From 657d31cb06f8ed47ac5d8bd737e82237cc428869 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 29 Jun 2021 15:33:48 +0200
Subject: [PATCH] Add isStatic to ObjectPose
---
source/RobotAPI/interface/objectpose/object_pose_types.ice | 4 ++++
source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp | 3 +++
source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h | 6 ++++++
source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml | 4 ++++
.../libraries/ArmarXObjects/aron_conversions/objpose.cpp | 4 ++--
5 files changed, 19 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/interface/objectpose/object_pose_types.ice b/source/RobotAPI/interface/objectpose/object_pose_types.ice
index 385da35e3..eb23d767e 100644
--- a/source/RobotAPI/interface/objectpose/object_pose_types.ice
+++ b/source/RobotAPI/interface/objectpose/object_pose_types.ice
@@ -64,6 +64,8 @@ module armarx
string providerName;
/// Known or unknown object.
ObjectTypeEnum objectType = AnyObject;
+ /// Whether object is static. Static objects don't decay.
+ bool isStatic = false;
/// The object ID, i.e. dataset and name.
armarx::data::ObjectID objectID;
@@ -92,6 +94,8 @@ module armarx
string providerName;
/// Known or unknown object.
ObjectTypeEnum objectType = AnyObject;
+ /// Whether object is static. Static objects don't decay.
+ bool isStatic = false;
/// The object ID, i.e. dataset and name.
armarx::data::ObjectID objectID;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
index 171da9c1a..b37f432ef 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
@@ -29,6 +29,7 @@ namespace armarx::objpose
{
providerName = ice.providerName;
objectType = ice.objectType;
+ isStatic = ice.isStatic;
armarx::fromIce(ice.objectID, objectID);
objectPoseRobot = ::armarx::fromIce(ice.objectPoseRobot);
@@ -58,6 +59,7 @@ namespace armarx::objpose
{
ice.providerName = providerName;
ice.objectType = objectType;
+ ice.isStatic = isStatic;
armarx::toIce(ice.objectID, objectID);
ice.objectPoseRobot = new Pose(objectPoseRobot);
@@ -80,6 +82,7 @@ namespace armarx::objpose
{
providerName = provided.providerName;
objectType = provided.objectType;
+ isStatic = provided.isStatic;
armarx::fromIce(provided.objectID, objectID);
objectPoseOriginal = ::armarx::fromIce(provided.objectPose);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
index 023d6351f..754c1a1b1 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
@@ -1,6 +1,9 @@
#pragma once
#include <optional>
+#include <map>
+#include <vector>
+
#include <Eigen/Core>
@@ -47,6 +50,8 @@ namespace armarx::objpose
std::string providerName;
/// Known or unknown object.
ObjectTypeEnum objectType = AnyObject;
+ /// Whether object is static. Static objects don't decay.
+ bool isStatic = false;
/// The object ID, i.e. dataset, class name and instance name.
armarx::ObjectID objectID;
@@ -90,6 +95,7 @@ namespace armarx::objpose
void updateAttached(VirtualRobot::RobotPtr agent);
};
using ObjectPoseSeq = std::vector<ObjectPose>;
+ using ObjectPoseMap = std::map<ObjectID, ObjectPose>;
void fromIce(const data::ObjectAttachmentInfo& ice, ObjectAttachmentInfo& attachment);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
index e9701dc24..cc1a3a046 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
@@ -38,6 +38,10 @@ ARON DTO of armarx::objpose::ObjectPose.
<armarx::objpose::arondto::ObjectType />
</ObjectChild>
+ <ObjectChild key='isStatic'>
+ <bool />
+ </ObjectChild>
+
<ObjectChild key='objectID'>
<armarx::arondto::ObjectID />
</ObjectChild>
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index 77880a524..26f07a947 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -61,8 +61,8 @@ void armarx::objpose::toAron(arondto::ObjectType& dto, const ObjectTypeEnum& bo)
void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
{
bo.providerName = dto.providerName;
-
fromAron(dto.objectType, bo.objectType);
+ bo.isStatic = dto.isStatic;
fromAron(dto.objectID, bo.objectID);
bo.objectPoseRobot = dto.objectPoseRobot;
@@ -102,8 +102,8 @@ void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
{
dto.providerName = bo.providerName;
-
toAron(dto.objectType, bo.objectType);
+ dto.isStatic = bo.isStatic;
toAron(dto.objectID, bo.objectID);
dto.objectPoseRobot = bo.objectPoseRobot;
--
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