LinkedPose.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, 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    RobotStateComponent::
 * @author     ( stefan dot ulbrich at kit dot edu)
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <sstream>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <ArmarXCore/observers/AbstractObjectSerializer.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
#include <RobotAPI/interface/core/LinkedPoseBase.h>
#include <RobotAPI/interface/core/RobotState.h>
 
#include "FramedPose.h"
 
namespace armarx::VariantType
{
    // variant types
    const VariantTypeId LinkedPose = Variant::addTypeName("::armarx::LinkedPoseBase");
    const VariantTypeId LinkedDirection = Variant::addTypeName("::armarx::LinkedDirectionBase");
 
    void suppressWarningUnusedVariableForLinkedPoseAndDirection();
} // namespace armarx::VariantType
 
namespace armarx
{
    class LinkedPose;
    using LinkedPosePtr = IceInternal::Handle<LinkedPose>;
 
    /**
     * @class LinkedPose
     * @ingroup VariantsGrp
     * @ingroup RobotAPI-FramedPose
     * @brief The LinkedPose class
     */
    class LinkedPose : virtual public LinkedPoseBase, virtual public FramedPose
    {
    public:
        LinkedPose();
        LinkedPose(const LinkedPose& other);
        LinkedPose(const FramedPose& other, const SharedRobotInterfacePrx& referenceRobot);
        LinkedPose(const Eigen::Matrix3f& m,
                   const Eigen::Vector3f& v,
                   const std::string& frame,
                   const SharedRobotInterfacePrx& referenceRobot);
        LinkedPose(const Eigen::Matrix4f& m,
                   const std::string& frame,
                   const SharedRobotInterfacePrx& referenceRobot);
 
        ~LinkedPose() override;
 
        VirtualRobot::LinkedCoordinate createLinkedCoordinate();
 
 
        // inherited from VariantDataClass
        Ice::ObjectPtr ice_clone() const override;
 
        VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override;
 
        std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
 
        VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override;
 
        bool validate(const Ice::Current& c = Ice::emptyCurrent) override;
 
        void changeFrame(const std::string& newFrame,
                         const Ice::Current& c = Ice::emptyCurrent) override;
        void changeToGlobal();
        LinkedPosePtr toGlobal() const;
 
        friend std::ostream&
        operator<<(std::ostream& stream, const LinkedPose& rhs)
        {
            stream << "LinkedPose: " << std::endl << rhs.output() << std::endl;
            return stream;
        };
 
        void serialize(const armarx::ObjectSerializerBasePtr& serializer,
                       const ::Ice::Current& = Ice::emptyCurrent) const override;
        void deserialize(const armarx::ObjectSerializerBasePtr& serializer,
                         const ::Ice::Current& = Ice::emptyCurrent) override;
 
    protected:
        void ice_postUnmarshal() override;
    };
 
    /**
     * @class LinkedDirection is a direction vector (NOT a position vector) with an attached robotstate proxy
     * for frame changes.
     * @ingroup VariantsGrp
     * @ingroup RobotAPI-FramedPose
     * @brief The LinkedDirection class
     */
    class LinkedDirection : virtual public LinkedDirectionBase, virtual public FramedDirection
    {
    public:
        LinkedDirection();
        LinkedDirection(const LinkedDirection& source);
        LinkedDirection(const Eigen::Vector3f& v,
                        const std::string& frame,
                        const SharedRobotInterfacePrx& referenceRobot);
 
        ~LinkedDirection() override;
 
        void changeFrame(const std::string& newFrame,
                         const Ice::Current& c = Ice::emptyCurrent) override;
 
        // inherited from VariantDataClass
        Ice::ObjectPtr
        ice_clone() const override
        {
            return this->clone();
        }
 
        VariantDataClassPtr
        clone(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return new LinkedDirection(*this);
        }
 
        std::string
        output(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            std::stringstream s;
            s << FramedDirection::toEigen() << std::endl << "reference robot: " << referenceRobot;
            return s.str();
        }
 
        VariantTypeId
        getType(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return VariantType::LinkedDirection;
        }
 
        bool
        validate(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return true;
        }
 
        friend std::ostream&
        operator<<(std::ostream& stream, const LinkedDirection& rhs)
        {
            stream << "LinkedDirection: " << std::endl << rhs.output() << std::endl;
            return stream;
        };
 
        void serialize(const armarx::ObjectSerializerBasePtr& serializer,
                       const ::Ice::Current& = Ice::emptyCurrent) const override;
        void deserialize(const armarx::ObjectSerializerBasePtr& serializer,
                         const ::Ice::Current& = Ice::emptyCurrent) override;
 
    protected:
        void ice_postUnmarshal() override;
    };
 
    using LinkedDirectionPtr = IceInternal::Handle<LinkedDirection>;
} // namespace armarx