VisualServoTowardsTargetPoseWrapper.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::GraspObjectGroup
 * @author     David ( david dot schiebener at kit dot edu )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "VisualServoTowardsTargetPoseWrapper.h"
 
#include "VisualServoGroupStatechartContext.generated.h"
 
 
using namespace armarx;
using namespace VisualServoGroup;
 
 
// DO NOT EDIT NEXT LINE
VisualServoTowardsTargetPoseWrapper::SubClassRegistry VisualServoTowardsTargetPoseWrapper::Registry(
    VisualServoTowardsTargetPoseWrapper::GetName(),
    &VisualServoTowardsTargetPoseWrapper::CreateInstance);
 
VisualServoTowardsTargetPoseWrapper::VisualServoTowardsTargetPoseWrapper(
    XMLStateConstructorParams stateData) :
    XMLStateTemplate<VisualServoTowardsTargetPoseWrapper>(stateData),
    VisualServoTowardsTargetPoseWrapperGeneratedBase<VisualServoTowardsTargetPoseWrapper>(stateData)
{
}
 
void
VisualServoTowardsTargetPoseWrapper::onEnter()
{
    // install event ObjectPoseUpdated
    VisualServoGroupStatechartContext* context = getContext<VisualServoGroupStatechartContext>();
    //    FramedPositionPtr objPos = in.getObjectInstanceChannel()->getDataField("position")->get<FramedPosition>();
 
    ChannelRefPtr handMemoryChannel = in.getHandMemoryChannel();
    FramedPositionPtr handPosFromMemoryX;
    memoryx::ChannelRefBaseSequence instances =
        context->getObjectMemoryObserver()->getObjectInstances(handMemoryChannel);
 
    if (instances.size() == 0)
    {
        ARMARX_WARNING << "No instances of the hand in the memory";
    }
    else
    {
        ARMARX_VERBOSE << "Getting hand pose from memory";
 
        handPosFromMemoryX =
            ChannelRefPtr::dynamicCast(instances.front())->get<FramedPosition>("position");
    }
 
    if (handPosFromMemoryX &&
        (handPosFromMemoryX->toGlobal(context->getRobot())->toEigen() -
         in.getTcpTargetPose()->toGlobal(context->getRobot())->toEigen().block<3, 1>(0, 3))
                .norm() > in.getNoObjectUpdateDistance())
    //    if (!handPosFromMemoryX || (handPosFromMemoryX->toGlobal(context->getRobot())->toEigen()
    //                                - in.getTcpTargetPose()->toGlobal(context->getRobot())->toEigen().block<3, 1>(0, 3)).norm() > in.getNoObjectUpdateDistance())
    {
        ChannelRefPtr objectInstanceChannel = in.getObjectInstanceChannel();
        Literal poseUpdated(objectInstanceChannel->observerName + "." +
                                objectInstanceChannel->channelName + ".position",
                            "updated",
                            {});
        installCondition<ObjectPoseUpdated>(poseUpdated);
    }
}
 
void
VisualServoTowardsTargetPoseWrapper::onBreak()
{
    // put your user code for the breaking point here
    // execution time should be short (<100ms)
}
 
void
VisualServoTowardsTargetPoseWrapper::onExit()
{
    // put your user code for the exit point here
    // execution time should be short (<100ms)
}
 
// DO NOT EDIT NEXT FUNCTION
std::string
VisualServoTowardsTargetPoseWrapper::GetName()
{
    return "VisualServoTowardsTargetPoseWrapper";
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
VisualServoTowardsTargetPoseWrapper::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new VisualServoTowardsTargetPoseWrapper(stateData));
}