BodySensorObserver.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_observers/Observer.h>
#include <mc_observers/api.h>
#include <mc_rbdyn/Robot.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
namespace mc_observers
{
struct MC_OBSERVER_DLLAPI BodySensorObserver : public Observer
{
  BodySensorObserver(const std::string & type, double dt) : Observer(type, dt) {}
 
  void configure(const mc_control::MCController & ctl, const mc_rtc::Configuration & /*config*/) override;
 
  void reset(const mc_control::MCController & ctl) override;
 
  bool run(const mc_control::MCController & ctl) override;
 
  void update(mc_control::MCController & ctl) override;
 
  const sva::PTransformd & posW() const { return posW_; }
 
  const sva::MotionVecd & velW() const { return velW_; }
 
protected:
  void addToLogger(const mc_control::MCController &, mc_rtc::Logger &, const std::string & category) override;
  void addToGUI(const mc_control::MCController &,
                mc_rtc::gui::StateBuilder &,
                const std::vector<std::string> & category) override;
 
protected:
  enum class Update
  {
    Control, 
    Sensor 
  };
  Update updateFrom_ = Update::Sensor;
  std::string fbSensorName_;
  sva::PTransformd posW_ = sva::PTransformd::Identity();
  sva::MotionVecd velW_ = sva::MotionVecd::Zero();
  sva::MotionVecd accW_ = sva::MotionVecd::Zero();
  std::string robot_;
  std::string updateRobot_;
  bool updatePose_ = true;
  bool updateVel_ = true;
 
  bool logPos_ = true;
  bool logVel_ = true;
  bool logAcc_ = true;
  bool guiPos_ = false;
  bool guiVel_ = true;
  mc_rtc::gui::ArrowConfig guiVelConfig_;
  bool guiAcc_ = false;
  mc_rtc::gui::ArrowConfig guiAccConfig_;
  bool advancedGUI_ = false; 
};
 
} // namespace mc_observers