MovePlatformToLandmark.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       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include "MovePlatformToPose.h"
 
// Base Class
#include <RobotAPI/libraries/armem/client.h>
#include <RobotAPI/libraries/armem_locations/client/Reader.h>
 
#include <RobotSkillTemplates/libraries/skill_platform_control/aron/MovePlatformToLandmarkAcceptedType.aron.generated.h>
 
#include "PlatformControlSkill.h"
 
namespace armarx::skills
{
    class MovePlatformToLandmark :
        public PlatformControlSkill,
        public SimpleSpecializedSkill<platform_control::arondto::MovePlatformToLandmarkAcceptedType>
    {
    public:
        using ArgType = platform_control::arondto::MovePlatformToLandmarkAcceptedType;
 
        MovePlatformToLandmark(armem::client::MemoryNameSystem& mns,
                               armarx::viz::Client& arviz,
                               PlatformControlSkillContext& context);
 
    private:
        MainResult main(const SpecializedMainInput& in) final;
 
        Eigen::Matrix4f
        convertLandmarkToPose(const std::string& graphName,
                              const std::string& landmarkName,
                              armem::locations::client::Reader& memoryReader)
        {
            auto locs = memoryReader.getAllLocationsInGlobalFrame();
            auto locId = graphName + "/" + landmarkName;
            if (locs.count(locId) > 0)
            {
                auto eigen = locs.at(locId).framedPose.pose;
                ARMARX_INFO << "Converted pose for landmark '" << locId << "is: " << eigen;
                return eigen;
            }
            throw armarx::LocalException("No suitable location found for id: " + locId);
        }
 
    public:
        static SkillDescription Description;
    };
} // namespace armarx::skills