Merge branch 'ObjectPoseObserver'

source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt

@@ -14,12 +14,14 @@ set(SOURCES
     ObjectPoseProviderPlugin.cpp
 
     ObjectFinder.cpp
+    ice_conversions.cpp
 )
 set(HEADERS
     ObjectPoseObserver.h
     ObjectPoseProviderPlugin.h
 
     ObjectFinder.h
+    ice_conversions.h
 )
 
 

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp

@@ -32,13 +32,6 @@
 #include <RobotAPI/libraries/core/FramedPose.h>
 
 
-std::ostream& armarx::objpose::operator<<(std::ostream& os, const ObjectID& id)
-{
-    return os << "'" << id.dataset << "/" << id.name << "'";
-}
-
-
-
 namespace armarx
 {
 

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h

@@ -33,15 +33,11 @@
 #include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
 
 #include "ObjectFinder.h"
+#include "ice_conversions.h"
 
 #define ICE_CURRENT_ARG const Ice::Current& = Ice::emptyCurrent
 
 
-namespace armarx::objpose
-{
-    std::ostream& operator<<(std::ostream& os, const ObjectID& id);
-}
-
 
 namespace armarx
 {

source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp

+#include "ice_conversions.h"
+
+
+namespace armarx
+{
+
+    std::ostream& objpose::operator<<(std::ostream& os, const ObjectID& id)
+    {
+        return os << "'" << id.dataset << "/" << id.name << "'";
+    }
+
+}
+

source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h

+#pragma once
+
+#include <RobotAPI/interface/objectpose/types.h>
+#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
+
+
+namespace armarx::objpose
+{
+
+    std::ostream& operator<<(std::ostream& os, const ObjectID& id);
+
+
+}

source/RobotAPI/interface/CMakeLists.txt

@@ -31,6 +31,7 @@ set(SLICE_FILES
     observers/SpeechObserverInterface.ice
     observers/GraspCandidateObserverInterface.ice
 
+    objectpose/types.ice
     objectpose/ObjectPoseObserver.ice
     objectpose/ObjectPoseProvider.ice
 

source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice

@@ -26,6 +26,8 @@
 
 #include <ArmarXCore/interface/core/BasicTypes.ice>
 #include <ArmarXCore/interface/observers/ObserverInterface.ice>
+
+#include <RobotAPI/interface/objectpose/types.ice>
 #include <RobotAPI/interface/objectpose/ObjectPoseProvider.ice>
 
 
@@ -36,7 +38,12 @@ module armarx
 
         struct ObjectPose
         {
+            /// Name of the providing component.
+            string providerName;
+            /// Known or unknown object.
             ObjectTypeEnum objectType = AnyObject;
+
+            /// The object ID, i.e. dataset and name.
             ObjectID objectID;
 
             PoseBase objectPoseRobot;
@@ -52,7 +59,8 @@ module armarx
             /// Source timestamp.
             long timestampMicroSeconds = -1;
 
-            string providerName;
+            /// Object bounding box in object's local coordinate frame.
+            Box localOOBB;
         };
         sequence<ObjectPose> ObjectPoseSeq;
 

source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice

@@ -24,9 +24,8 @@
 #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>
+
+#include <RobotAPI/interface/objectpose/types.ice>
 
 
 module armarx
@@ -34,21 +33,14 @@ 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 dataset;  ///< e.g. "KIT", "YCB", "SecondHands", ...
-            string name;     ///< e.g. "Amicelli", "001_chips_can", ...
-        };
-        sequence<ObjectID> ObjectIDSeq;
-
         struct ProvidedObjectPose
         {
+            /// Name of the providing component.
+            string providerName;
+            /// Known or unknown object.
             ObjectTypeEnum objectType = AnyObject;
+
+            /// The object ID, i.e. dataset and name.
             ObjectID objectID;
 
             /// Pose in `objectPoseFrame`.
@@ -60,7 +52,8 @@ module armarx
             /// Source timestamp.
             long timestampMicroSeconds = -1;
 
-            string providerName;
+            /// Object bounding box in object's local coordinate frame.
+            Box localOOBB;
         };
         sequence<ProvidedObjectPose> ProvidedObjectPoseSeq;
 

source/RobotAPI/interface/objectpose/types.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 <RobotAPI/interface/core/PoseBase.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 dataset;  ///< e.g. "KIT", "YCB", "SecondHands", ...
+            string name;     ///< e.g. "Amicelli", "001_chips_can", ...
+        };
+        sequence<ObjectID> ObjectIDSeq;
+
+
+        struct AABB
+        {
+            Vector3Base center;
+            Vector3Base extents;
+        };
+
+        struct Box
+        {
+            Vector3Base position;
+            QuaternionBase orientation;
+            Vector3Base extents;
+        };
+
+    };
+};
+