Task.h

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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    RobotComponents
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
#pragma once
 
#include <atomic>
#include <chrono>
#include <mutex>
 
#include <ArmarXCore/core/util/distributed/RemoteHandle/RemoteHandle.h>
#include <ArmarXCore/interface/core/RemoteObjectNode.h>
 
#include <RobotComponents/interface/components/MotionPlanning/Tasks/PathCollection/Task.h>
 
#include "../../util/Metrics.h"
#include "../MotionPlanningTask.h"
 
namespace armarx::pathcol
{
    class Task;
    using TaskPtr = IceInternal::Handle<Task>;
 
    class Task :
        public virtual MotionPlanningTask,
        public virtual TaskBase,
        public virtual MotionPlanningMultiPathWithCostTaskCI
    {
    public:
        Task(const std::string& taskName = "PathCollection")
        {
            this->taskName = taskName;
        }
 
        ~Task() override = default;
 
        PathWithCost
        getPathWithCost(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return MotionPlanningMultiPathWithCostTaskCI::getPathWithCost();
        }
 
        Path
        getNthPath(Ice::Long n, const Ice::Current& = Ice::emptyCurrent) const override
        {
            return MotionPlanningMultiPathWithCostTaskCI::getNthPath(n);
        }
 
        Path
        getPath(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return MotionPlanningWithCostTaskCI::getPath();
        }
 
        void
        abortTask(const Ice::Current& = Ice::emptyCurrent) override
        {
        }
 
        CSpaceBasePtr
        getCSpace(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return cspace;
        }
 
        /**
        * @brief Runs the task.
        * @param remoteNodes The list of \ref RemoteObjectNodeInterfacePrx used to distribute work to computers.
        */
        void run(const RemoteObjectNodePrxList&, const Ice::Current& = Ice::emptyCurrent) override;
 
        Ice::Long
        getMaximalPlanningTimeInSeconds(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return maximalPlanningTimeInSeconds;
        }
 
        Ice::Long
        getPathCount(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return paths.size();
        }
 
        PathWithCost
        getBestPath(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return getNthPathWithCost(0);
        }
 
        PathWithCost
        getNthPathWithCost(Ice::Long n, const Ice::Current& = Ice::emptyCurrent) const override
        {
            if (static_cast<std::size_t>(n) < paths.size())
            {
                return paths.at(n);
            }
            return {{}, std::numeric_limits<float>::infinity(), "Path_" + to_string(n)};
        }
 
        PathWithCostSeq
        getAllPathsWithCost(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return paths;
        }
 
        void
        addPath(Path p)
        {
            float len = 0;
            for (std::size_t i = 0; i + 1 < p.nodes.size(); ++i)
            {
                len += euclideanDistance(
                    p.nodes.at(i).begin(), p.nodes.at(i).end(), p.nodes.at(i + 1).begin());
            }
            addPath(PathWithCost{std::move(p.nodes), len, std::move(p.pathName)});
        }
 
        void
        addPath(PathWithCost p)
        {
            paths.emplace_back(std::move(p));
        }
    };
} // namespace armarx::pathcol
 
namespace armarx
{
    using PathCollection = pathcol::Task;
    using PathCollectionPtr = IceUtil::Handle<PathCollection>;
    using PathCollectionHandle =
        RemoteHandle<MotionPlanningMultiPathWithCostTaskControlInterfacePrx>;
} // namespace armarx