TransformHelper.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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
#include <vector>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
 
namespace armarx::armem::robot_state::localization
{
    using armarx::armem::robot_state::localization::TransformQuery;
    using armarx::armem::robot_state::localization::TransformResult;
 
    class TransformHelper
    {
    public:
        static TransformResult
        lookupTransform(const armem::wm::CoreSegment& localizationCoreSegment,
                        const TransformQuery& query);
 
        static TransformResult
        lookupTransform(const armem::server::wm::CoreSegment& localizationCoreSegment,
                        const TransformQuery& query);
 
 
        static TransformChainResult
        lookupTransformChain(const armem::wm::CoreSegment& localizationCoreSegment,
                             const TransformQuery& query);
 
        static TransformChainResult
        lookupTransformChain(const armem::server::wm::CoreSegment& localizationCoreSegment,
                             const TransformQuery& query);
 
 
    private:
        template <class... Args>
        static TransformResult
        _lookupTransform(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
                         const TransformQuery& query);
 
 
        template <class... Args>
        static TransformChainResult
        _lookupTransformChain(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
                              const TransformQuery& query);
 
 
        template <class... Args>
        static std::vector<std::string>
        _buildTransformChain(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
                             const TransformQuery& query);
 
 
        template <class... Args>
        static std::vector<Eigen::Isometry3f>
        _obtainTransforms(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
                          const std::vector<std::string>& tfChain,
                          const std::string& agent,
                          const armem::Time& timestamp);
 
 
        template <class... Args>
        static Eigen::Isometry3f
        _obtainTransform(const std::string& entityName,
                         const armem::base::ProviderSegmentBase<Args...>& agentProviderSegment,
                         const armem::Time& timestamp);
 
        template <class... Args>
        static std::optional<armarx::core::time::DateTime>
        _obtainTimestamp(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
                         const armem::Time& timestamp);
 
        static Eigen::Isometry3f _interpolateTransform(
            const std::vector<::armarx::armem::robot_state::localization::Transform>& queue,
            armem::Time timestamp);
 
        static ::armarx::armem::robot_state::localization::Transform
        _convertEntityToTransform(const armem::wm::EntityInstance& item);
    };
} // namespace armarx::armem::robot_state::localization