diff --git a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
index a2587dc0c09e5329484dceb1838ea097e016283f..fa3c189dcd4a46055b33ef4566ede2f73a405317 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
+++ b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
@@ -4,7 +4,7 @@ armarx_component_set_name("ObjectPoseObserver")
set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces
ArmarXGuiComponentPlugins
- RobotAPIComponentPlugins
+ RobotAPIArmarXObjects RobotAPIComponentPlugins
${PROJECT_NAME}Interfaces
)
@@ -15,7 +15,6 @@ set(SOURCES
plugins/ObjectPoseProviderPlugin.cpp
plugins/ObjectPoseClientPlugin.cpp
- ObjectFinder.cpp
ice_conversions.cpp
ObjectPose.cpp
)
@@ -25,7 +24,6 @@ set(HEADERS
plugins/ObjectPoseProviderPlugin.h
plugins/ObjectPoseClientPlugin.h
- ObjectFinder.h
ice_conversions.h
ObjectPose.h
)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
index 23484b0b377b7d2fad5b56c8aab7f87f613624a3..2fbb8fbfbee6943e4fa6d7cf1ac81fba83bb73e6 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
@@ -31,8 +31,8 @@
#include <RobotAPI/interface/objectpose/ObjectPoseObserver.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include "ObjectFinder.h"
#include "ObjectPose.h"
#define ICE_CURRENT_ARG const Ice::Current& = Ice::emptyCurrent
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
index e40d29d709de816fedbd44e84d54f08961542eff..0085e76c8cca45298aad7c3cf11617c08c3e4ed8 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
@@ -3,8 +3,12 @@
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotConfig.h>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+#include <SimoxUtility/shapes/OrientedBox.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -23,6 +27,25 @@ namespace armarx
{ objpose::ObjectTypeEnum::UnknownObject, "UnknownObject" }
};
+
+ objpose::AABB objpose::toIce(const simox::AxisAlignedBoundingBox& aabb)
+ {
+ objpose::AABB ice;
+ ice.center = new Vector3(aabb.center());
+ ice.extents = new Vector3(aabb.extents());
+ return ice;
+ }
+
+ objpose::Box objpose::toIce(const simox::OrientedBox<float>& oobb)
+ {
+ objpose::Box ice;
+ ice.position = new Vector3(oobb.center());
+ ice.orientation = new Quaternion(oobb.rotation().eval());
+ ice.extents = new Vector3(oobb.dimensions());
+ return ice;
+ }
+
}
+
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h
index e9a0da5413706e3e53eea0f4fb4fee267c5f8354..d71b34cae0b1e09f19ea32e37e5c5564aa70e2ea 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h
+++ b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h
@@ -7,6 +7,15 @@
#include "ObjectPose.h"
+namespace simox
+{
+ // #include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+ struct AxisAlignedBoundingBox;
+ // #include <SimoxUtility/shapes/OrientedBox.h>
+ template<class FloatT> class OrientedBox;
+}
+
+
namespace armarx::objpose
{
@@ -14,4 +23,8 @@ namespace armarx::objpose
extern const simox::meta::EnumNames<objpose::ObjectTypeEnum> ObjectTypeEnumNames;
+
+ objpose::AABB toIce(const simox::AxisAlignedBoundingBox& aabb);
+ objpose::Box toIce(const simox::OrientedBox<float>& oobb);
+
}
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 6732b5b66028b2c9b1389088a36ead1ae1147093..e0c2cbd1ef13af7cfd35c7639447a0b26e277dfd 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -85,12 +85,14 @@ namespace armarx
// Layer info tree.
connect(widget.layerTree, &QTreeWidget::currentItemChanged, this, &This::updateSelectedLayer);
+#if 0
connect(widget.defaultShowLimitSpinBox, qOverload<int>(&QSpinBox::valueChanged),
&layerInfoTree, &LayerInfoTree::setMaxElementCountDefault);
layerInfoTree.setMaxElementCountDefault(widget.defaultShowLimitSpinBox->value());
layerInfoTree.setWidget(widget.layerInfoTree);
layerInfoTree.registerVisualizerCallbacks(visualizer);
+#endif
// We need a callback from the visualizer, when the layers have changed
@@ -289,6 +291,7 @@ namespace armarx
void ArVizWidgetController::updateSelectedLayer(QTreeWidgetItem* current, QTreeWidgetItem* previous)
{
+#if 0
(void) previous;
if (!current->parent())
@@ -309,6 +312,7 @@ namespace armarx
{
ARMARX_WARNING << "Could not find layer (" << id.first << " / " << id.second << ") in Visualizer.";
}
+#endif
}
void ArVizWidgetController::onCollapseAll(bool)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.cpp b/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5a3e68a75af25b715267a830dff6f726a250a93b
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.cpp
@@ -0,0 +1,28 @@
+/*
+ * 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 version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::ArmarXObjects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "ArmarXObjects.h"
+
+namespace armarx
+{
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h b/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h
new file mode 100644
index 0000000000000000000000000000000000000000..54315bcc8ebc727fdf55a6595a0683d6ccd1fea0
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h
@@ -0,0 +1,31 @@
+/*
+ * 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 version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::ArmarXObjects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "ObjectFinder.h"
+#include "ObjectInfo.h"
+
+namespace armarx
+{
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c819dd3e7e82293c031e5c6d19267cb9a2b1c533
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -0,0 +1,35 @@
+set(LIB_NAME ${PROJECT_NAME}ArmarXObjects)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+set(LIBS
+ ArmarXCoreInterfaces ArmarXCore
+)
+
+set(LIB_FILES
+ ArmarXObjects.cpp
+
+ ObjectFinder.cpp
+ ObjectInfo.cpp
+)
+set(LIB_HEADERS
+ ArmarXObjects.h
+
+ ObjectFinder.h
+ ObjectInfo.h
+)
+
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# target_include_directories(ArmarXObjects PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()
+
+# add unit tests
+add_subdirectory(test)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
similarity index 61%
rename from source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
rename to source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index eef7faa2231ea91333ed9b4da81ff402f74a1cdc..b7a74d925c6fc005cd506fff1f5a28558106c752 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -1,9 +1,6 @@
#include "ObjectFinder.h"
#include <SimoxUtility/filesystem/list_directory.h>
-#include <SimoxUtility/json.h>
-#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
-#include <SimoxUtility/shapes/OrientedBox.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -179,122 +176,5 @@ namespace armarx
return packageName;
}
-
- ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
- const std::string& dataset, const std::string& name) :
- _packageName(packageName), _packageDataDir(packageDataDir), _dataset(dataset), _name(name)
- {
- }
-
- std::string ObjectInfo::package() const
- {
- return _packageName;
- }
-
- std::string ObjectInfo::dataset() const
- {
- return _dataset;
- }
-
- std::string ObjectInfo::name() const
- {
- return _name;
- }
-
- std::string ObjectInfo::id() const
- {
- return _dataset + "/" + _name;
- }
-
- ObjectInfo::path ObjectInfo::objectDirectory() const
- {
- return path(_packageName) / _dataset / _name;
- }
-
- PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
- {
- std::string extension = _extension;
- if (extension.at(0) != '.')
- {
- extension = "." + extension;
- }
- std::string filename = _name + suffix + extension;
-
- PackageFileLocation loc;
- loc.package = _packageName;
- loc.relativePath = objectDirectory() / filename;
- loc.absolutePath = _packageDataDir / loc.relativePath;
- return loc;
- }
-
- PackageFileLocation ObjectInfo::simoxXML() const
- {
- return file(".xml");
- }
-
- PackageFileLocation ObjectInfo::wavefrontObj() const
- {
- return file(".obj");
- }
-
- PackageFileLocation ObjectInfo::boundingBoxJson() const
- {
- return file(".json", "_bb");
- }
-
- simox::AxisAlignedBoundingBox ObjectInfo::aabb() const
- {
- nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
- nlohmann::json jaabb = j.at("aabb");
- auto min = jaabb.at("min").get<Eigen::Vector3f>();
- auto max = jaabb.at("max").get<Eigen::Vector3f>();
-
- return simox::AxisAlignedBoundingBox(min, max);
- }
-
- simox::OrientedBox<float> ObjectInfo::oobb() const
- {
- nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
- nlohmann::json joobb = j.at("oobb");
- auto ori = joobb.at("ori").get<Eigen::Quaternionf>().toRotationMatrix();
- auto min = joobb.at("min").get<Eigen::Vector3f>();
- auto extents = joobb.at("extents").get<Eigen::Vector3f>();
-
- Eigen::Vector3f corner = ori * min;
-
- simox::OrientedBox<float> oobb(corner,
- ori.col(0) * extents(0),
- ori.col(1) * extents(1),
- ori.col(2) * extents(2));
- return oobb;
- }
-
- bool ObjectInfo::checkPaths() const
- {
- namespace fs = std::filesystem;
- bool result = true;
-
- if (!fs::is_regular_file(simoxXML().absolutePath))
- {
- ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
- result = false;
- }
- if (!fs::is_regular_file(wavefrontObj().absolutePath))
- {
- ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
- result = false;
- }
-
- return result;
- }
-
-}
-
-namespace armarx
-{
- std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs)
- {
- return os << "'" << rhs.id() << "'";
- }
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
new file mode 100644
index 0000000000000000000000000000000000000000..e7f3170c1954e810a077c88c0ea2f3aa1cc9f898
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -0,0 +1,56 @@
+#pragma once
+
+#include <filesystem>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include "ObjectInfo.h"
+
+
+namespace armarx
+{
+ /**
+ * @brief Used to find objects in the ArmarX objects repository [1].
+ *
+ * @see [1] https://gitlab.com/ArmarX/ArmarXObjects
+ */
+ class ObjectFinder : Logging
+ {
+ public:
+ using path = std::filesystem::path;
+
+ public:
+
+ ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
+
+ std::optional<ObjectInfo> findObject(const std::string& dataset, const std::string& name) const;
+ std::optional<ObjectInfo> findObject(const std::string& nameOrID) const;
+
+
+ std::vector<std::string> getDatasets() const;
+ std::vector<path> getDatasetDirectories() const;
+
+ std::vector<ObjectInfo> findAllObjects(bool checkPaths = true) const;
+ std::map<std::string, std::vector<ObjectInfo>> findAllObjectsByDataset(bool checkPaths = true) const;
+ std::vector<ObjectInfo> findAllObjectsOfDataset(const std::string& dataset, bool checkPaths = true) const;
+
+
+ private:
+
+ void init() const;
+
+ path _rootDirAbs() const;
+ path _rootDirRel() const;
+
+
+ private:
+
+ /// Name of package containing the object models (ArmarXObjects by default).
+ mutable std::string packageName;
+
+ /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
+ mutable path packageDataDir;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..feaf2f203aca7445081f2f91e3d511a7b5bbdbd5
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -0,0 +1,146 @@
+#include "ObjectInfo.h"
+
+#include <SimoxUtility/json.h>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+#include <SimoxUtility/shapes/OrientedBox.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx
+{
+ namespace fs = std::filesystem;
+
+
+ ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
+ const std::string& dataset, const std::string& name) :
+ _packageName(packageName), _packageDataDir(packageDataDir), _dataset(dataset), _name(name)
+ {
+ }
+
+ std::string ObjectInfo::package() const
+ {
+ return _packageName;
+ }
+
+ std::string ObjectInfo::dataset() const
+ {
+ return _dataset;
+ }
+
+ std::string ObjectInfo::name() const
+ {
+ return _name;
+ }
+
+ std::string ObjectInfo::id() const
+ {
+ return _dataset + "/" + _name;
+ }
+
+ ObjectInfo::path ObjectInfo::objectDirectory() const
+ {
+ return path(_packageName) / _dataset / _name;
+ }
+
+ PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
+ {
+ std::string extension = _extension;
+ if (extension.at(0) != '.')
+ {
+ extension = "." + extension;
+ }
+ std::string filename = _name + suffix + extension;
+
+ PackageFileLocation loc;
+ loc.package = _packageName;
+ loc.relativePath = objectDirectory() / filename;
+ loc.absolutePath = _packageDataDir / loc.relativePath;
+ return loc;
+ }
+
+ PackageFileLocation ObjectInfo::simoxXML() const
+ {
+ return file(".xml");
+ }
+
+ PackageFileLocation ObjectInfo::wavefrontObj() const
+ {
+ return file(".obj");
+ }
+
+ PackageFileLocation ObjectInfo::boundingBoxJson() const
+ {
+ return file(".json", "_bb");
+ }
+
+ simox::AxisAlignedBoundingBox ObjectInfo::aabb() const
+ {
+ nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ nlohmann::json jaabb = j.at("aabb");
+
+ auto center = jaabb.at("center").get<Eigen::Vector3f>();
+ auto extents = jaabb.at("extents").get<Eigen::Vector3f>();
+ auto min = jaabb.at("min").get<Eigen::Vector3f>();
+ auto max = jaabb.at("max").get<Eigen::Vector3f>();
+
+ simox::AxisAlignedBoundingBox aabb(min, max);
+
+ ARMARX_CHECK(aabb.center().isApprox(center)) << aabb.center().transpose() << "\n" << center.transpose();
+ ARMARX_CHECK(aabb.extents().isApprox(extents)) << aabb.extents().transpose() << "\n" << extents.transpose();
+ ARMARX_CHECK(aabb.min().isApprox(min)) << aabb.min().transpose() << "\n" << min.transpose();
+ ARMARX_CHECK(aabb.max().isApprox(max)) << aabb.max().transpose() << "\n" << max.transpose();
+
+ return aabb;
+ }
+
+ simox::OrientedBox<float> ObjectInfo::oobb() const
+ {
+ nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ nlohmann::json joobb = j.at("oobb");
+ auto pos = joobb.at("pos").get<Eigen::Vector3f>();
+ auto ori = joobb.at("ori").get<Eigen::Quaternionf>().toRotationMatrix();
+ auto extents = joobb.at("extents").get<Eigen::Vector3f>();
+
+ Eigen::Vector3f corner = pos - ori * extents / 2;
+
+ simox::OrientedBox<float> oobb(corner,
+ ori.col(0) * extents(0),
+ ori.col(1) * extents(1),
+ ori.col(2) * extents(2));
+
+ ARMARX_CHECK(oobb.center().isApprox(pos)) << oobb.center().transpose() << "\n" << pos.transpose();
+ ARMARX_CHECK(oobb.rotation().isApprox(ori)) << oobb.rotation() << "\n" << ori;
+ ARMARX_CHECK(oobb.dimensions().isApprox(extents)) << oobb.dimensions().transpose() << "\n" << extents.transpose();
+ return oobb;
+ }
+
+ bool ObjectInfo::checkPaths() const
+ {
+ namespace fs = std::filesystem;
+ bool result = true;
+
+ if (!fs::is_regular_file(simoxXML().absolutePath))
+ {
+ ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
+ result = false;
+ }
+ if (!fs::is_regular_file(wavefrontObj().absolutePath))
+ {
+ ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
+ result = false;
+ }
+
+ return result;
+ }
+
+}
+
+namespace armarx
+{
+ std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs)
+ {
+ return os << "'" << rhs.id() << "'";
+ }
+}
+
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
similarity index 57%
rename from source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
rename to source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index 7bbaa7c2282029ed78399027154f392f84ccad8a..0fd1ef03216ba8fdbb620462306b9779baeabde9 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -1,66 +1,20 @@
#pragma once
#include <filesystem>
+#include <string>
-#include <ArmarXCore/core/logging/Logging.h>
namespace simox
{
+ // #include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
struct AxisAlignedBoundingBox;
+ // #include <SimoxUtility/shapes/OrientedBox.h>
template<class FloatT> class OrientedBox;
}
namespace armarx
{
- class ObjectInfo;
-
-
- /**
- * @brief Used to find objects in the ArmarX objects repository [1].
- *
- * @see [1] https://gitlab.com/ArmarX/ArmarXObjects
- */
- class ObjectFinder : Logging
- {
- public:
- using path = std::filesystem::path;
-
- public:
-
- ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
-
- std::optional<ObjectInfo> findObject(const std::string& dataset, const std::string& name) const;
- std::optional<ObjectInfo> findObject(const std::string& nameOrID) const;
-
-
- std::vector<std::string> getDatasets() const;
- std::vector<path> getDatasetDirectories() const;
-
- std::vector<ObjectInfo> findAllObjects(bool checkPaths = true) const;
- std::map<std::string, std::vector<ObjectInfo>> findAllObjectsByDataset(bool checkPaths = true) const;
- std::vector<ObjectInfo> findAllObjectsOfDataset(const std::string& dataset, bool checkPaths = true) const;
-
-
- private:
-
- void init() const;
-
- path _rootDirAbs() const;
- path _rootDirRel() const;
-
- private:
-
-
- /// Name of package containing the object models (ArmarXObjects by default).
- mutable std::string packageName;
-
- /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
- mutable path packageDataDir;
-
- };
-
-
struct PackageFileLocation
{
/// Name of the ArmarX package.
@@ -86,6 +40,9 @@ namespace armarx
ObjectInfo(const std::string& packageName, const path& packageDataDir,
const std::string& dataset, const std::string& name);
+ virtual ~ObjectInfo() = default;
+
+
std::string package() const;
std::string dataset() const;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0af92b11dcd764b7ab376f07a5869cb1962e5f4f
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
@@ -0,0 +1,36 @@
+/*
+ * 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 version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::ArmarXObjects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::ArmarXObjects
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../ArmarXObjects.h"
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+
+ BOOST_CHECK_EQUAL(true, true);
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/test/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ad25f7ea27f28908cf50d0c950ba4170487fc85
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore ${LIB_NAME})
+
+armarx_add_test(ArmarXObjectsTest ArmarXObjectsTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 049d3fd2e11370c975a87557043dd5c40a253029..90a62cd3087bd6e2462865fb26a21c4140e4863c 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -1,4 +1,5 @@
add_subdirectory(ArmarXEtherCAT)
+add_subdirectory(ArmarXObjects)
add_subdirectory(ControllerUIUtility)
add_subdirectory(core)
add_subdirectory(DebugDrawerConfigWidget)
@@ -12,8 +13,9 @@ add_subdirectory(RobotStatechartHelpers)
add_subdirectory(SimpleJsonLogger)
add_subdirectory(SimpleTrajectory)
add_subdirectory(widgets)
-add_subdirectory(natik)
-add_subdirectory(aron)
add_subdirectory(diffik)
+add_subdirectory(natik)
+
add_subdirectory(armem)
+add_subdirectory(aron)