached)
                ->get<armarx::FramedPosition>("position");
        armarx::FramedOrientationPtr orientationOfAtObj =
            armarx::ChannelRefPtr::dynamicCast(channelRefToObjectToWhichThisIsAttached)
                ->get<armarx::FramedOrientation>("orientation");
        armarx::LinkedPosePtr poseOfAtObj =
            new armarx::LinkedPose(orientationOfAtObj->toEigen(),
                                   positionOfAtObj->toEigen(),
                                   positionOfAtObj->frame,
                                   poseAtLastLocalization->referenceRobot);
        armarx::LinkedPosePtr globalPoseOfAtObj = poseOfAtObj->toGlobal();
        armarx::VariantPtr::dynamicCast(globalPoseOfObjectToWhichThisIsAttachedAtLocalizationStart)
            ->setClass(new armarx::MatrixFloat(globalPoseOfAtObj->toEigen()));
    }
 
} // namespace memoryx