SafetyGuard.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 )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <experimental/memory>
#include <memory>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/core/DynamicScene.h>
#include <armarx/navigation/core/StaticScene.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/types.h>
 
#include "core.h"
 
namespace armarx::viz
{
    struct Client;
}
 
namespace armarx::navigation::safety_guard
{
    struct SafetyGuardResult
    {
        core::TwistLimits twistLimits;
 
        static SafetyGuardResult
        NoLimits()
        {
            return {.twistLimits = {.linear = std::numeric_limits<float>::max(),
                                    .angular = std::numeric_limits<float>::max()}};
        }
 
        static SafetyGuardResult
        ZeroLimits()
        {
            return {.twistLimits = {.linear = 0, .angular = 0}};
        }
    };
 
    struct SafetyGuardParams
    {
        virtual ~SafetyGuardParams() = default;
 
        virtual Algorithms algorithm() const = 0;
        virtual aron::data::DictPtr toAron() const = 0;
    };
 
    class SafetyGuard
    {
    public:
        struct Context
        {
            std::experimental::observer_ptr<viz::Client> arviz;
            std::experimental::observer_ptr<DebugObserverComponentPluginUser> debugObserver;
        };
 
        SafetyGuard(const core::Scene& scene, const Context& ctx);
        virtual ~SafetyGuard() = default;
 
        virtual SafetyGuardResult computeSafetyLimits(const Eigen::Vector2f& global_V_movement) = 0;
 
    protected:
        const core::Scene& scene;
        viz::ScopedClient viz;
 
        Context context;
    };
 
    using SafetyGuardPtr = std::shared_ptr<SafetyGuard>;
} // namespace armarx::navigation::safety_guard