CollisionModelHelper.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    RobotAPI
 * @author     Christoph Pohl ( christoph dot pohl at kit dot edu )
 * @date       17.02.23
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "CollisionModelHelper.h"
 
#include <VirtualRobot/CollisionDetection/CollisionModel.h>
#include <VirtualRobot/ManipulationObject.h>
#include <VirtualRobot/SceneObjectSet.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
#include <VirtualRobot/Visualization/TriMeshModel.h>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/components/ArViz/Client/elements/Mesh.h>
 
namespace armarx::obstacle_avoidance
{
 
    VirtualRobot::ManipulationObjectPtr
    CollisionModelHelper::asManipulationObject(const objpose::ObjectPose& objectPose)
    {
        const ObjectFinder finder;
 
        const VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
        if (auto obstacle = finder.loadManipulationObject(objectPose))
        {
            obstacle->setGlobalPose(objectPose.objectPoseGlobal);
            return obstacle;
        }
 
        ARMARX_WARNING << "Failed to load scene object `" << objectPose.objectID << "`";
        return nullptr;
    }
 
    VirtualRobot::SceneObjectSetPtr
    CollisionModelHelper::asSceneObjects(const objpose::ObjectPoseSeq& objectPoses)
    {
        const ObjectFinder finder;
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
        for (const auto& objectPose : objectPoses)
        {
            if (auto obstacle = finder.loadManipulationObject(objectPose))
            {
                obstacle->setGlobalPose(objectPose.objectPoseGlobal);
                obstacle->setName(objectPose.objectID.str());
                sceneObjects->addSceneObject(obstacle);
            }
        }
 
        return sceneObjects;
    }
 
    VirtualRobot::SceneObjectSetPtr
    CollisionModelHelper::asSceneObjects(const OccupancyGrid& occupancyGrid,
                                         const OccupancyGridHelper::Params& params)
    {
        const OccupancyGridHelper ocHelper(occupancyGrid, params);
        const auto obstacles = ocHelper.obstacles();
 
        const float boxSize = occupancyGrid.resolution;
        const float resolution = occupancyGrid.resolution;
 
        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
 
        ARMARX_CHECK_EQUAL(occupancyGrid.frame, GlobalFrame)
            << "Only occupancy grid in global frame supported.";
 
        VirtualRobot::CoinVisualizationFactory factory;
 
        const auto& world_T_map = occupancyGrid.pose;
 
        for (int x = 0; x < obstacles.rows(); x++)
        {
            for (int y = 0; y < obstacles.cols(); y++)
            {
                if (obstacles(x, y))
                {
                    const Eigen::Vector3f pos{
                        static_cast<float>(x) * resolution, static_cast<float>(y) * resolution, 0};
 
                    // FIXME: change to Isometry3f
                    Eigen::Affine3f map_T_obj = Eigen::Affine3f::Identity();
                    map_T_obj.translation() = pos;
 
                    Eigen::Affine3f world_T_obj = world_T_map * map_T_obj;
 
 
                    auto cube = factory.createBox(boxSize, boxSize, boxSize);
 
                    const VirtualRobot::CollisionModelPtr collisionModel(
                        new VirtualRobot::CollisionModel(cube));
 
                    const VirtualRobot::SceneObjectPtr sceneObject(new VirtualRobot::SceneObject(
                        "box_" + std::to_string(sceneObjects->getSize()), cube, collisionModel));
                    sceneObject->setGlobalPose(world_T_obj.matrix());
 
                    sceneObjects->addSceneObject(sceneObject);
                }
            }
        }
 
        return sceneObjects;
    }
 
    CollisionModelHelper::CollisionModelHelper(const objpose::ObjectPoseClient& client) :
        objectPoseClient_(client)
    {
    }
 
    VirtualRobot::SceneObjectSetPtr
    CollisionModelHelper::fetchSceneObjects()
    {
        const objpose::ObjectPoseSeq objectPoses = objectPoseClient_.fetchObjectPoses();
        return asSceneObjects(objectPoses);
    }
 
    CollisionModelHelper::ManipulationObjectSetPtr
    CollisionModelHelper::fetchManipulationObjects()
    {
        const objpose::ObjectPoseSeq objectPoses = objectPoseClient_.fetchObjectPoses();
        return asManipulationObjects(objectPoses);
    }
 
    CollisionModelHelper::ManipulationObjectSetPtr
    CollisionModelHelper::asManipulationObjects(const objpose::ObjectPoseSeq& objectPoses)
    {
        ManipulationObjectSet set;
 
        for (const auto& pose : objectPoses)
        {
            set.emplace_back(*asManipulationObject(pose));
        }
 
        return std::make_shared<ManipulationObjectSet>(set);
    }
 
    void
    CollisionModelHelper::visualizeCollisionModel(const VirtualRobot::CollisionModelPtr& model,
                                                  viz::Client& arviz)
    {
        armarx::viz::Mesh mesh(model->getName());
        auto faces = model->getTriMeshModel()->faces;
        std::vector<armarx::viz::data::Face> viz_faces;
        std::transform(
            faces.begin(),
            faces.end(),
            std::back_inserter(viz_faces),
            [](const auto& face)
            {
                return armarx::viz::data::Face(
                    face.id1, face.id2, face.id3, face.idColor1, face.idColor2, face.idColor3);
            });
        mesh.vertices(model->getTriMeshModel()->vertices)
            .faces(viz_faces)
            .pose(model->getGlobalPose());
        arviz.commitLayerContaining("CollisionModel", mesh);
    }
 
} // namespace armarx::obstacle_avoidance