MotionModelStaticObject.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 "MotionModelStaticObject.h"
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
 
namespace memoryx
{
    MotionModelStaticObject::MotionModelStaticObject(
        armarx::RobotStateComponentInterfacePrx robotStateProxy) :
        AbstractMotionModel(robotStateProxy)
    {
    }
 
    // predicted pose that is constant in the world coordinate frame
    armarx::LinkedPosePtr
    MotionModelStaticObject::getPredictedPoseInternal()
    {
        //        // get old and new transformation to robot root frame
        //        armarx::PosePtr oldGlobalPoseOfFrame = armarx::PosePtr::dynamicCast(poseAtLastLocalization->referenceRobot->getRobotNode(poseAtLastLocalization->frame)->getPoseInRootFrame());
        //        Eigen::Matrix4f oldTrafoToRootCS = oldGlobalPoseOfFrame->toEigen();
 
        //        armarx::SharedRobotInterfacePrx currentRobotSnapshot = robotStateProxy->getRobotSnapshot(robotStateProxy->getSynchronizedRobot()->getName());
        //        armarx::PosePtr newGlobalPoseOfFrame = armarx::PosePtr::dynamicCast(currentRobotSnapshot->getRobotNode(poseAtLastLocalization->frame)->getPoseInRootFrame());
        //        Eigen::Matrix4f newTrafoToRootCS = newGlobalPoseOfFrame->toEigen();
 
        //        // get robot pose in world coordinates, if available
        //        Eigen::Matrix4f oldRobotPose, newRobotPose;
        //        getOldAndNewRobotPose(oldRobotPose, newRobotPose);
 
        //        Eigen::Matrix4f predictedPose = newTrafoToRootCS.inverse()*newRobotPose.inverse()*oldRobotPose*oldTrafoToRootCS*armarx::LinkedPosePtr::dynamicCast(poseAtLastLocalization)->toEigen();
 
        //        armarx::LinkedPosePtr ret = new armarx::LinkedPose(predictedPose, poseAtLastLocalization->frame, currentRobotSnapshot);
        //        return ret;
 
        armarx::LinkedPosePtr pose = armarx::LinkedPosePtr::dynamicCast(poseAtLastLocalization);
        std::string oldFrameName = pose->frame;
        armarx::FramedPosePtr newPose = pose->toGlobal();
        //        newPose->changeFrame(currentRobotSnapshot, poseAtLastLocalization->frame);
 
        armarx::SharedRobotInterfacePrx currentRobotSnapshot =
            robotStateProxy->getRobotSnapshot(robotStateProxy->getRobotName());
        armarx::LinkedPosePtr ret =
            new armarx::LinkedPose(newPose->toEigen(), newPose->frame, currentRobotSnapshot);
        ret->changeFrame(oldFrameName);
        return ret;
    }
 
    memoryx::MultivariateNormalDistributionBasePtr
    MotionModelStaticObject::getUncertaintyInternal()
    {
        MultivariateNormalDistributionPtr result = NULL;
 
        ARMARX_DEBUG_S << "MotionModelStaticObject::getUncertaintyInternal()";
 
        if (uncertaintyAtLastLocalization)
        {
            // uncertainty is increased proportionally to robot motion in the world
            Eigen::Matrix4f oldRobotPose, newRobotPose;
            getOldAndNewRobotPose(oldRobotPose, newRobotPose);
            const float positionDistance =
                (oldRobotPose.block<3, 1>(0, 3) - newRobotPose.block<3, 1>(0, 3)).norm();
            const float positionChangeUncertaintyFactor = 0.1 * positionDistance;
            float additionalUncertaintyFactor = positionChangeUncertaintyFactor;
            ARMARX_DEBUG_S << "positionChangeUncertaintyFactor: "
                           << positionChangeUncertaintyFactor;
 
            // uncertainty also increases slowly over time
            IceUtil::Time timeAtLastLocalization =
                armarx::TimestampVariantPtr::dynamicCast(timeOfLastSuccessfulLocalization)
                    ->toTime();
            IceUtil::Time timeSinceLastLocalization = IceUtil::Time::now() - timeAtLastLocalization;
            const float timeUncertaintyFactor =
                0.0005 * abs(timeSinceLastLocalization.toMilliSeconds()); // 0.5mm per second
            additionalUncertaintyFactor += timeUncertaintyFactor;
            ARMARX_DEBUG_S << "timeUncertaintyFactor: " << timeUncertaintyFactor;
 
            Eigen::Matrix3f additionalUncertainty = additionalUncertaintyFactor *
                                                    additionalUncertaintyFactor *
                                                    Eigen::Matrix3f::Identity();
            Eigen::Matrix3f oldUncertainty =
                MultivariateNormalDistributionPtr::dynamicCast(uncertaintyAtLastLocalization)
                    ->toEigenCovariance();
            Eigen::Matrix3f newUncertainty = oldUncertainty + additionalUncertainty;
 
            ARMARX_DEBUG_S << "oldUncertainty: " << oldUncertainty;
            ARMARX_DEBUG_S << "additionalUncertainty: " << additionalUncertainty;
            ARMARX_DEBUG_S << "newUncertainty: " << newUncertainty;
 
            result = new MultivariateNormalDistribution(
                armarx::Vector3Ptr::dynamicCast(poseAtLastLocalization->position)->toEigen(),
                newUncertainty);
        }
 
        return result;
    }
 
    void
    MotionModelStaticObject::getOldAndNewRobotPose(Eigen::Matrix4f& oldRobotPose,
                                                   Eigen::Matrix4f& newRobotPose)
    {
        oldRobotPose = Eigen::Matrix4f::Identity();
        newRobotPose = Eigen::Matrix4f::Identity();
 
        if (globalRobotPoseAtLastLocalization)
        {
            oldRobotPose =
                armarx::PosePtr::dynamicCast(globalRobotPoseAtLastLocalization)->toEigen();
            newRobotPose = armarx::PosePtr::dynamicCast(
                               robotStateProxy->getSynchronizedRobot()->getGlobalPose())
                               ->toEigen();
        }
    }
 
} // namespace memoryx