From 31ec4ca59baebc9d927f7b465e789a521392f4d5 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 7 Dec 2021 17:20:50 +0100
Subject: [PATCH] Add Pose to ObjectPose ice type
---
.../interface/objectpose/object_pose_types.ice | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/interface/objectpose/object_pose_types.ice b/source/RobotAPI/interface/objectpose/object_pose_types.ice
index 37311d76a..74be94906 100644
--- a/source/RobotAPI/interface/objectpose/object_pose_types.ice
+++ b/source/RobotAPI/interface/objectpose/object_pose_types.ice
@@ -64,11 +64,12 @@ module armarx
module data
{
- class PoseCovariance // class: optional
+ class PoseCovariance // class => optional
{
- Ice::FloatSeq translation3x3; // fq std::vector<float>
-
+ Ice::FloatSeq translation3x3;
};
+
+
/// An object pose provided by an ObjectPoseProvider.
struct ProvidedObjectPose
{
@@ -118,8 +119,13 @@ module armarx
armarx::data::ObjectID objectID;
PoseBase objectPoseRobot;
+ PoseCovariance objectPoseRobotCovariance;
+
PoseBase objectPoseGlobal;
+ PoseCovariance objectPoseGlobalCovariance;
+
PoseBase objectPoseOriginal;
+ PoseCovariance objectPoseOriginalCovariance;
string objectPoseOriginalFrame;
/// The object's joint values if it is articulated.
--
GitLab