Move ice definition of ObjectID

source/RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.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
+
+module armarx
+{
+    module data
+    {
+        struct ObjectID
+        {
+            /// The dataset name in ArmarXObjects, e.g. "KIT", "YCB", "SecondHands", ...
+            string dataset;
+            /// The class name in ArmarXObjects, e.g. "Amicelli", "001_chips_can", ...
+            string className;
+            /// An optional instance name, chosen by the provider.
+            string instanceName;
+        };
+        sequence<ObjectID> ObjectIDSeq;
+    };
+};
+

source/RobotAPI/interface/CMakeLists.txt

@@ -31,6 +31,8 @@ set(SLICE_FILES
     observers/SpeechObserverInterface.ice
     observers/GraspCandidateObserverInterface.ice
 
+    ArmarXObjects/ArmarXObjectsTypes.ice
+
     objectpose/object_pose_types.ice
     objectpose/ObjectPoseObserver.ice
     objectpose/ObjectPoseProvider.ice

source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice

@@ -51,7 +51,7 @@ module armarx
                 string providerName;
                 provider::ObjectRequestResult result;
             };
-            dictionary<ObjectID, ObjectRequestResult> ObjectRequestResultMap;
+            dictionary<armarx::data::ObjectID, ObjectRequestResult> ObjectRequestResultMap;
             struct RequestObjectsOutput
             {
                 /// The results per objectID.

source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice

@@ -38,7 +38,7 @@ module armarx
         {
             ObjectPoseProvider* proxy;
             ObjectTypeEnum objectType = AnyObject;
-            ObjectIDSeq supportedObjects;
+            armarx::data::ObjectIDSeq supportedObjects;
         };
         dictionary<string, ProviderInfo> ProviderInfoMap;
 
@@ -48,7 +48,7 @@ module armarx
             struct RequestObjectsInput
             {
                 /// Object IDs.
-                ObjectIDSeq objectIDs;
+                armarx::data::ObjectIDSeq objectIDs;
                 /// For how long to request localization. Negative for no timeout.
                 long relativeTimeoutMS;
             };
@@ -57,7 +57,7 @@ module armarx
             {
                 bool success;
             };
-            dictionary<ObjectID, ObjectRequestResult> ObjectRequestResultMap;
+            dictionary<armarx::data::ObjectID, ObjectRequestResult> ObjectRequestResultMap;
             struct RequestObjectsOutput
             {
                 ObjectRequestResultMap results;

source/RobotAPI/interface/objectpose/object_pose_types.ice

@@ -24,6 +24,7 @@
 #pragma once
 
 #include <RobotAPI/interface/core/PoseBase.ice>
+#include <RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice>
 
 
 module armarx
@@ -36,18 +37,6 @@ module armarx
             AnyObject, KnownObject, UnknownObject
         };
 
-        struct ObjectID
-        {
-            /// The dataset name in ArmarXObjects, e.g. "KIT", "YCB", "SecondHands", ...
-            string dataset;
-            /// The class name in ArmarXObjects, e.g. "Amicelli", "001_chips_can", ...
-            string className;
-            /// An optional instance name, chosen by the provider.
-            string instanceName;
-        };
-        sequence<ObjectID> ObjectIDSeq;
-
-
         class AABB
         {
             Vector3Base center;
@@ -77,7 +66,7 @@ module armarx
                 ObjectTypeEnum objectType = AnyObject;
 
                 /// The object ID, i.e. dataset and name.
-                ObjectID objectID;
+                armarx::data::ObjectID objectID;
 
                 /// Pose in `objectPoseFrame`.
                 PoseBase objectPose;
@@ -103,7 +92,7 @@ module armarx
                 ObjectTypeEnum objectType = AnyObject;
 
                 /// The object ID, i.e. dataset and name.
-                ObjectID objectID;
+                armarx::data::ObjectID objectID;
 
                 PoseBase objectPoseRobot;
                 PoseBase objectPoseGlobal;