RobotHeadMovement.h

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#pragma once
 
#include <optional>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
 
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.h>
 
namespace armarx
{
    class PropertyDefinitionContainer;
    using PropertyDefinitionsPtr = IceUtil::Handle<PropertyDefinitionContainer>;
} // namespace armarx
 
namespace armarx::armem::server::obj::instance
{
    class RobotHeadMovement : public armarx::Logging
    {
    public:
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "head.");
 
        void fetchDatafields();
        bool isMoving() const;
 
        void movementStarts(long discardIntervalMs);
        void movementStarts(const Duration& discardInterval);
        void movementStops(long discardIntervalMs);
        void movementStops(const Duration& discardInterval);
 
        objpose::SignalHeadMovementOutput
        signalHeadMovement(const objpose::SignalHeadMovementInput& input);
 
        struct Discard
        {
            std::optional<DateTime> updatesUntil;
            bool all = false;
        };
 
        Discard getDiscard();
 
 
    public:
        bool checkHeadVelocity = true;
 
        std::string jointVelocitiesChannelName = "jointvelocities";
        std::vector<std::string> jointNames = {"Neck_1_Yaw", "Neck_2_Pitch"};
        float maxJointVelocity = 0.05f;
        int discardIntervalAfterMoveMS = 100;
 
        KinematicUnitObserverInterfacePrx kinematicUnitObserver;
        std::vector<DatafieldRefPtr> jointVelocitiesDatafields;
        DateTime discardUpdatesUntil = DateTime::Invalid();
 
        DebugObserverInterfacePrx debugObserver;
 
        struct RemoteGui
        {
            armarx::RemoteGui::Client::GroupBox group;
 
            armarx::RemoteGui::Client::CheckBox checkHeadVelocity;
            armarx::RemoteGui::Client::FloatSpinBox maxJointVelocity;
            armarx::RemoteGui::Client::IntSpinBox discardIntervalAfterMoveMS;
 
            void setup(const RobotHeadMovement& rhm);
            void update(RobotHeadMovement& rhm);
        };
    };
 
} // namespace armarx::armem::server::obj::instance