GazeboZoneSpawner.h

/*! \file GazeboZoneSpawner.cpp

    \author Johannes Mey
    \date 31.03.20
*/

#ifndef SIMULATION_UTIL_GAZEBOZONESPAWNER_H
#define SIMULATION_UTIL_GAZEBOZONESPAWNER_H


#include <shape_msgs/SolidPrimitive.h>
#include <geometry_msgs/Pose.h>
#include <std_msgs/ColorRGBA.h>

/*!
 * A class for spawning safety zones in the Gazebo simulator.
 */
class GazeboZoneSpawner {

public:

  /**
   * @brief Spawns a purely visual box that ignores physics and is ignored by collision detection.
   *
   * The box is based on a prototype located in the package at `models/box.sdf`:
   * ```xml
   * <?xml version="1.0" ?>
   * <sdf version="1.5">
   *   <model name="box">
   *     <static>true</static>
   *     <link name="link">
   *       <visual name="visual">
   *         <material>
   *           <script>
   *             <uri>box.material</uri>
   *             <name>Gazebo/DarkMagentaTransparent</name>
   *           </script>
   *         </material>
   *         <pose>0 0 0 0 0 0</pose>
   *         <geometry>
   *           <box>
   *             <size>1 1 1</size>
   *           </box>
   *         </geometry>
   *       </visual>
   *     </link>
   *   </model>
   * </sdf>
   * ```
   *
   * Before the box is spawned, its pose and size are adapted to the method parameters.
   *
   * Currently, color of the box is provided in a material file in the package at `models/box.material`. Alternatively,
   * the built-in materials could be used, but due to some bugs in gazebo_ros, the absolute URI would have to be
   * provided, e.g., `/usr/share/gazebo-9/media/materials/scripts/gazebo.material`, which would make the package
   * dependent on particular versions and installation locations. For future extensions, a `color` parameter is
   * provided.
   *
   * @param name The name of the box, which must be unique within gazebo.
   * @param shape The shape of the collision box. Currently, only `BOX` is supported.
   * @param pose The pose of the box. The position of the box is its center.
   * @param color The color of the box. This parameter is currently ignored.
   */
  static void spawnVisualPrimitive(const std::string &name, shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose, std_msgs::ColorRGBA color = std_msgs::ColorRGBA());

  /**
   * @brief Spawns a box with physical properties.
   *
   * The box is based on a prototype located in the package at `models/box.sdf`:
   * ```xml
   * <?xml version="1.0" ?>
   * <sdf version="1.5">
   *   <model name="box">
   *     <static>false</static>
   *     <link name="link">
   *       <pose>2 3 0.5 0 0 0</pose>
   *       <inertial>
   *         <mass>1.0</mass>
   *         <inertia>
   *           <ixx>0.083</ixx>       <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
   *           <ixy>0.0</ixy>         <!-- for a box: ixy = 0 -->
   *           <ixz>0.0</ixz>         <!-- for a box: ixz = 0 -->
   *           <iyy>0.083</iyy>       <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
   *           <iyz>0.0</iyz>         <!-- for a box: iyz = 0 -->
   *           <izz>0.083</izz>       <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
   *         </inertia>
   *       </inertial>
   *       <visual name="visual">
   *         <material>
   *           <script>
   *             <uri>box.material</uri>
   *             <name>Zone/DarkMagentaTransparent</name>
   *           </script>
   *         </material>
   *         <geometry>
   *           <box>
   *             <size>1 1 1</size>
   *           </box>
   *         </geometry>
   *       </visual>
   *       <collision name="collision">
   *         <geometry>
   *           <box>
   *             <size>1 1 1</size>
   *           </box>
   *         </geometry>
   *       </collision>
   *     </link>
   *   </model>
   * </sdf>
   * ```
   *
   * Before the box is spawned, its pose, inertial matrix, mass, and size are adapted to the method parameters.
   *
   * Currently, color of the box is provided in a material file in the package at `models/box.material`. Alternatively,
   * the built-in materials could be used, but due to some bugs in gazebo_ros, the absolute URI would have to be
   * provided, e.g., `/usr/share/gazebo-9/media/materials/scripts/gazebo.material`, which would make the package
   * dependent on particular versions and installation locations. For future extensions, a `color` parameter is
   * provided.
   *
   * @param name The name of the box, which must be unique within gazebo.
   * @param shape The shape of the collision box. Currently, only `BOX` is supported.
   * @param pose The pose of the box. The position of the box is its center.
   * @param color The color of the box. This parameter is currently ignored.
   * @param mass The weight of the box in kg. Irrelevant, if `is_static` is set to true.
   * @param is_static True, if the box should be ignored by physical forces (such as gravity). It is still considered for collisions.
   */
  static void spawnPrimitive(const std::string &name, shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose, std_msgs::ColorRGBA = std_msgs::ColorRGBA(), double mass = 1.0, bool is_static = false);

};


#endif //SIMULATION_UTIL_GAZEBOZONESPAWNER_H