CoordinationCore.h

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#pragma once
 
#include <atomic>
#include <map>
#include <string>
#include <vector>
 
#include <Eigen/Core>
// #include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h>
#include <RobotAPI/interface/aron/Aron.h>
 
#include <armarx/control/common/common.aron.generated.h>
 
namespace armarx::control::common::coordination
{
    using PoseFrameMode = armarx::control::common::arondto::PoseFrameMode;
 
    struct InputData
    {
        Eigen::Matrix4f targetPose;
        PoseFrameMode targetPoseMode;
        Eigen::Matrix4f pose;
        Eigen::Vector6f vel;
        Eigen::Vector6f ft;
        Eigen::Vector6f stiffness;
 
        InputData(const Eigen::Matrix4f& targetPose,
                  const PoseFrameMode targetPoseMode,
                  const Eigen::Matrix4f& pose,
                  const Eigen::Vector6f& vel,
                  const Eigen::Vector6f& ft,
                  const Eigen::Vector6f& stiffness) :
            targetPose(targetPose),
            targetPoseMode(targetPoseMode),
            pose(pose),
            vel(vel),
            ft(ft),
            stiffness(stiffness)
        {
        }
    };
 
    class Coordination
    {
    public:
        virtual ~Coordination() = default;
        virtual void rtPreActivate() = 0;
        virtual void reset(std::map<std::string, Eigen::Matrix4f>& initPose) = 0;
        virtual void runRT(std::map<std::string, InputData>& input, double deltaT) = 0;
        virtual void updateNonRt() = 0;
        virtual void commitNonRt() = 0;
        virtual void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                                  bool flagResetRt = false) = 0;
 
        bool isInitialized();
        const std::vector<std::string>& getNodesetList();
        void setNodesetList(const std::string& nodesetLeft, const std::string& nodesetRight);
        std::string& getLeftNodesetName();
        std::string& getRightNodesetName();
 
    protected:
        std::atomic_bool initialized_{false};
 
    private:
        std::vector<std::string> nodesetList_;
        std::string nodesetLeft_;
        std::string nodesetRight_;
    };
 
} // namespace armarx::control::common::coordination