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controller_interface/include/semantic_components/pose_sensor.hpp
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| // Copyright 2024 FZI Forschungszentrum Informatik | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| #ifndef SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ | ||
| #define SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ | ||
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| #include <array> | ||
| #include <limits> | ||
| #include <string> | ||
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| #include "geometry_msgs/msg/pose.hpp" | ||
| #include "semantic_components/semantic_component_interface.hpp" | ||
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| namespace semantic_components | ||
| { | ||
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| class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose> | ||
| { | ||
| public: | ||
| /// Constructor for a standard pose sensor with interface names set based on sensor name. | ||
| explicit PoseSensor(const std::string & name) : SemanticComponentInterface{name, 7} | ||
| { | ||
| // Use standard interface names | ||
| interface_names_.emplace_back(name_ + '/' + "position.x"); | ||
| interface_names_.emplace_back(name_ + '/' + "position.y"); | ||
| interface_names_.emplace_back(name_ + '/' + "position.z"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.x"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.y"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.z"); | ||
| interface_names_.emplace_back(name_ + '/' + "orientation.w"); | ||
|
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| // Set all sensor values to default value NaN | ||
| std::fill(position_.begin(), position_.end(), std::numeric_limits<double>::quiet_NaN()); | ||
| std::fill(orientation_.begin(), orientation_.end(), std::numeric_limits<double>::quiet_NaN()); | ||
| } | ||
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| virtual ~PoseSensor() = default; | ||
|
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| /// Update and return position. | ||
| /*! | ||
| * Update and return current pose position from state interfaces. | ||
| * | ||
| * \return Array of position coordinates. | ||
| */ | ||
| std::array<double, 3> get_position() | ||
| { | ||
| for (size_t i = 0; i < 3; ++i) | ||
| { | ||
| position_[i] = state_interfaces_[i].get().get_value(); | ||
| } | ||
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| return position_; | ||
| } | ||
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| /// Update and return orientation | ||
| /*! | ||
| * Update and return current pose orientation from state interfaces. | ||
| * | ||
| * \return Array of orientation coordinates in xyzw convention. | ||
| */ | ||
| std::array<double, 4> get_orientation() | ||
| { | ||
| for (size_t i = 3; i < 7; ++i) | ||
| { | ||
| orientation_[i - 3] = state_interfaces_[i].get().get_value(); | ||
| } | ||
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| return orientation_; | ||
| } | ||
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| /// Fill pose message with current values. | ||
| /** | ||
| * Fill a pose message with current position and orientation from the state interfaces. | ||
| */ | ||
| bool get_values_as_message(geometry_msgs::msg::Pose & message) | ||
| { | ||
| // Update state from state interfaces | ||
| get_position(); | ||
| get_orientation(); | ||
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| // Set message values from current state | ||
| message.position.x = position_[0]; | ||
| message.position.y = position_[1]; | ||
| message.position.z = position_[2]; | ||
| message.orientation.x = orientation_[0]; | ||
| message.orientation.y = orientation_[1]; | ||
| message.orientation.z = orientation_[2]; | ||
| message.orientation.w = orientation_[3]; | ||
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| return true; | ||
| } | ||
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| protected: | ||
| std::array<double, 3> position_; | ||
| std::array<double, 4> orientation_; | ||
| }; | ||
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| } // namespace semantic_components | ||
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| #endif // SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,98 @@ | ||
| // Copyright (c) 2024, FZI Forschungszentrum Informatik | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| #include "test_pose_sensor.hpp" | ||
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| void PoseSensorTest::SetUp() | ||
| { | ||
| full_interface_names_.reserve(size_); | ||
| for (const auto & interface_name : interface_names_) | ||
| { | ||
| full_interface_names_.emplace_back(sensor_name_ + '/' + interface_name); | ||
| } | ||
| } | ||
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| void PoseSensorTest::TearDown() { pose_sensor_.reset(nullptr); } | ||
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| TEST_F(PoseSensorTest, validate_all) | ||
| { | ||
| // Create sensor | ||
| pose_sensor_ = std::make_unique<TestablePoseSensor>(sensor_name_); | ||
| EXPECT_EQ(pose_sensor_->name_, sensor_name_); | ||
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| // Validate reserved space for interface_names_ and state_interfaces_ | ||
| // As state_interfaces_ are not defined yet, use capacity() | ||
| ASSERT_EQ(pose_sensor_->interface_names_.size(), size_); | ||
| ASSERT_EQ(pose_sensor_->state_interfaces_.capacity(), size_); | ||
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| // Validate default interface_names_ | ||
| EXPECT_TRUE(std::equal( | ||
| pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(), | ||
| full_interface_names_.cbegin(), full_interface_names_.cend())); | ||
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| // Get interface names | ||
| std::vector<std::string> interface_names = pose_sensor_->get_state_interface_names(); | ||
|
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| // Assign values to position | ||
| hardware_interface::StateInterface position_x{ | ||
| sensor_name_, interface_names_[0], &position_values_[0]}; | ||
| hardware_interface::StateInterface position_y{ | ||
| sensor_name_, interface_names_[1], &position_values_[1]}; | ||
| hardware_interface::StateInterface position_z{ | ||
| sensor_name_, interface_names_[2], &position_values_[2]}; | ||
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| // Assign values to orientation | ||
| hardware_interface::StateInterface orientation_x{ | ||
| sensor_name_, interface_names_[3], &orientation_values_[0]}; | ||
| hardware_interface::StateInterface orientation_y{ | ||
| sensor_name_, interface_names_[4], &orientation_values_[1]}; | ||
| hardware_interface::StateInterface orientation_z{ | ||
| sensor_name_, interface_names_[5], &orientation_values_[2]}; | ||
| hardware_interface::StateInterface orientation_w{ | ||
| sensor_name_, interface_names_[6], &orientation_values_[3]}; | ||
|
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| // Create state interface vector in jumbled order | ||
| std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces; | ||
| temp_state_interfaces.reserve(7); | ||
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| temp_state_interfaces.emplace_back(position_z); | ||
| temp_state_interfaces.emplace_back(orientation_y); | ||
| temp_state_interfaces.emplace_back(orientation_x); | ||
| temp_state_interfaces.emplace_back(position_x); | ||
| temp_state_interfaces.emplace_back(orientation_w); | ||
| temp_state_interfaces.emplace_back(position_y); | ||
| temp_state_interfaces.emplace_back(orientation_z); | ||
|
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| // Assign interfaces | ||
| pose_sensor_->assign_loaned_state_interfaces(temp_state_interfaces); | ||
| EXPECT_EQ(pose_sensor_->state_interfaces_.size(), size_); | ||
|
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| // Validate correct position and orientation | ||
| EXPECT_EQ(pose_sensor_->get_position(), position_values_); | ||
| EXPECT_EQ(pose_sensor_->get_orientation(), orientation_values_); | ||
|
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| // Validate generated message | ||
| geometry_msgs::msg::Pose temp_message; | ||
| ASSERT_TRUE(pose_sensor_->get_values_as_message(temp_message)); | ||
| EXPECT_EQ(temp_message.position.x, position_values_[0]); | ||
| EXPECT_EQ(temp_message.position.y, position_values_[1]); | ||
| EXPECT_EQ(temp_message.position.z, position_values_[2]); | ||
| EXPECT_EQ(temp_message.orientation.x, orientation_values_[0]); | ||
| EXPECT_EQ(temp_message.orientation.y, orientation_values_[1]); | ||
| EXPECT_EQ(temp_message.orientation.z, orientation_values_[2]); | ||
| EXPECT_EQ(temp_message.orientation.w, orientation_values_[3]); | ||
|
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| // Release state interfaces | ||
| pose_sensor_->release_interfaces(); | ||
| ASSERT_EQ(pose_sensor_->state_interfaces_.size(), 0); | ||
| } |
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