MotionModelBodySchema.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    MemoryX::MotionModelBodySchema
* @author     David Schiebener ( Schiebener at kit dot edu)
* @date       2013
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
 
#include "AbstractMotionModel.h"
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
#include <MemoryX/libraries/helpers/KinematicBezierMaps/kbm.h>
 
namespace memoryx
{
    class MotionModelBodySchema : virtual public AbstractMotionModel
    {
    public:
        MotionModelBodySchema(armarx::RobotStateComponentInterfacePrx robotStateProxy,
                              std::string handNodeName,
                              LongtermMemoryInterfacePrx longtermMemory);
        ~MotionModelBodySchema();
 
        virtual AbstractMotionModel::EMotionModelType
        GetMotionModelType()
        {
            return AbstractMotionModel::eMotionModelBodySchema;
        }
 
        virtual void
        SetPoseAtLastLocalisation(const armarx::LinkedPoseBasePtr& poseAtLastLocalization,
                                  const armarx::PoseBasePtr& globalRobotPoseAtLastLocalization,
                                  const Ice::Current& c = Ice::emptyCurrent);
 
    protected:
        std::shared_ptr<memoryx::KBM> model;
 
        virtual armarx::LinkedPosePtr GetPredictedPoseInternal();
        virtual MultivariateNormalDistributionBasePtr getUncertaintyInternal();
 
        std::string handNodeName;
        unsigned int inputDim, outputDim;
        armarx::NameList parentNodeNames;
        LongtermMemoryInterfacePrx longtermMemory;
    };
 
    using MotionModelBodySchemaPtr = IceInternal::Handle<MotionModelBodySchema>;
} // namespace memoryx