From abd5e8f223183219550b2ef651913958a0b3ec78 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 20 May 2021 10:40:25 +0200
Subject: [PATCH] BO's for attachments
---
.../RobotAPI/libraries/armem_objects/types.h | 57 +++++++++++++++++++
1 file changed, 57 insertions(+)
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 855c855c4..ba85fde7d 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -23,7 +23,64 @@
#include <vector>
+#include <Eigen/Geometry>
+
#include <RobotAPI/libraries/armem_robot/types.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+
+namespace armarx::armem::attachments
+{
+ using AgentID = armem::MemoryID;
+ using ObjectID = armem::MemoryID;
+
+ struct AgentDescription
+ {
+ /**
+ * @brief id either pointing to a arondto::Robot or arondto::ArticulatedObject
+ *
+ */
+ AgentID id;
+
+ std::string frame;
+ };
+
+ /**
+ * @brief ObjectAttachment describes a fixed transformation between an agent and an object.
+ *
+ * The transformation is defined as follows:
+ *
+ * agent.frame -> object root frame
+ *
+ */
+ struct ObjectAttachment
+ {
+ AgentDescription agent;
+
+ Eigen::Affine3f transformation;
+
+ ObjectID object;
+ };
+
+ /**
+ * @brief ArticulatedObjectAttachment describes a fixed transformation between an agent and an articulated object.
+ *
+ * The transformation is defined as follows:
+ *
+ * agent.frame -> object.frame
+ *
+ */
+ struct ArticulatedObjectAttachment
+ {
+ AgentDescription agent;
+
+ Eigen::Affine3f transformation;
+
+ AgentDescription object;
+
+ };
+
+} // namespace armarx::armem::attachments
namespace armarx::armem::articulated_object
{
--
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