CommandFollowTrajectoryAndProject.h

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//  ConscienceRobotManager
//
//  Created by Hazar Zaoui on 06/10/2020.
//  Copyright © 2020 IliesZaoui. All rights reserved.
//
 
#ifndef ConscienceCommandFollowTrajectoryAndProject_h
#define ConscienceCommandFollowTrajectoryAndProject_h
 
#include "./Command.h"
#include "DetectorEngine/ConscienceVisionDetectorRepository.h"
#include "DetectorEngine/CscDetectorEngineColorExtractor.h"
#include "ArtificialIntelligence/CscEntityReflexion.h"
 
#include "./Result/CommandExecutionResultNone.h"
#include "CoreObjects/CscMember.h"
#include "Parser/CscCommandAutoParse.h"
 
#include <iostream>
#include <fstream>
 
using conscience_utils::logging::CscLogger;
using namespace conscience_core::detector_engine;
 
struct CSC_DLL_IMPORTEXPORT CscTrajectoryPoint3d{
    public:
    
    CscTrajectoryPoint3d(float x, float y, float z, float yaw, float pitch, float roll, int duration){
        this->pointOriented = new CscPoint3dOriented(x, y, z, yaw, pitch, roll);
        this->duration = duration;
    }
    
    CscPoint3dOriented* pointOriented;
    int duration;
};
 
namespace conscience_core::bridging::commands {
    
    
    class CSC_DLL_IMPORTEXPORT CommandFollowTrajectoryAndProject : public CscCommand {
 
    public:
        inline static const CommandTypeId COMMAND_ID = "FOLLOW_TRAJECTORY_AND_PROJECT";
        CommandFollowTrajectoryAndProject(ptr<CscEntityReflexion> entityReflexion, string objectName, string trajectoryFileName);
 
    protected:
        const CscCommandExecutionResultFile * doExecute(CscEnvironmentSimulator &environmentSimulator) override;
        std::unique_ptr<CscLogger> logger;
        ptr<CscEntityReflexion> getEntityReflexion() const override {
            return entityReflexion;
        }
        
    private:
        
        const string followTrajectoryAndProjectDataDir = "../followTrajectoryAndProject";
        const fs::path outputDaePath = followTrajectoryAndProjectDataDir + "/Ariel-Proceed" + to_string(nowMillis()) + ".dae";        
        
        vector<ptr<CscTrajectoryPoint3d>> trajectory;
        string objectName;
        string trajectoryFilePath;
        ptr<CscEntityReflexion> entityReflexion;
        
        void parseDataFile(string fileName);
        
        void transformToSimulatorPositions(CscEnvironmentSimulator &environmentSimulator, vector<CscWorldObject *> &detectedObjects, CscPoint3dOriented* camera);
        
        ptr<DetectionResult> performDetection(cv::Mat image, detector_engine::CscDetectorEngine* detector);
        
 
        void addObjectToDAE(vector<CscWorldObject *> * objects, CscWorldObject initialArielObject);
        
        const string fileMaterialPaternPath = followTrajectoryAndProjectDataDir + "/material_patern.txt";
        const string fileEffectPaternPath = followTrajectoryAndProjectDataDir + "/effect_patern.txt";
        const string fileGeometryPaternPath = followTrajectoryAndProjectDataDir + "/geometry_patern.txt";
        const string fileInstanceGeometryPaternPath = followTrajectoryAndProjectDataDir + "/instance_geometry_patern.txt";
 
    };
 
COMMAND_REGISTER(CommandFollowTrajectoryAndProject, ptr<CscEntityReflexion>, string, string)
}
 
#endif