Add interface for object poses

source/RobotAPI/interface/CMakeLists.txt

@@ -31,6 +31,9 @@ set(SLICE_FILES
     observers/SpeechObserverInterface.ice
     observers/GraspCandidateObserverInterface.ice
 
+    objectpose/ObjectPoseObserver.ice
+    objectpose/ObjectPoseProvider.ice
+
     units/MultiHandUnitInterface.ice
     units/ForceTorqueUnit.ice
     units/InertialMeasurementUnit.ice

source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice

+/**
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    RobotAPI
+* @author     Rainer Kartmann
+* @copyright  2020 Humanoids Group, H2T, KIT
+* @license    http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <RobotAPI/interface/objectpose/ObjectPoseProvider.ice>
+
+
+module armarx
+{
+    module objpose
+    {
+        interface ObjectPoseObserverInterface extends ObserverInterface, ObjectPoseTopic
+        {
+            InfoMap getAvailableProvidersWithInfo();
+            Ice::StringSeq getAvailableProviderNames();
+            ProviderInfo getProviderInfo(string providerName);
+            bool hasProvider(string providerName);
+
+            ObjectPoseSeq getObjectPoses();
+            ObjectPoseSeq getObjectPosesByProvider(string providerName);
+
+            int getUpdateCounterByProvider(string providerName);
+            StringIntDictionary getAllUpdateCounters();
+
+            bool setProviderConfig(string providerName, StringVariantBaseMap config);
+        };
+    };
+
+};
+

source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice

+/**
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    RobotAPI
+* @author     Rainer Kartmann
+* @copyright  2020 Humanoids Group, H2T, KIT
+* @license    http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/RequestableService.ice>
+
+
+module armarx
+{
+    // A struct's name cannot cannot differ only in capitalization from its immediately enclosing module name.
+    module objpose
+    {
+        enum ObjectTypeEnum
+        {
+            AnyObject, KnownObject, UnknownObject
+        };
+
+        struct ObjectID
+        {
+            string project;  ///< e.g. "KIT", "YCB", "SecondHands", ...
+            string name;     ///< e.g. "Amicelli", "001_chips_can", ...
+        };
+
+        struct ObjectPose
+        {
+            ObjectTypeEnum objectType = AnyObject;
+            ObjectID objectID;
+
+            PoseBase objectPose;  ///< In robot frame.
+            PoseBase robotPose;   ///< In global frame.
+
+            /// Confidence in [0, 1] (1 = full, 0 = none).
+            float confidence = 0;
+            /// Source timestamp.
+            long timestampMicroSeconds = -1;
+
+            string providerName;
+        };
+
+        sequence<ObjectPose> ObjectPoseSeq;
+
+
+        struct ProviderInfo
+        {
+            ObjectTypeEnum objectType = AnyObject;
+            StringVariantBaseMap currentConfig;
+        };
+
+        dictionary<string, ProviderInfo> InfoMap;
+
+
+        interface ObjectPoseTopic
+        {
+            void reportProviderInfo(string providerName, ProviderInfo info);
+            void reportObjectPoses(string providerName, ObjectPoseSeq candidates);
+        };
+
+        interface ObjectPoseProviderInterface extends RequestableServiceListenerInterface
+        {
+        };
+    };
+
+};
+