ValidateTcpPose.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, 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    RobotSkillTemplates::FindAndGraspObjectGroup
 * @author     Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ValidateTcpPose.h"
 
#include <VirtualRobot/LinkedCoordinate.h>
 
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
using namespace armarx;
using namespace FindAndGraspObjectGroup;
 
// DO NOT EDIT NEXT LINE
ValidateTcpPose::SubClassRegistry ValidateTcpPose::Registry(ValidateTcpPose::GetName(),
                                                            &ValidateTcpPose::CreateInstance);
 
ValidateTcpPose::ValidateTcpPose(XMLStateConstructorParams stateData) :
    XMLStateTemplate<ValidateTcpPose>(stateData)
{
}
 
void
ValidateTcpPose::onEnter()
{
    using namespace Eigen;
 
    RobotStatechartContext* context = getContext<RobotStatechartContext>();
    VirtualRobot::RobotPtr robot(
        new RemoteRobot(context->robotStateComponent->getRobotSnapshot("ValidateTCPPoseTime")));
    VirtualRobot::LinkedCoordinate actualPose(robot);
    actualPose.set(
        robot->getRobotNodeSet(getInput<std::string>("kinematicChainName"))->getTCP()->getName(),
        Vector3f(0, 0, 0));
    actualPose.changeFrame(robot->getRootNode());
    Vector3f actualPosition = actualPose.getPosition();
    Quaternionf actualOrientation(actualPose.getPose().block<3, 3>(0, 0));
 
 
    VirtualRobot::LinkedCoordinate targetPose =
        FramedPose::createLinkedCoordinate(robot,
                                           getInput<FramedPosition>("targetTCPPosition"),
                                           getInput<FramedOrientation>("targetTCPOrientation"));
    targetPose.changeFrame(robot->getRootNode());
    Vector3f targetPosition = targetPose.getPosition();
    Quaternionf targetOrientation(targetPose.getPose().block<3, 3>(0, 0));
 
    float cartesianDistance =
        sqrtf(((targetPosition - actualPosition).dot(targetPosition - actualPosition)));
    float orientationDistance = actualOrientation.angularDistance(targetOrientation);
 
    setOutput("TCPDistanceToTarget", cartesianDistance);
    setOutput("TCPOrientationDistanceToTarget", orientationDistance);
    bool withOri = getInput<bool>("ikWithOrientation");
 
    if (cartesianDistance <= getInput<float>("targetPositionDistanceTolerance") &&
        (!withOri || orientationDistance <= getInput<float>("targetOrientationDistanceTolerance")))
    {
        sendEvent<Success>();
    }
    else
    {
        ARMARX_WARNING
            << "Target pose has not been reached with the desired accuracy. Cartesian distance: "
            << cartesianDistance << ", orientation distance: " << orientationDistance << " ";
        ARMARX_INFO << "Actual pose: " << actualPose.getPose();
        ARMARX_INFO << "Target pose: " << targetPose.getPose();
        sendEvent<Failure>();
    }
 
    ARMARX_VERBOSE << "Done ValidateTcpPose::onEnter()";
}
 
// DO NOT EDIT NEXT FUNCTION
std::string
ValidateTcpPose::GetName()
{
    return "ValidateTcpPose";
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
ValidateTcpPose::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new ValidateTcpPose(stateData));
}