PlannedMotionProvider.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    RobotComponents::ArmarXObjects::PlannedMotionProvider
 * @author     Adrian Knobloch ( adrian dot knobloch at student dot kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/util/distributed/RemoteHandle/RemoteHandle.h>
 
#include <RobotComponents/components/MotionPlanning/MotionPlanningObjectFactories.h>
#include <RobotComponents/interface/components/MotionPlanning/MotionPlanningServer.h>
#include <RobotComponents/interface/components/PlannedMotionProviderInterface.h>
 
namespace armarx
{
    /**
     * @class PlannedMotionProviderPropertyDefinitions
     * @brief
     */
    class PlannedMotionProviderPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        PlannedMotionProviderPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            //defineRequiredProperty<std::string>("PropertyName", "Description");
            defineOptionalProperty<float>(
                "JointMotionSafetyMargin", 80.0f, "Safety margin for joint arm motion in mm");
            defineOptionalProperty<float>(
                "PlatformMotionSafetyMargin", 100.0f, "Safety margin for platform motion in mm");
        }
    };
 
    /**
     * @defgroup Component-PlannedMotionProvider PlannedMotionProvider
     * @ingroup RobotComponents-Components
     * A description of the component PlannedMotionProvider.
     *
     * @class PlannedMotionProvider
     * @ingroup Component-PlannedMotionProvider
     * @brief Brief description of class PlannedMotionProvider.
     *
     * Detailed description of class PlannedMotionProvider.
     */
    class PlannedMotionProvider :
        virtual public armarx::Component,
        virtual public armarx::PlannedMotionProviderInterface
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "PlannedMotionProvider";
        }
 
        GraspingTrajectory planMotion(const SimoxCSpaceBasePtr& cSpaceBase,
                                      const SimoxCSpaceBasePtr& cSpacePlatformBase,
                                      const MotionPlanningData& mpd,
                                      const Ice::Current& c = Ice::emptyCurrent) override;
        GraspingTrajectory planMotionParallel(const SimoxCSpaceBasePtr& cSpaceBase,
                                              const SimoxCSpaceBasePtr& cSpacePlatformBase,
                                              const MotionPlanningData& mpd,
                                              const Ice::Current& c) override;
        // does it make sense to return a GraspingTrajectory
 
        TrajectoryBasePtr planJointMotion(const SimoxCSpaceBasePtr& cSpaceBase,
                                          const MotionPlanningData& mpd,
                                          const Ice::Current& c = Ice::emptyCurrent) override;
 
        TrajectoryBasePtr planPlatformMotion(const SimoxCSpaceBasePtr& cSpacePlatformBase,
                                             const MotionPlanningData& mpd,
                                             const Ice::Current& c = Ice::emptyCurrent) override;
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        std::vector<RemoteHandle<MotionPlanningTaskControlInterfacePrx>> planningTasks;
        armarx::RobotStateComponentInterfacePrx robotStateComponent;
        VirtualRobot::RobotPtr localRobot;
        MotionPlanningServerInterfacePrx mps;
        int maxPostProcessingSteps;
 
        // how to make those public?
 
        TrajectoryPtr calculateJointTrajectory(const SimoxCSpaceBasePtr& cSpaceBase,
                                               const MotionPlanningData& mpd,
                                               const Ice::Current& c = Ice::emptyCurrent);
 
        TrajectoryPtr calculatePlatformTrajectory(const SimoxCSpaceBasePtr& cSpacePlatformBase,
                                                  const MotionPlanningData& mpd,
                                                  const Ice::Current& c = Ice::emptyCurrent);
        void preparePlatformCSpace(SimoxCSpacePtr cSpacePlatform,
                                   const MotionPlanningData& mpd,
                                   VectorXf* storeStart,
                                   VectorXf* storeGoal,
                                   ScaledCSpacePtr* storeScaledCSpace,
                                   Eigen::Vector3f* storeRpyAgent);
        void prepareJointCSpace(SimoxCSpacePtr cSpace,
                                const MotionPlanningData& mpd,
                                VectorXf* storeStart,
                                VectorXf* storeGoal,
                                ScaledCSpacePtr* storeScaledCSpace);
 
        RemoteHandle<MotionPlanningTaskControlInterfacePrx>
        startBiRRT(ScaledCSpacePtr scaledCSpace,
                   VectorXf startPos,
                   VectorXf goalPos,
                   float dcdStep,
                   bool doRandomShortcutPostProcessing = false);
        Path finishBiRRT(RemoteHandle<MotionPlanningTaskControlInterfacePrx> handle,
                         const ScaledCSpacePtr scaledCSpace,
                         const std::string roboPart);
    };
} // namespace armarx