GazeTarget.h

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#pragma once
 
#include <iosfwd>
#include <optional>
#include <string>
 
#include <ArmarXCore/core/time.h>
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/core/time/Duration.h>
 
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <armarx/view_selection/gaze_targets/AttentionType.h>
#include <armarx/view_selection/gaze_targets/TargetPriority.h>
#include <armarx/view_selection/gaze_targets/TargetStatus.h>
 
namespace armarx::view_selection::gaze_targets
{
    /**
     * @brief Business Object (BO) class of GazeTarget.
     */
    class GazeTarget
    {
    public:
        // General properties
        std::string name = "";
        FramedPosition position;
        // Scheduler values
        TargetPriority priority = TargetPriority(AttentionType::RandomEvent, 0.0);
        armarx::core::time::Duration duration = armarx::Duration::MicroSeconds(0);
        bool keepInQueue = false;
        // Event logging
        TargetStatus status = TargetStatus::Requested;
        armarx::DateTime creationTimestamp = armarx::DateTime::Invalid();
        armarx::DateTime activationTimestamp = armarx::DateTime::Invalid();
        armarx::DateTime reachedTimestamp = armarx::DateTime::Invalid();
        armarx::DateTime releasedTimestamp = armarx::DateTime::Invalid();
        armarx::DateTime abortedTimestamp = armarx::DateTime::Invalid();
 
        GazeTarget();
 
        explicit GazeTarget(std::string targetName,
                            const FramedPosition& targetPosition,
                            const TargetPriority& priority,
                            armarx::core::time::Duration duration,
                            bool keepInQueue);
 
        bool isActive() const;
        bool isReached() const;
        bool isReleased() const;
        bool isAborted() const;
        bool isExpired(std::optional<DateTime> reference = std::nullopt) const;
 
        inline bool
        operator<(const GazeTarget& rhs) const
        {
            return priority < rhs.priority;
        };
 
        inline bool
        operator<=(const GazeTarget& rhs) const
        {
            return priority <= rhs.priority;
        };
 
        inline bool
        operator==(const GazeTarget& rhs) const
        {
            return priority == rhs.priority;
        };
 
        inline bool
        operator!=(const GazeTarget& rhs) const
        {
            return priority != rhs.priority;
        };
 
        inline bool
        operator>=(const GazeTarget& rhs) const
        {
            return priority >= rhs.priority;
        };
 
        inline bool
        operator>(const GazeTarget& rhs) const
        {
            return priority > rhs.priority;
        };
    };
 
    ::std::ostream& operator<<(::std::ostream& os, const GazeTarget& target);
 
} // namespace armarx::view_selection::gaze_targets