CscEntityModel_8h_source.html

//

//  CscEntityModel.hpp

//  ConscienceRobotManager

//

//  Created by ILIES ZAOUI on 21/08/2018.

//  Copyright © 2018 IliesZaoui. All rights reserved.

//


#ifndef CscRobotModel_h

#define CscRobotModel_h


#include "CscCommon.h"


#include "Axiomes/Csc3dTypes.h"

#include "CoreObjects/CscEntityLidar.h"

#include "CoreObjects/CscEntityVision.h"

#include "CoreObjects/CscMember.h"

#include "CoreObjects/CscMemberJoint.h"

#include "CoreObjects/CscMemberWheel.h"

#include "CoreObjects/CscPropeller.h"

#include "CoreObjects/CscTranslation.h"


#define ENTITY_MODEL_ID_CARE "49"

#define ENTITY_MODEL_ID_BERING "46"

#define ENTITY_MODEL_ID_BERING_1B "51"

#define ENTITY_MODEL_ID_DJIMAVIC3 "60"

#define ENTITY_MODEL_ID_UBIK "58"

#define ENTITY_MODEL_ID_UBIKMAX "65"


inline static const std::string ENTITY_TYPE_FLY = "Fly";

inline static const std::string ENTITY_TYPE_ROVER = "Rover";

inline static const std::string ENTITY_TYPE_POD = "Pod";

inline static const std::string ENTITY_TYPE_STATIC = "Static";

inline static const std::string ENTITY_TYPE_ARM = "Arm";

inline static const std::string ENTITY_TYPE_MARIN = "Marin";


using std::optional;

using std::string;

using std::vector;


using namespace conscience_core::axiomes;


struct RobotModelGlobalCoefs {

    float rightMovementCoef = 1.0;

    float leftMovementCoef = 1.0;

    float backMovementCoef = 1.0;

};

struct FieldOfView {

    double width;

    double height;

};


class CscEntityModel {


private:

    vector<const CscMemberJoint *> *joints;

    vector<const CscMember *> *members;

    vector<const CscPropeller *> *propellers;

    vector<const CscMemberWheel *> *wheels;

    vector<const CscTranslation *> *translations;

    vector<const CscEntityLidar *> *lidars;

    CscPoint3d *origin;

    const CscEntityVision *vision;

    const string id;

    const map<string, float> maxHeightByMemberName;

    const float defaultYPositionCm;

    const CscPoint3d *const defaultRotationPitchYawRoll;

    const string name;

    const string entityType;

    const string owner;

    RobotModelGlobalCoefs globalCoefs;

    bool entityHasLeftAndRightSides;


    bool computeHasLeftAndRightSides();


public:

    inline static const string MEMBER_CORE = "Conscience_Member_Core";

    inline static const int MEMBER_CORE_ID = 0;

    inline static const string MEMBER_HEAD = "Conscience_Member_Head";

    inline static const string MEMBER_LENSE = "Conscience_Member_Lense";

    inline static const string MEMBER_LIDAR = "Conscience_Lidar";

    inline static const string MEMBER_FOOT_LEFT = "Conscience_Member_FootLeft";

    inline static const string MEMBER_FOOT_RIGHT = "Conscience_Member_FootRight";

    inline static const string MEMBER_PREFIX = "Conscience_Member_";


    inline static const CscPoint3d *INITIAL_EULER = new CscPoint3d(0, 0, -M_PI_2);

    inline static const CscQuaternion INITIAL_QUATERNION = CscQuaternion::fromAngleAxis(-M_PI_2, AXIS_3D_X);


    CscEntityModel(

        const string &modelId,

        string entityType,

        string name,

        string robotOwner,

        vector<const CscMember *> *membersIn,

        vector<const CscMemberJoint *> *jointsIn,

        vector<const CscPropeller *> *propellersIn,

        vector<const CscMemberWheel *> *wheelsIn,

        vector<const CscTranslation *> *translationsIn,


        vector<const CscEntityLidar *> *lidarsIn,


        float defaultYPositionCm,

        const CscPoint3d *defaultRotationPitchYawRoll,

        const map<string, float> &maxHeightByMemberNameIn,


        const CscEntityVision *visionIn,

        const RobotModelGlobalCoefs &globalCoefs);


    virtual ~CscEntityModel();

    virtual const string &getId() const;


    string getEntityType() const;

    string getName() const;

    FieldOfView getLenseFieldOfView() const;

    string getOwner() const;


    CscArea3d getBoundingBox() const;

    CscSize3d getCoreMemberDimensions() const;


    const vector<const CscMember *> *getMembers() const;


    const vector<const CscMemberJoint *> *getPivots() const;

    const vector<const CscTranslation *> *getTranslations() const;

    const vector<const CscPropeller *> *getPropellers() const;

    const vector<const CscMemberWheel *> *getWheels() const;

    const vector<const CscEntityLidar *> *getLidars() const;


    const CscMemberJoint *getPivotById(int id) const;

    const CscTranslation *getTranslationById(int id) const;

    const CscPropeller *getPropellerById(int id) const;

    const CscMemberWheel *getWheelById(int id) const;


    optional<int> getPivotIdByTag(string searchTag) const; // Tag : cameraAxisPan, cameraAxisTilt,  A compléter


    virtual int countMembers() const;

    virtual int countPivots() const;

    virtual int countTranslations() const;

    virtual int countPropellers() const;

    virtual int countWheels() const;

    virtual int countLidars() const;

    float getHeightMaxByMember(const string &memberName) const;

    const RobotModelGlobalCoefs &getGlobalCoefs() const;

    bool hasLeftAndRightSides() const;

    CscEntityModel *clone() const;


    const CscMember *getMemberById(int memberId) const;

    const CscMember *getMemberByName(const string &memberName) const;


    const int getMemberIndexByName(const string &memberName) const;


    const CscEntityVision *getVision() const;

    bool isWheelFlagged(int wheelId, string flag) const;

    bool isPropellerFlagged(int propellerId, string flag) const;

    bool hasLense() const;


    const map<int, float> maxDeltaPercentPivotByPivotId(float maxPivotDeltaInDegree) const;


    float getDefaultYPositionCm() const;


    const CscPoint3d *getDefaultRotationPitchYawRoll() const;

};

#endif