utils.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     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include <Eigen/Geometry>
 
#include <SimoxUtility/json.h>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/core/Pose.h>
 
#include <mplib/core/types.h>
 
namespace armarx::control::common
{
 
    Eigen::VectorXf getEigenVec(nlohmann::json& userConfig,
                                nlohmann::json& defaultConfig,
                                const std::string& entryName,
                                int size = 0,
                                int value = 0);
 
    template <typename T>
    void
    getEigenVec(nlohmann::json& userConfig,
                nlohmann::json& defaultConfig,
                const std::string& entryName,
                T& vec)
    {
        if (userConfig.find(entryName) != userConfig.end())
        {
            vec = userConfig[entryName];
        }
        else
        {
            vec = defaultConfig[entryName];
        }
    }
 
    void
    getEigenMatrix(nlohmann::json& userConfig, const std::string& entryName, Eigen::MatrixXf& mat);
 
    Eigen::VectorXf getEigenVecWithDefault(nlohmann::json& userConfig,
                                           Eigen::VectorXf defaultValue,
                                           const std::string& entryName);
 
    template <typename T>
    T
    getValue(nlohmann::json& userConfig,
             nlohmann::json& defaultConfig,
             const std::string& entryName)
    {
        if (userConfig.find(entryName) != userConfig.end())
        {
            return userConfig[entryName].get<T>();
        }
        else
        {
            return defaultConfig[entryName].get<T>();
        }
    }
 
    template <typename T>
    T
    getValueWithDefault(nlohmann::json& userConfig, T defaultValue, const std::string& entryName)
    {
        if (userConfig.find(entryName) != userConfig.end())
        {
            return userConfig[entryName].get<T>();
        }
        else
        {
            return defaultValue;
        }
    }
 
    void
    debugEigenPose(StringVariantBaseMap& datafields, const std::string& name, Eigen::Matrix4f pose);
    void
    debugEigenVec(StringVariantBaseMap& datafields, const std::string& name, Eigen::VectorXf vec);
 
    void getError(Eigen::Matrix4f& currentPose,
                  Eigen::Vector3d& targetPosition,
                  Eigen::Quaterniond& targetQuaternion,
                  double& posiError,
                  double& oriError);
 
    void to_json(nlohmann::json& j, const Pose& fp);
 
    void from_json(const nlohmann::json& j, Pose& fp);
 
    void to_json(nlohmann::json& j, const PosePtr& fp);
 
    void from_json(const nlohmann::json& j, PosePtr& fp);
 
    void to_json(nlohmann::json& j, const PoseBasePtr& fp);
 
    void from_json(const nlohmann::json& j, PoseBasePtr& fp);
 
    PosePtr dVecToPose(const mplib::core::DVec& dvec);
 
    Eigen::Matrix4f dVecToMat4(const mplib::core::DVec& dvec);
 
    mplib::core::DVec poseToDVec(PosePtr& pose);
 
    mplib::core::DVec mat4ToDVec(Eigen::Matrix4f& mat);
 
    std::vector<float> poseToFVec(PosePtr& pose);
 
    std::vector<float> mat4ToFVec(Eigen::Matrix4f& mat);
 
    std::string dVecToString(const mplib::core::DVec& dvec);
 
    Eigen::VectorXf vecToEigen(std::vector<float>& vec);
 
    std::string sVecToString(const std::vector<std::string>& vec,
                             const std::string& delimiter = ", ");
} // namespace armarx::control::common