ManagedObstacle.h

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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    armar6_skills::ArmarXObjects::DynamicObstacleManager
 * @author     Fabian PK ( fabian dot peller-konrad at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
// STD/STL
#include <array>
#include <memory>
#include <shared_mutex>
#include <string>
#include <tuple>
#include <vector>
 
// Eigen
#include <Eigen/Geometry>
 
// ArmarX
#include <RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 
namespace armarx
{
 
    class ManagedObstacle;
    typedef std::shared_ptr<ManagedObstacle> ManagedObstaclePtr;
 
    class ManagedObstacle
    {
    public:
        static bool
        ComparatorDESCPrt(ManagedObstaclePtr& i, ManagedObstaclePtr& j)
        {
            return (ManagedObstacle::calculateObstacleArea(i->m_obstacle) >
                    ManagedObstacle::calculateObstacleArea(j->m_obstacle));
        }
 
        void update_position(const unsigned int);
 
        static double calculateObstacleArea(const obstacledetection::Obstacle& o);
 
        static bool point_ellipsis_coverage(const Eigen::Vector2f e_origin,
                                            const float e_rx,
                                            const float e_ry,
                                            const float e_yaw,
                                            const Eigen::Vector2f point);
 
        static float ellipsis_ellipsis_coverage(const Eigen::Vector2f e1_origin,
                                                const float e1_rx,
                                                const float e1_ry,
                                                const float e1_yaw,
                                                const Eigen::Vector2f e2_origin,
                                                const float e2_rx,
                                                const float e2_ry,
                                                const float e2_yaw);
 
        static float line_segment_ellipsis_coverage(const Eigen::Vector2f e_origin,
                                                    const float e_rx,
                                                    const float e_ry,
                                                    const float e_yaw,
                                                    const Eigen::Vector2f line_seg_start,
                                                    const Eigen::Vector2f line_seg_end);
 
 
        obstacledetection::Obstacle m_obstacle;
        IceUtil::Time m_last_matched;
        bool m_published;
        bool m_updated;
        float m_value;
        std::shared_mutex m_mutex;
 
        unsigned int position_buffer_fillctr = 0;
        unsigned int position_buffer_index = 0;
        std::array<std::tuple<double, double, double, double, double>, 6>
            position_buffer; //x, y, yaw, axisX, axisY
        std::vector<Eigen::Vector2f> line_matches; // points of line segments
 
 
        unsigned long m_input_index = 0;
 
    protected:
    private:
        float normalizeYaw(float yaw) const;
        float getAngleBetweenVectors(const Eigen::Vector2f&, const Eigen::Vector2f&) const;
        float getXAxisAngle(const Eigen::Vector2f&) const;
    };
} // namespace armarx