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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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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="2"> | ||
<name>controller_interface</name> | ||
<version>2.43.0</version> | ||
<version>2.43.1</version> | ||
<description>Description of controller_interface</description> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
<maintainer email="[email protected]">Denis Štogl</maintainer> | ||
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@@ -22,6 +22,8 @@ | |
<build_export_depend>rclcpp_lifecycle</build_export_depend> | ||
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<test_depend>ament_cmake_gmock</test_depend> | ||
<test_depend>geometry_msgs</test_depend> | ||
<test_depend>sensor_msgs</test_depend> | ||
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<export> | ||
<build_type>ament_cmake</build_type> | ||
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// 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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// 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. | ||
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#ifndef TEST_POSE_SENSOR_HPP_ | ||
#define TEST_POSE_SENSOR_HPP_ | ||
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#include <gmock/gmock.h> | ||
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#include <array> | ||
#include <memory> | ||
#include <string> | ||
#include <vector> | ||
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#include "semantic_components/pose_sensor.hpp" | ||
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class TestablePoseSensor : public semantic_components::PoseSensor | ||
{ | ||
FRIEND_TEST(PoseSensorTest, validate_all); | ||
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public: | ||
// Use default interface names | ||
explicit TestablePoseSensor(const std::string & name) : PoseSensor{name} {} | ||
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virtual ~TestablePoseSensor() = default; | ||
}; | ||
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class PoseSensorTest : public ::testing::Test | ||
{ | ||
public: | ||
void SetUp(); | ||
void TearDown(); | ||
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protected: | ||
const size_t size_ = 7; | ||
const std::string sensor_name_ = "test_pose_sensor"; | ||
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std::vector<std::string> full_interface_names_; | ||
const std::vector<std::string> interface_names_ = { | ||
"position.x", "position.y", "position.z", "orientation.x", | ||
"orientation.y", "orientation.z", "orientation.w"}; | ||
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std::array<double, 3> position_values_ = {{1.1, 2.2, 3.3}}; | ||
std::array<double, 4> orientation_values_ = {{4.4, 5.5, 6.6, 7.7}}; | ||
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std::unique_ptr<TestablePoseSensor> pose_sensor_; | ||
}; | ||
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#endif // TEST_POSE_SENSOR_HPP_ |
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