diff --git a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
index 9397d1bb222a8b93d17425e2ac9135b904fb811e..d5760158331a6f3dc664f3116a9f571e6830d37d 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
+++ b/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
)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index ced81f772c2f435687712d76de30620a84ec9bc5..b969a58931b1d3242a0ebbbf5176c1ccc413810e 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/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
{
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
index 0bb447d0530bcd56052ac7c3a98dae468d6cb777..d06d2e2915b1e959dce91b727b498ba1140bf059 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
+++ b/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
{
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0502b05d46ce9747707522052a40c1a69df0048c
--- /dev/null
+++ b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
@@ -0,0 +1,13 @@
+#include "ice_conversions.h"
+
+
+namespace armarx
+{
+
+ std::ostream& objpose::operator<<(std::ostream& os, const ObjectID& id)
+ {
+ return os << "'" << id.dataset << "/" << id.name << "'";
+ }
+
+}
+
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..fc73211f96f470557795667cbc62e8405f33bdd6
--- /dev/null
+++ b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h
@@ -0,0 +1,13 @@
+#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);
+
+
+}
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index e72461ff8ebe4b7ca106dd59e7dfa8a71258fcbd..6ca8b8ee106668475988c67a2b26db34f895b640 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/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
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice b/source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice
index 920395731ad73633b7d82d6a0a99ded551a3c5fe..3eddae79a480fa3aee046da4572e552e052fba50 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice
+++ b/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;
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice b/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
index a58a76d5cd724a7905bd9f35d2305a25788b3d6f..61f9a99fb6872ba20a9cd47dd8976130914c257b 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
+++ b/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;
diff --git a/source/RobotAPI/interface/objectpose/types.ice b/source/RobotAPI/interface/objectpose/types.ice
new file mode 100644
index 0000000000000000000000000000000000000000..e91ac3fcf82b7a3548e44ecdc3ce6a43572f1bc9
--- /dev/null
+++ b/source/RobotAPI/interface/objectpose/types.ice
@@ -0,0 +1,62 @@
+/**
+* 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;
+ };
+
+ };
+};
+