LookAt.cpp

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#include "LookAt.h"
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
#include <armarx/view_selection/skills/commit_and_wait.h>
#include <armarx/view_selection/skills/skill_ids.h>
 
namespace armarx::view_selection::skills
{
 
    LookAt::LookAt(const Context& services) : Base(DefaultSkillDescription()), srv_(services)
    {
    }
 
    ::armarx::skills::Skill::InitResult
    LookAt::init(const Base::SpecializedInitInput& in)
    {
        gazeTarget.emplace(); // populate optional
 
        fromAron(in.parameters.target, gazeTarget.value());
 
        return ::armarx::skills::Skill::InitResult{
            .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
    }
 
    ::armarx::skills::Skill::MainResult
    LookAt::main(const Base::SpecializedMainInput& in)
    {
        ARMARX_CHECK(gazeTarget.has_value());
 
        return commitAndMaybeWait(srv_->viewSelectionClient,
                                  gazeTarget.value(),
                                  in.parameters.waitUntilReached,
                                  in.parameters.waitTimeout_ms,
                                  [this]() { return shouldSkillTerminate(); });
    }
 
    void
    LookAt::onStopRequested()
    {
        if (gazeTarget.has_value())
        {
            srv_->viewSelectionClient.commitGazeTarget(gazeTarget.value());
        }
    }
 
    ::armarx::skills::SkillDescription
    LookAt::DefaultSkillDescription()
    {
        ParamType defaultParameters;
        defaultParameters.target.duration = armarx::Duration::Seconds(0);
        defaultParameters.target.name = "";
        defaultParameters.target.keepInQueue = false;
        // Off by default so existing callers are unaffected; the aron default for the timeout is
        // "wait forever", so the root profile supplies a sane bound instead.
        defaultParameters.waitUntilReached = false;
        defaultParameters.waitTimeout_ms = 10000;
 
        return armarx::skills::SkillDescription{
            .skillId = skill_ids::LookAt,
            .description = "",
            .rootProfileDefaults = defaultParameters.toAron(),
            // Generous: the caller's waitTimeout_ms is the real bound, this is only a backstop
            // (navigation's blocking NavigateTo uses an hour for the same reason).
            .timeout = armarx::core::time::Duration::Hours(1),
            .parametersType = Params::ToAronType(),
        };
    }
 
 
} // namespace armarx::view_selection::skills