added ObjectInstance BO class

source/RobotAPI/libraries/armem_objects/aron_conversions.cpp

@@ -8,6 +8,22 @@ namespace armarx::armem
 {
 
     void
+    fromAron(const arondto::ObjectInstance& dto, ObjectInstance& bo)
+    {
+        fromAron(dto.pose, bo.pose);
+        fromAron(dto.classID, bo.classID);
+        fromAron(dto.sourceID, bo.sourceID);
+    }
+
+    void
+    toAron(arondto::ObjectInstance& dto, const ObjectInstance& bo)
+    {
+        toAron(dto.pose, bo.pose);
+        toAron(dto.classID, bo.classID);
+        toAron(dto.sourceID, bo.sourceID);
+    }
+
+    /*void
     fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
     {
         bo = dto.pose;
@@ -29,7 +45,7 @@ namespace armarx::armem
     toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
     {
         objpose::toAron(dto.pose, bo);
-    }
+    }*/
 
 
     /* Attachments */

source/RobotAPI/libraries/armem_objects/aron_conversions.h

@@ -10,12 +10,8 @@
 
 namespace armarx::armem
 {
-    void fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo);
-    void toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo);
-
-    void fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo);
-    void toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo);
-
+    void fromAron(const arondto::ObjectInstance&, ObjectInstance&);
+    void toAron(arondto::ObjectInstance&, const ObjectInstance&);
 
     /* Attachments */
     void fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo);

source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp

@@ -20,6 +20,7 @@
 #include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot/aron_conversions.h>
 #include <RobotAPI/libraries/armem_robot/robot_conversions.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
 
 #include "utils.h"
 
@@ -262,10 +263,13 @@ namespace armarx::armem::articulated_object
     std::optional<robot::RobotState>
     convertToRobotState(const armem::wm::EntityInstance& instance)
     {
-        armarx::armem::arondto::ObjectInstance aronObjectInstance;
+        armarx::armem::ObjectInstance aronObjectInstance;
         try
         {
-            aronObjectInstance.fromAron(instance.data());
+            armarx::armem::arondto::ObjectInstance dto;
+            dto.fromAron(instance.data());
+
+            fromAron(dto, aronObjectInstance);
         }
         catch (...)
         {
@@ -273,9 +277,7 @@ namespace armarx::armem::articulated_object
             return std::nullopt;
         }
 
-        objpose::ObjectPose objectPose;
-        objpose::fromAron(aronObjectInstance.pose, objectPose);
-
+        objpose::ObjectPose objectPose = aronObjectInstance.pose;
         robot::RobotState robotState{.timestamp = objectPose.timestamp,
                                      .globalPose = Eigen::Affine3f(objectPose.objectPoseGlobal),
                                      .jointMap = objectPose.objectJointValues};

source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp

@@ -13,6 +13,7 @@
 #include <RobotAPI/libraries/armem/core/aron_conversions.h>
 #include <RobotAPI/libraries/armem/core/error.h>
 #include <RobotAPI/libraries/armem/core/operations.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
 #include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
@@ -206,8 +207,7 @@ namespace armarx::armem::articulated_object
         // arondto::Robot aronArticulatedObject;
         // robot::toAron(aronArticulatedObject, obj);
 
-        arondto::ObjectInstance objectInstance;
-        toAron(objectInstance, obj.config);
+        ObjectInstance objectInstance;
 
         const auto classId = storeOrGetClass(obj);
 
@@ -218,21 +218,20 @@ namespace armarx::armem::articulated_object
         }
 
         // install memory link
-        toAron(objectInstance.classID, *classId);
+        objectInstance.classID = *classId;
 
         armem::MemoryID id;
         id.setEntityID(classId->getEntityID());
 
         armarx::ObjectID objectId(id.entityName);
-
-        armarx::arondto::ObjectID cs;
-        cs.className = objectId.className();
-        cs.instanceName = objectId.instanceName();
-        cs.dataset = objectId.dataset();
+        armarx::ObjectID cs(objectId.dataset(), objectId.className(), objectId.instanceName());
 
         objectInstance.pose.objectID = cs;
 
-        update.instancesData = {objectInstance.toAron()};
+        arondto::ObjectInstance dto;
+        toAron(dto, objectInstance);
+
+        update.instancesData = {dto.toAron()};
         update.timeCreated   = timestamp;
 
         ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;

source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp

@@ -170,10 +170,8 @@ namespace armarx::armem::server::obj::instance
             const wm::Entity* entity = findObjectEntity(armarx::fromIce(provided.objectID), providerName);
             if (entity)
             {
-                const arondto::ObjectInstance data = getLatestInstanceData(*entity);
-
-                previousPose = objpose::ObjectPose();
-                fromAron(data, *previousPose);
+                const ObjectInstance data = getLatestInstanceData(*entity);
+                previousPose = data.pose;
             }
 
             bool discard = false;
@@ -274,7 +272,7 @@ namespace armarx::armem::server::obj::instance
             update.confidence = pose.confidence;
 
             arondto::ObjectInstance dto;
-            toAron(dto, pose);
+            toAron(dto.pose, pose);
             // Search for object class.
             if (auto instance = findClassInstance(pose.objectID))
             {
@@ -504,15 +502,17 @@ namespace armarx::armem::server::obj::instance
     {
         entity.getLatestSnapshot().forEachInstance([&out](const wm::EntityInstance & instance)
         {
+            ObjectInstance bo;
             arondto::ObjectInstance dto;
             dto.fromAron(instance.data());
 
-            fromAron(dto, out);
+            fromAron(dto, bo);
+            out = bo.pose;
         });
     }
 
 
-    arondto::ObjectInstance Segment::getLatestInstanceData(const wm::Entity& entity)
+    ObjectInstance Segment::getLatestInstanceData(const wm::Entity& entity)
     {
         ARMARX_CHECK_GREATER_EQUAL(entity.size(), 1);
         const wm::EntitySnapshot& snapshot = entity.getLatestSnapshot();
@@ -520,10 +520,13 @@ namespace armarx::armem::server::obj::instance
         ARMARX_CHECK_EQUAL(snapshot.size(), 1);
         const wm::EntityInstance& instance = snapshot.getInstance(0);
 
-        arondto::ObjectInstance data;
-        data.fromAron(instance.data());
+        ObjectInstance bo;
+        arondto::ObjectInstance dto;
+        dto.fromAron(instance.data());
+
+        fromAron(dto, bo);
 
-        return data;
+        return bo;
     }
 
 
@@ -602,7 +605,7 @@ namespace armarx::armem::server::obj::instance
                         dto.fromAron(instance.data());
 
                         ObjectPose pose;
-                        fromAron(dto, pose);
+                        fromAron(dto.pose, pose);
 
                         result.emplace(snapshot.time(), pose);
                     });
@@ -681,7 +684,7 @@ namespace armarx::armem::server::obj::instance
                            << "' of agent '" << agent->getName() << "', but object is currently not provided.";
             return output;
         }
-        arondto::ObjectInstance data = getLatestInstanceData(*objectEntity);
+        ObjectInstance data = getLatestInstanceData(*objectEntity);
 
         objpose::ObjectAttachmentInfo info;
         info.agentName = agent->getName();
@@ -717,10 +720,12 @@ namespace armarx::armem::server::obj::instance
             update.entityID = objectEntity->id();
             update.timeCreated = now;
             {
-                arondto::ObjectInstance updated = data;
-                toAron(updated.pose.attachment, info);
-                updated.pose.attachmentValid = true;
-                update.instancesData = { updated.toAron() };
+                ObjectInstance updated = data;
+                data.pose.attachment = info;
+
+                arondto::ObjectInstance dto;
+                toAron(dto, data);
+                update.instancesData = { dto.toAron() };
             }
             iceMemory.commit(commit);
         }
@@ -748,15 +753,15 @@ namespace armarx::armem::server::obj::instance
         ObjectID objectID = armarx::fromIce(input.objectID);
         std::string providerName = input.providerName;
 
-        std::optional<objpose::arondto::ObjectAttachmentInfo> attachment;
+        std::optional<objpose::ObjectAttachmentInfo> attachment;
         {
             // Remove from latest pose (if it was cached).
             // Find object pose (provider name can be empty).
             wm::Entity* entity = this->findObjectEntity(objectID, input.providerName);
             if (entity)
             {
-                const arondto::ObjectInstance data = getLatestInstanceData(*entity);
-                if (data.pose.attachmentValid)
+                const ObjectInstance data = getLatestInstanceData(*entity);
+                if (data.pose.attachment)
                 {
                     attachment = data.pose.attachment;
 
@@ -799,8 +804,8 @@ namespace armarx::armem::server::obj::instance
         output.numDetached = 0;
         segmentPtr->forEachEntity([this, now, &input, &output](wm::Entity & entity)
         {
-            const arondto::ObjectInstance data = this->getLatestInstanceData(entity);
-            if (data.pose.attachmentValid)
+            const ObjectInstance data = this->getLatestInstanceData(entity);
+            if (data.pose.attachment)
             {
                 ++output.numDetached;
                 // Store non-attached pose in new snapshot.
@@ -816,7 +821,7 @@ namespace armarx::armem::server::obj::instance
 
     void Segment::storeDetachedSnapshot(
         wm::Entity& entity,
-        const arondto::ObjectInstance& data,
+        const ObjectInstance& data,
         Time now,
         bool commitAttachedPose)
     {
@@ -825,27 +830,29 @@ namespace armarx::armem::server::obj::instance
         update.entityID = entity.id();
         update.timeCreated = now;
         {
-            arondto::ObjectInstance updated;
-            if (commitAttachedPose and data.pose.attachmentValid)
+            ObjectInstance updated;
+            if (commitAttachedPose and data.pose.attachment)
             {
-                ObjectPose objectPose;
-                fromAron(data, objectPose);
+                ObjectPose objectPose = data.pose;
 
                 VirtualRobot::RobotPtr robot = robots.get(objectPose.robotName, objectPose.providerName);
                 bool agentSynchronized = false;
                 updateAttachement(objectPose, robot, agentSynchronized);
 
                 objectPose.attachment = std::nullopt;
-                toAron(updated, objectPose);
+                //toAron(updated, objectPose);
             }
             else
             {
                 updated = data;
-                updated.pose.attachmentValid = false;
-                toAron(updated.pose.attachment, objpose::ObjectAttachmentInfo{});
+                updated.pose.attachment = std::nullopt;
+                //updated.pose.attachmentValid = false;
+                //toAron(updated.pose.attachment, objpose::ObjectAttachmentInfo{});
             }
 
-            update.instancesData = { updated.toAron() };
+            arondto::ObjectInstance i;
+            toAron(i, updated);
+            update.instancesData = { i.toAron() };
         }
         iceMemory.commit(commit);
     }

source/RobotAPI/libraries/armem_objects/server/instance/Segment.h

@@ -27,11 +27,6 @@
 #include "Decay.h"
 
 
-namespace armarx::armem::arondto
-{
-    class ObjectInstance;
-}
-
 namespace armarx::armem::server::obj::instance
 {
 
@@ -102,7 +97,7 @@ namespace armarx::armem::server::obj::instance
         static void getLatestObjectPoses(const wm::ProviderSegment& provSeg, ObjectPoseMap& out);
         static void getLatestObjectPose(const wm::Entity& entity, ObjectPose& out);
 
-        static arondto::ObjectInstance getLatestInstanceData(const wm::Entity& entity);
+        static ObjectInstance getLatestInstanceData(const wm::Entity& entity);
 
         ::armarx::armem::articulated_object::ArticulatedObjects getArticulatedObjects();
 
@@ -135,7 +130,7 @@ namespace armarx::armem::server::obj::instance
 
         void storeDetachedSnapshot(
             wm::Entity& entity,
-            const arondto::ObjectInstance& data,
+            const ObjectInstance& data,
             Time now,
             bool commitAttachedPose);
 

source/RobotAPI/libraries/armem_objects/types.h

@@ -23,6 +23,7 @@
 
 #include <Eigen/Geometry>
 
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/libraries/armem_robot/types.h>
@@ -31,6 +32,16 @@
 #include "aron_forward_declarations.h"
 
 
+namespace armarx::armem
+{
+    struct ObjectInstance
+    {
+        objpose::ObjectPose pose;
+        MemoryID classID;
+        MemoryID sourceID;
+    };
+}
+
 namespace armarx::armem::attachment
 {
     using AgentID = armem::MemoryID;