FamiliarObjectDetectionExample: object id as property

source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.cpp

@@ -54,6 +54,10 @@ namespace armarx::familiar_objects
     FamiliarObjectDetectionExample::FamiliarObjectDetectionExample()
     {
         addPlugin(familiarObjectInstanceReaderPlugin);
+
+        p.exemplaryFamiliarObjectID.dataset = "myDataset";
+        p.exemplaryFamiliarObjectID.className = "sphere";
+        p.exemplaryFamiliarObjectID.instanceName = "0";
     }
 
     armarx::PropertyDefinitionsPtr
@@ -63,6 +67,11 @@ namespace armarx::familiar_objects
             new ComponentPropertyDefinitions(getConfigIdentifier());
 
         defs->required(p.robotName, "p.robotName");
+
+        defs->optional(p.exemplaryFamiliarObjectID.dataset, "p.objectId.dataset");
+        defs->optional(p.exemplaryFamiliarObjectID.className, "p.objectId.className");
+        defs->optional(p.exemplaryFamiliarObjectID.instanceName, "p.objectId.instanceName");
+
         defs->component(familiarObjectPoseStoragePrx, "ObjectMemory");
 
         return defs;
@@ -77,9 +86,7 @@ namespace armarx::familiar_objects
     void
     FamiliarObjectDetectionExample::onInitComponent()
     {
-        exemplaryFamiliarObjectID.dataset = "myDataset";
-        exemplaryFamiliarObjectID.className = "sphere";
-        exemplaryFamiliarObjectID.instanceName = "0";
+        
     }
 
     void
@@ -116,7 +123,7 @@ namespace armarx::familiar_objects
         // familiarObject.poseSensFrame.header.frame = "AzureKinect_RGB";
 
 
-        familiarObject.objectID = exemplaryFamiliarObjectID;
+        familiarObject.objectID = p.exemplaryFamiliarObjectID;
 
         familiarObject.confidence = 1.0;
 
@@ -240,7 +247,7 @@ namespace armarx::familiar_objects
         ARMARX_IMPORTANT << "Reading all instances of a specific class";
         {
             armarx::ObjectID objectId;
-            fromAron(exemplaryFamiliarObjectID, objectId);
+            fromAron(p.exemplaryFamiliarObjectID, objectId);
 
             const auto instances =
                 familiarObjectInstanceReader.queryLatestFamiliarObjectInstancesFromClass(
@@ -263,7 +270,7 @@ namespace armarx::familiar_objects
         ARMARX_IMPORTANT << "Reading a specific instance";
         {
             armarx::ObjectID objectId;
-            fromAron(exemplaryFamiliarObjectID, objectId);
+            fromAron(p.exemplaryFamiliarObjectID, objectId);
 
             const std::optional<std::map<std::string, armem::arondto::FamiliarObjectInstance>>
                 instances =

source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.h

@@ -64,6 +64,9 @@ namespace armarx::familiar_objects
         struct Properties
         {
             std::string robotName;
+
+            armarx::arondto::ObjectID exemplaryFamiliarObjectID;
+
         } p;
 
         // Writing familiar object instances to memory
@@ -73,9 +76,6 @@ namespace armarx::familiar_objects
         std::experimental::observer_ptr<armem::client::plugins::ReaderWriterPlugin<
             armarx::armem::obj::familiar_object_instance::Reader>>
             familiarObjectInstanceReaderPlugin;
-
-
-        armarx::arondto::ObjectID exemplaryFamiliarObjectID;
     };
 
 } // namespace armarx::familiar_objects