object_sensor.hpp

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/*
 * Copyright 2020 Robert Bosch GmbH
 *
 * 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.
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#pragma once
 
#include <cloe/component.hpp>          // for Component
#include <cloe/component/frustum.hpp>  // for Frustum
#include <cloe/component/object.hpp>   // for Object, Isometry3d
#include <fable/json.hpp>              // for Json
#include <fable/utility/eigen.hpp>
 
namespace cloe {
 
class ObjectSensor : public Component {
 public:
  using Component::Component;
  ObjectSensor() : Component("object_sensor") {}
  virtual ~ObjectSensor() noexcept = default;
 
  virtual const Objects& sensed_objects() const = 0;
 
  virtual const Frustum& frustum() const = 0;
 
  virtual const Eigen::Isometry3d& mount_pose() const = 0;
 
  fable::Json active_state() const override {
    return fable::Json{
        {"mount_pose", this->mount_pose()},
        {"frustum", this->frustum()},
        {"sensed_objects", this->sensed_objects()},
    };
  }
};
 
class NopObjectSensor : public ObjectSensor {
 public:
  using ObjectSensor::ObjectSensor;
  NopObjectSensor() : ObjectSensor("nop_object_sensor") {}
  virtual ~NopObjectSensor() noexcept = default;
 
  const Objects& sensed_objects() const override { return objects_; }
 
  const Frustum& frustum() const override { return frustum_; }
 
  const Eigen::Isometry3d& mount_pose() const override { return mount_; }
 
  void reset() override {
    ObjectSensor::reset();
    objects_.clear();
  }
 
 protected:
  Frustum frustum_;
  Objects objects_;
  Eigen::Isometry3d mount_ = Eigen::Isometry3d::Identity();
};
 
}  // namespace cloe