Merge remote-tracking branch 'origin/master' into fix/robot-state-memory-memory-leak

source/RobotAPI/libraries/CMakeLists.txt

@@ -38,3 +38,4 @@ add_subdirectory(skills)
 
 add_subdirectory(RobotUnitDataStreamingReceiver)
 add_subdirectory(GraspingUtility)
+add_subdirectory(obstacle_avoidance)

source/RobotAPI/libraries/obstacle_avoidance/CMakeLists.txt

+set(LIB_NAME obstacle_avoidance)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+    LIBS
+        # ArmarX
+        ArmarXCore
+        # This package
+        RobotAPI::Core
+        RobotAPI::armem
+        RobotAPI::armem_vision
+        RobotAPI::ArmarXObjects
+        aroncommon
+        # System / External
+#        Eigen3::Eigen
+    HEADERS
+        CollisionModelHelper.h
+    SOURCES
+        CollisionModelHelper.cpp
+)
+
+add_library(
+        "RobotAPI::${LIB_NAME}"
+        ALIAS
+        ${LIB_NAME}
+)

source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp

+/*
+ * 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    RobotAPI
+ * @author     Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date       17.02.23
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "CollisionModelHelper.h"
+
+#include <VirtualRobot/ManipulationObject.h>
+#include <VirtualRobot/SceneObjectSet.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::obstacle_avoidance
+{
+
+    VirtualRobot::ManipulationObjectPtr
+    CollisionModelHelper::asManipulationObject(const objpose::ObjectPose& objectPose)
+    {
+        const ObjectFinder finder;
+
+        const VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
+        if (auto obstacle = finder.loadManipulationObject(objectPose))
+        {
+            obstacle->setGlobalPose(objectPose.objectPoseGlobal);
+            return obstacle;
+        }
+
+        ARMARX_WARNING << "Failed to load scene object `" << objectPose.objectID << "`";
+        return nullptr;
+    }
+
+    VirtualRobot::SceneObjectSetPtr
+    CollisionModelHelper::asSceneObjects(const objpose::ObjectPoseSeq& objectPoses)
+    {
+        const ObjectFinder finder;
+
+        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
+        for (const auto& objectPose : objectPoses)
+        {
+            if (auto obstacle = finder.loadManipulationObject(objectPose))
+            {
+                obstacle->setGlobalPose(objectPose.objectPoseGlobal);
+                sceneObjects->addSceneObject(obstacle);
+            }
+        }
+
+        return sceneObjects;
+    }
+
+    VirtualRobot::SceneObjectSetPtr
+    CollisionModelHelper::asSceneObjects(const OccupancyGrid& occupancyGrid,
+                                         const OccupancyGridHelper::Params& params)
+    {
+        const OccupancyGridHelper ocHelper(occupancyGrid, params);
+        const auto obstacles = ocHelper.obstacles();
+
+        const float boxSize = occupancyGrid.resolution;
+        const float resolution = occupancyGrid.resolution;
+
+        VirtualRobot::SceneObjectSetPtr sceneObjects(new VirtualRobot::SceneObjectSet);
+
+        ARMARX_CHECK_EQUAL(occupancyGrid.frame, GlobalFrame)
+            << "Only occupancy grid in global frame supported.";
+
+        VirtualRobot::CoinVisualizationFactory factory;
+
+        const auto& world_T_map = occupancyGrid.pose;
+
+        for (int x = 0; x < obstacles.rows(); x++)
+        {
+            for (int y = 0; y < obstacles.cols(); y++)
+            {
+                if (obstacles(x, y))
+                {
+                    const Eigen::Vector3f pos{
+                        static_cast<float>(x) * resolution, static_cast<float>(y) * resolution, 0};
+
+                    // FIXME: change to Isometry3f
+                    Eigen::Affine3f map_T_obj = Eigen::Affine3f::Identity();
+                    map_T_obj.translation() = pos;
+
+                    Eigen::Affine3f world_T_obj = world_T_map * map_T_obj;
+
+                    // ARMARX_INFO << world_T_obj.translation();
+
+                    auto cube = factory.createBox(boxSize, boxSize, boxSize);
+
+                    const VirtualRobot::CollisionModelPtr collisionModel(
+                        new VirtualRobot::CollisionModel(cube));
+
+                    const VirtualRobot::SceneObjectPtr sceneObject(new VirtualRobot::SceneObject(
+                        "box_" + std::to_string(sceneObjects->getSize()), cube, collisionModel));
+                    sceneObject->setGlobalPose(world_T_obj.matrix());
+
+                    sceneObjects->addSceneObject(sceneObject);
+                }
+            }
+        }
+
+        return sceneObjects;
+    }
+
+    CollisionModelHelper::CollisionModelHelper(const objpose::ObjectPoseClient& client) :
+        objectPoseClient_(client)
+    {
+    }
+
+    VirtualRobot::SceneObjectSetPtr
+    CollisionModelHelper::fetchSceneObjects()
+    {
+        const objpose::ObjectPoseSeq objectPoses = objectPoseClient_.fetchObjectPoses();
+        return asSceneObjects(objectPoses);
+    }
+
+    CollisionModelHelper::ManipulationObjectSetPtr
+    CollisionModelHelper::fetchManipulationObjects()
+    {
+        const objpose::ObjectPoseSeq objectPoses = objectPoseClient_.fetchObjectPoses();
+        return asManipulationObjects(objectPoses);
+    }
+
+    CollisionModelHelper::ManipulationObjectSetPtr
+    CollisionModelHelper::asManipulationObjects(const objpose::ObjectPoseSeq& objectPoses)
+    {
+        ManipulationObjectSet set;
+
+        for (const auto& pose : objectPoses)
+        {
+            set.emplace_back(*asManipulationObject(pose));
+        }
+
+        return std::make_shared<ManipulationObjectSet>(set);
+    }
+
+} // namespace armarx::obstacle_avoidance
\ No newline at end of file

source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.h

+/*
+ * 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    RobotAPI
+ * @author     Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date       17.02.23
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <VirtualRobot/VirtualRobot.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
+#include <RobotAPI/libraries/armem_vision/OccupancyGridHelper.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
+
+namespace armarx::obstacle_avoidance
+{
+
+    class CollisionModelHelper
+    {
+    public:
+        using ManipulationObjectSet = std::vector<VirtualRobot::ManipulationObject>;
+        using ManipulationObjectSetPtr = std::shared_ptr<ManipulationObjectSet>;
+
+        static VirtualRobot::ManipulationObjectPtr
+        asManipulationObject(const objpose::ObjectPose& objectPose);
+        static ManipulationObjectSetPtr
+        asManipulationObjects(const objpose::ObjectPoseSeq& objectPoses);
+        static VirtualRobot::SceneObjectSetPtr
+        asSceneObjects(const objpose::ObjectPoseSeq& objectPoses);
+        static VirtualRobot::SceneObjectSetPtr
+        asSceneObjects(const armem::vision::OccupancyGrid& occupancyGrid,
+                       const OccupancyGridHelper::Params& params);
+
+        CollisionModelHelper(const objpose::ObjectPoseClient& client);
+        VirtualRobot::SceneObjectSetPtr fetchSceneObjects();
+        ManipulationObjectSetPtr fetchManipulationObjects();
+    private:
+        objpose::ObjectPoseClient objectPoseClient_;
+    };
+} // namespace armarx::obstacle_avoidance