PlatformUnit.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    ArmarXCore::units
 * @author     Manfred Kroehnert (Manfred dot Kroehnert at kit dot edu)
 * @date       2013
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <RobotAPI/components/units/SensorActorUnit.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
namespace armarx
{
 
    /**
     * \class PlatformUnitPropertyDefinitions
     * \brief Defines all necessary properties for armarx::PlatformUnit
     */
    class PlatformUnitPropertyDefinitions : public ComponentPropertyDefinitions
    {
    public:
        PlatformUnitPropertyDefinitions(std::string prefix) : ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "PlatformName",
                "Platform",
                "Name of the platform (will publish values on PlatformName + 'State')");
        }
    };
 
    /**
     * \defgroup Component-PlatformUnit PlatformUnit
     * \ingroup RobotAPI-SensorActorUnits
     * \brief Base unit for high-level access to robot platforms.
     *
     * This class defines an interface for providing high level access to robot platforms
     * An instance of a PlatformUnit provides means to set target positions.
     * It uses the PlatformUnitListener Ice interface to report updates of its current state.
     */
 
    /**
     * @ingroup Component-PlatformUnit
     * @brief The PlatformUnit class
     */
    class PlatformUnit : virtual public PlatformUnitInterface, virtual public SensorActorUnit
    {
    public:
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return "PlatformUnit";
        }
 
        /**
         * Retrieve proxy for publishing State information and call
         * armarx::PlatformUnit::onInitPlatformUnit().
         * \see armarx::Component::onInitComponent()
         */
        void onInitComponent() override;
        /**
         * Calls armarx::PlatformUnit::onStartPlatformUnit().
         * \see armarx::Component::onConnectComponent()
         */
        void onConnectComponent() override;
 
        void onDisconnectComponent() override;
        /**
         * Calls armarx::PlatformUnit::onExitPlatformUnit().
         * \see armarx::Component::onExitComponent()
         */
        void onExitComponent() override;
 
        virtual void onInitPlatformUnit() = 0;
        virtual void onStartPlatformUnit() = 0;
 
        virtual void
        onStopPlatformUnit()
        {
        }
 
        virtual void onExitPlatformUnit() = 0;
 
        /**
         * Set a new target position and orientation for the platform.
         * The platform will move until it reaches the specified target with the specified accuracy.
         */
        void moveTo(Ice::Float targetPlatformPositionX,
                    Ice::Float targetPlatformPositionY,
                    Ice::Float targetPlatformRotation,
                    Ice::Float positionalAccuracy,
                    Ice::Float orientationalAccuracy,
                    const Ice::Current& c = Ice::emptyCurrent) override;
 
        void
        stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override
        {
        }
 
        /**
         * \see armarx::PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    protected:
        // std::string listenerChannelName;
        /**
         * PlatformUnitListener proxy for publishing state updates
         */
        PlatformUnitListenerPrx listenerPrx;
 
        GlobalRobotPoseLocalizationListenerPrx globalPosePrx;
        OdometryListenerPrx odometryPrx;
 
        RobotStateComponentInterfacePrx robotStateComponent;
    };
 
    PlatformPose toPlatformPose(const TransformStamped& transformStamped);
} // namespace armarx