From da3d9847469fec45a504afc22531f7a30abc04d8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 11 Mar 2022 08:36:35 +0100
Subject: [PATCH] Add documentation and include
---
.../ArmarXObjects/ObjectPoseClient.h | 61 +++++++++++++++++--
1 file changed, 57 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h
index 9bae3131e..b54f1076e 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h
@@ -1,7 +1,9 @@
#pragma once
-#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
+#include <optional>
+
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
@@ -17,30 +19,81 @@ namespace armarx::objpose
{
public:
+ /// Construct a disconnected client.
ObjectPoseClient();
- ObjectPoseClient(const ObjectPoseStorageInterfacePrx& objectPoseStorage,
- const ObjectFinder& finder = {});
-
+ /// Construct a client and connect it to the object pose storage.
+ ObjectPoseClient(
+ const ObjectPoseStorageInterfacePrx& objectPoseStorage,
+ const ObjectFinder& finder = {}
+ );
+
+ /**
+ * @brief Connect to the given object pose storage.
+ *
+ * This function can be used after default-constructing the client.
+ *
+ * @param objectPoseStorage The object pose storage.
+ */
void connect(const ObjectPoseStorageInterfacePrx& objectPoseStorage);
+ /**
+ * @brief Indicate whether this client is connected to an object pose
+ * storage.
+ *
+ * That is, whether its proxy has been set via the constructor or
+ * `connect()`.
+ *
+ * If false, all `fetch*()` functions will return empty results.
+ *
+ * @return True if connected
+ */
bool isConnected() const;
+ /**
+ * @brief Fetch all known object poses.
+ * @return The known object poses.
+ */
ObjectPoseSeq
fetchObjectPoses();
+ /**
+ * @brief Fetch all known object poses.
+ * @return The known object poses, with object ID as key.
+ */
ObjectPoseMap
fetchObjectPosesAsMap();
+ /**
+ * @brief Fetch the pose of a single object.
+ *
+ * This is a network call. If you need multiple object poses, use
+ * `fetchObjectPoses()` instead.
+ *
+ * @param objectID The object's ID.
+ * @return The object's pose, if known.
+ */
std::optional<ObjectPose>
fetchObjectPose(const ObjectID& objectID);
+ /**
+ * @brief Fetch object poses from a specific provider.
+ * @param providerName The provider's name.
+ * @return The object poses from that provider.
+ */
ObjectPoseSeq
fetchObjectPosesFromProvider(const std::string& providerName);
+
+ /**
+ * @brief Get the object pose storage's proxy.
+ */
const ObjectPoseStorageInterfacePrx&
getObjectPoseStorage() const;
+ /**
+ * @brief Get the internal object finder.
+ */
const ObjectFinder&
getObjectFinder() const;
--
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