CreateHumanPose.cpp

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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/>.
 *
 * @package    VisionX::COMPONENT_NAME_SNAKE::skills
 * @author     Peter Albrecht ( usnlf at student dot kit dot edu)
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "CreateHumanPose.h"
 
#include "VisionX/libraries/person_simulator/core/PersonSimulator.h"
#include "VisionX/libraries/person_simulator/skills/constants.h"
#include "VisionX/libraries/person_simulator/skills/skill_ids.h"
 
namespace VisionX::person_simulator::skills
{
 
    ::armarx::skills::SkillDescription
    CreateHumanPose::GetSkillDescription()
    {
        ParamType defaultParams;
        defaultParams.humanId = "0";
        defaultParams.orientationDegreesClockwise = 0.F;
        defaultParams.orientationFacesRobot = true;
        // we explicitly do not set the default position!
 
        const std::string skillName = VisionX::person_simulator::skills::constants::CreateHumanPose;
        const armarx::skills::SkillID skillId =
            VisionX::person_simulator::skills::skill_ids::CreateHumanPose;
 
        return ::armarx::skills::SkillDescription{
            .skillId = skillId,
            .description = "Creates and commits a human pose. Optionally, the pose can be set to "
                           "face the robot.",
            .rootProfileDefaults = defaultParams.toAron(),
            .timeout = ::armarx::Duration::MilliSeconds(1000),
            .parametersType = ParamType::ToAronType()};
    }
 
    CreateHumanPose::CreateHumanPose(const core::PersonSimulator::Remote& r,
                                     const core::PersonSimulator::Properties& p) :
        Base(GetSkillDescription()), remote(r), properties(p)
    {
    }
 
    CreateHumanPose::MainResult
    CreateHumanPose::main(const SpecializedMainInput& in)
    {
        core::PersonSimulator simulator(remote, properties);
        if (in.parameters.orientationFacesRobot)
        {
            simulator.createHumanPoseFacingRobot(in.parameters.humanId,
                                                 in.parameters.positionCartesian);
        }
        else
        {
            simulator.createHumanPose(in.parameters.humanId,
                                      in.parameters.positionCartesian,
                                      in.parameters.orientationDegreesClockwise);
        }
        return Skill::MakeSucceededResult();
    }
 
} // namespace VisionX::person_simulator::skills