Population.hh

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/*
 * Copyright (C) 2014-2016 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_POPULATION_HH_
#define _GAZEBO_POPULATION_HH_

#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>
#include <sdf/sdf.hh>
#include "gazebo/common/Console.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/physics/World.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class PopulationPrivate;

    class GZ_PHYSICS_VISIBLE PopulationParams
    {
      public: math::Vector3 size;

      public: int rows;

      public: int cols;

      public: math::Vector3 step;

      public: math::Pose pose;

      public: double radius;

      public: double length;

      public: std::string modelName;

      public: std::string modelSdf;

      public: int modelCount;

      public: std::string distribution;

      public: std::string region;
    };

    class GZ_PHYSICS_VISIBLE Population
    {
      public: Population(sdf::ElementPtr _sdf, boost::shared_ptr<World> _world);

      public: virtual ~Population();

      public: bool PopulateAll();

      private: bool PopulateOne(const sdf::ElementPtr _population);

      private: template<typename T> bool ValueFromSdf(
        const sdf::ElementPtr &_sdfElement, const std::string &_element,
        T &_value)
      {
        if (_sdfElement->HasElement(_element))
        {
          _value = _sdfElement->Get<T>(_element);
          return true;
        }
        gzerr << "Unable to find <" << _element << "> inside the population tag"
              << std::endl;
        return false;
      }

      private: bool ElementFromSdf(const sdf::ElementPtr &_sdfElement,
        const std::string &_element, sdf::ElementPtr &_value);

      private: bool ParseSdf(sdf::ElementPtr _population,
        PopulationParams &_params);

      private: void CreatePosesBoxRandom(const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesBoxUniform(const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesBoxGrid(const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesBoxLinearX(const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesBoxLinearY(const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesBoxLinearZ(const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesCylinderRandom(
        const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: void CreatePosesCylinderUniform(
        const PopulationParams &_populParams,
        std::vector<math::Vector3> &_poses);

      private: boost::scoped_ptr<PopulationPrivate> dataPtr;
    };
  }
}
#endif