reflex.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <mutex>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
namespace armarx
{
    class ReflexCombination;
 
    class Reflex
    {
    public:
        Reflex(int interval)
        {
            this->interval = interval;
 
            task = new PeriodicTask<Reflex>(
                this, &Reflex::calc, interval, false, "HeadStabilizationTask");
            task->setDelayWarningTolerance(5);
        }
 
        virtual ~Reflex()
        {
            stop();
        }
 
        void
        start()
        {
            if (!task->isRunning())
            {
                task->start();
            }
        }
 
        void
        stop()
        {
            if (task->isRunning())
            {
                task->stop();
            }
 
            onStop();
 
            jointAngles.clear();
        }
 
        void
        setEnabled(bool enabled)
        {
            if (enabled)
            {
                start();
            }
            else
            {
                stop();
            }
        }
 
        std::map<std::string, float>
        getJoints()
        {
            std::scoped_lock lock(mutex);
 
            std::map<std::string, float> result(jointAngles);
 
            //if ((  currentTime - updateTime) > xxx) {
 
            //result.swap(jointAngles);
            // }
 
            return result;
        }
 
        float
        getWeight() const
        {
            return weight;
        }
 
        void
        setWeight(float weight)
        {
            this->weight = weight;
        }
 
        virtual std::string getName() const = 0;
 
 
    protected:
        Eigen::Vector3f
        quaternionToRPY(Eigen::Quaternionf q)
        {
            Eigen::Vector3f euler;
 
            euler(0) = -std::atan2(2.0 * (q.w() * q.x() - q.y() * q.z()),
                                   1.0 - 2.0 * (q.x() * q.x() + q.y() * q.y())); //roll
            euler(1) = std::asin(2.0 * (q.w() * q.y() - q.z() * q.x())); //pitch
            euler(2) = std::atan2(2.0 * (q.w() * q.z() + q.x() * q.y()),
                                  1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z())); //yaw
 
            return euler;
        }
 
        virtual void calc() = 0;
 
        virtual void onStop() = 0;
 
        std::mutex mutex;
 
        std::map<std::string, float> jointAngles;
 
        int interval;
 
        bool isEnabled;
 
        IceUtil::Time updateTime;
 
        std::string name;
 
 
    private:
        PeriodicTask<Reflex>::pointer_type task;
 
        float weight;
    };
 
    using ReflexPtr = std::shared_ptr<Reflex>;
} // namespace armarx