ObjectGrid.hh

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/*
 *  Copyright (C) 2018 João Borrego
 *
 *  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.
 */

// WorldUtils request
#include "world_utils_request.pb.h"

// Utilities
#include "utils.hh"

// Gazebo
#include <gazebo/gazebo_client.hh>
// Eigen
#include <Eigen/Dense>

#define SPHERE    0
#define CYLINDER  1
#define BOX       2

class Object
{
    // Public attributes

    public: int type;
    public: std::string name;
    public: ignition::math::Pose3d pose;
    public: ignition::math::Vector3d scale;
    public: std::vector<double> parameters;
    public: std::vector<Eigen::Vector4f> points;
    public: std::vector<int> bounding_box;

    // Private attributes

    private: const double ANGLE_STEP_C = 30.0;
    private: const double TOTAL_STEPS_C = 360.0 / ANGLE_STEP_C;
    private: const double ANGLE_STEP_S = 30.0;
    private: const double TOTAL_STEPS_S = 360.0 / ANGLE_STEP_S;

    public: Object(
        int & _type,
        const std::string & _name,
        const ignition::math::Pose3d & _pose,
        const ignition::math::Vector3d & _scale,
        const std::vector<double> & _parameters
    );

    public: void sampleSurface();

};

class ObjectGrid
{
    // Public attributes

    public: std::vector<int> cells;
    public: float grid_x;
    public: float grid_y;
    public: int num_cells_x;
    public: int num_cells_y;
    public: float cell_x;
    public: float cell_y;
    public: float cell_z;
    public: std::vector<Object> objects;
    public: int counters[3] = {0};

    public: const std::vector<std::string> TYPES = {"sphere", "cylinder","box"};

    public: ObjectGrid(
        int num_x,
        int num_y,
        float size_x,
        float size_y,
        float size_z);

    public: void populate(int num_objects);

    private: void addRandomObject(int x, int y);

};