ScanLocation.h

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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       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/time/Duration.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/interface/speech/SpeechInterface.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/view_selection/client/ViewSelection.h>
#include <armarx/view_selection/skills/aron/ScanLocation.aron.generated.h>
 
namespace armarx::view_selection::skills
{
    class ScanLocation :
        virtual public armarx::skills::SimpleSpecializedSkill<arondto::ScanLocationParams>
    {
    public:
        using Params = arondto::ScanLocationParams;
        using Base = ::armarx::skills::SimpleSpecializedSkill<Params>;
 
        struct Services
        {
            client::ViewSelection& viewSelectionClient;
 
            // objpose::ObjectPoseClient objectPoseClient;
 
            // armarx::TextListenerInterfacePrx textToSpeech;
 
            // armarx::RobotStateComponentInterfacePrx robotStateComponent;
 
            // armem::client::MemoryNameSystem& memoryNameSystem;
        };
 
        ScanLocation(const Services& srv);
 
        static gaze_targets::GazeTarget
        MakeGazeTarget(const Eigen::Vector3f& position,
                       const arondto::ScanLocationParams& parameters);
        static std::vector<Eigen::Vector3f>
        MakeGazeTargetPositions(const arondto::ScanLocationParams& parameters);
 
    private:
        using Base::init;
        ::armarx::skills::Skill::InitResult init(const Base::SpecializedInitInput& in) override;
        using Base::main;
        ::armarx::skills::Skill::MainResult main(const Base::SpecializedMainInput& in) override;
 
        void onStopRequested() override;
 
    public:
        static armarx::skills::SkillDescription DefaultSkillDescription();
 
    private:
        const Services srv_;
 
        // will be initialized in "init()"
    };
 
} // namespace armarx::view_selection::skills