diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index da1d938b96fc8e7fe3d2a9cb2c0f25df386a06af..20f30486fd3249168f6f80a9353d6dd78cc7b2ea 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -20,6 +20,7 @@ set(LIB_FILES
ObjectPoseClient.cpp
PoseManifoldGaussian.cpp
ProvidedObjectPose.cpp
+ Scene.cpp
json_conversions.cpp
ice_conversions.cpp
@@ -40,6 +41,7 @@ set(LIB_HEADERS
ObjectPoseClient.h
PoseManifoldGaussian.h
ProvidedObjectPose.h
+ Scene.h
forward_declarations.h
json_conversions.h
diff --git a/source/RobotAPI/libraries/ArmarXObjects/Scene.cpp b/source/RobotAPI/libraries/ArmarXObjects/Scene.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1437da55faff8976d7c87ac9f76f9a2adf11432f
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/Scene.cpp
@@ -0,0 +1,44 @@
+#include "Scene.h"
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+
+
+namespace armarx::objects
+{
+
+ ObjectID SceneObject::getClassID() const
+ {
+ return ObjectID(className);
+ }
+
+
+ ObjectID SceneObject::getClassID(ObjectFinder& finder) const
+ {
+ ObjectID id = getClassID();
+ if (id.dataset().empty())
+ {
+ if (std::optional<ObjectInfo> info = finder.findObject(id.className()))
+ {
+ return info->id();
+ }
+ }
+ return id;
+ }
+
+
+ ObjectID SceneObject::getObjectID() const
+ {
+ return getClassID().withInstanceName(instanceName);
+ }
+
+
+ ObjectID SceneObject::getObjectID(ObjectFinder& finder) const
+ {
+ return getClassID(finder).withInstanceName(instanceName);
+ }
+
+}
+
+
+
diff --git a/source/RobotAPI/libraries/ArmarXObjects/Scene.h b/source/RobotAPI/libraries/ArmarXObjects/Scene.h
new file mode 100644
index 0000000000000000000000000000000000000000..a4cc41d80b5fccc87b1e9d871808c685ce332401
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/Scene.h
@@ -0,0 +1,59 @@
+/*
+ * 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::ObjectMemory
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <map>
+#include <string>
+#include <vector>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include "forward_declarations.h"
+
+
+namespace armarx::objects
+{
+
+ struct SceneObject
+ {
+ std::string className;
+ std::string instanceName;
+ std::string collection;
+
+ Eigen::Vector3f position = Eigen::Vector3f::Zero();
+ Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
+
+ std::map<std::string, float> jointValues;
+
+ ObjectID getClassID() const;
+ ObjectID getClassID(ObjectFinder& finder) const;
+ ObjectID getObjectID() const;
+ ObjectID getObjectID(ObjectFinder& finder) const;
+ };
+
+ struct Scene
+ {
+ std::vector<SceneObject> objects;
+ };
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/forward_declarations.h b/source/RobotAPI/libraries/ArmarXObjects/forward_declarations.h
index b7175785af42fce4284769d47290b3aae3616614..320305ba22474d6eca649966c7988ad7b3048c0b 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/forward_declarations.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/forward_declarations.h
@@ -27,6 +27,12 @@ namespace armarx::objpose
class ObjectPoseClient;
}
+namespace armarx::objects
+{
+ struct Scene;
+ struct SceneObject;
+}
+
// Ice Types
namespace armarx::objpose::data
diff --git a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
index 3888855892a95cecb6ea5fecc55e63763c894f6a..617baca941ebb86be7e3b05ecac1e79efc23490c 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
@@ -3,8 +3,12 @@
#include <SimoxUtility/json/eigen_conversion.h>
#include <SimoxUtility/shapes/json_conversions.h>
+#include "ObjectID.h"
+#include "ObjectPose.h"
+#include "Scene.h"
#include "ice_conversions.h"
+
void armarx::to_json(nlohmann::json& j, const ObjectID& id)
{
j["dataset"] = id.dataset();
@@ -71,3 +75,46 @@ void armarx::objpose::from_json(const nlohmann::json& j, ObjectPose& op)
op.localOOBB = j.at("localOOBB").get<simox::OrientedBoxf>();
}
}
+
+
+void armarx::objects::to_json(nlohmann::json& j, const SceneObject& rhs)
+{
+ // j["instanceID"] = rhs.instanceID;
+ j["class"] = rhs.className;
+ j["instanceName"] = rhs.instanceName;
+ j["collection"] = rhs.collection;
+ j["position"] = rhs.position;
+ j["orientation"] = rhs.orientation;
+ j["jointValues"] = rhs.jointValues;
+}
+
+
+void armarx::objects::from_json(const nlohmann::json& j, SceneObject& rhs)
+{
+ // j.at("instanceID").get_to(rhs.instanceID);
+ j.at("class").get_to(rhs.className);
+ if (j.count("instanceName"))
+ {
+ j["instanceName"].get_to(rhs.instanceName);
+ }
+ j.at("collection").get_to(rhs.collection);
+ j.at("position").get_to(rhs.position);
+ j.at("orientation").get_to(rhs.orientation);
+ if (j.count("jointValues"))
+ {
+ j.at("jointValues").get_to(rhs.jointValues);
+ }
+}
+
+
+
+void armarx::objects::to_json(nlohmann::json& j, const Scene& rhs)
+{
+ j["objects"] = rhs.objects;
+}
+
+
+void armarx::objects::from_json(const nlohmann::json& j, Scene& rhs)
+{
+ j.at("objects").get_to(rhs.objects);
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h
index 048e7d933af5913678f17abd7eacbcf76e4e83c1..608ad14424234ef4120f117d511310a42be71bcc 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h
@@ -2,8 +2,8 @@
#include <SimoxUtility/json/json.hpp>
-#include "ObjectID.h"
-#include "ObjectPose.h"
+#include "forward_declarations.h"
+
namespace armarx
{
@@ -16,3 +16,13 @@ namespace armarx::objpose
void to_json(nlohmann::json& j, const ObjectPose& op);
void from_json(const nlohmann::json& j, ObjectPose& op);
}
+
+
+namespace armarx::objects
+{
+ void to_json(nlohmann::json& j, const SceneObject& rhs);
+ void from_json(const nlohmann::json& j, SceneObject& rhs);
+
+ void to_json(nlohmann::json& j, const Scene& rhs);
+ void from_json(const nlohmann::json& j, Scene& rhs);
+}
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 74928ae14dc40cc72b49c6a81570525336c48bfa..b0663babe7059ddbc2915869dc49d06a128f03e5 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -21,8 +21,6 @@ armarx_add_library(
aron_conversions.h
aron_forward_declarations.h
- SceneSnapshot.h
-
server/class/FloorVis.h
server/class/Segment.h
@@ -50,8 +48,6 @@ armarx_add_library(
SOURCES
aron_conversions.cpp
- SceneSnapshot.cpp
-
client/articulated_object/Reader.cpp
client/articulated_object/Writer.cpp
client/articulated_object/ArticulatedObjectReader.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
deleted file mode 100644
index d3ece87d9746198af2f5b9acc5b81cce38d189aa..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
+++ /dev/null
@@ -1,90 +0,0 @@
-#include "SceneSnapshot.h"
-
-#include <SimoxUtility/json.h>
-
-#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
-#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-
-// #include <RobotAPI/libraries/armem/core/json_conversions.h>
-
-
-namespace armarx::armem::obj
-{
-
- ObjectID SceneSnapshot::Object::getClassID() const
- {
- return ObjectID(className);
- }
-
-
- ObjectID SceneSnapshot::Object::getClassID(ObjectFinder& finder) const
- {
- ObjectID id = getClassID();
- if (id.dataset().empty())
- {
- if (std::optional<ObjectInfo> info = finder.findObject(id.className()))
- {
- return info->id();
- }
- }
- return id;
- }
-
-
- ObjectID SceneSnapshot::Object::getObjectID() const
- {
- return getClassID().withInstanceName(instanceName);
- }
-
-
- ObjectID SceneSnapshot::Object::getObjectID(ObjectFinder& finder) const
- {
- return getClassID(finder).withInstanceName(instanceName);
- }
-
-}
-
-
-void armarx::armem::obj::to_json(nlohmann::json& j, const SceneSnapshot::Object& rhs)
-{
- // j["instanceID"] = rhs.instanceID;
- j["class"] = rhs.className;
- j["instanceName"] = rhs.instanceName;
- j["collection"] = rhs.collection;
- j["position"] = rhs.position;
- j["orientation"] = rhs.orientation;
- j["jointValues"] = rhs.jointValues;
-}
-
-
-void armarx::armem::obj::from_json(const nlohmann::json& j, SceneSnapshot::Object& rhs)
-{
- // j.at("instanceID").get_to(rhs.instanceID);
- j.at("class").get_to(rhs.className);
- if (j.count("instanceName"))
- {
- j["instanceName"].get_to(rhs.instanceName);
- }
- j.at("collection").get_to(rhs.collection);
- j.at("position").get_to(rhs.position);
- j.at("orientation").get_to(rhs.orientation);
- if (j.count("jointValues"))
- {
- j.at("jointValues").get_to(rhs.jointValues);
- }
-}
-
-
-
-void armarx::armem::obj::to_json(nlohmann::json& j, const SceneSnapshot& rhs)
-{
- j["objects"] = rhs.objects;
-}
-
-
-void armarx::armem::obj::from_json(const nlohmann::json& j, SceneSnapshot& rhs)
-{
- j.at("objects").get_to(rhs.objects);
-}
-
-
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
deleted file mode 100644
index 3e24156490544ebc537372a0d204c052ae8b2428..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * 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::ObjectMemory
- * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-#pragma once
-
-#include <SimoxUtility/json/json.hpp>
-
-#include <Eigen/Geometry>
-
-
-namespace armarx
-{
- class ObjectID;
- class ObjectFinder;
-}
-namespace armarx::armem::obj
-{
-
- struct SceneSnapshot
- {
- struct Object
- {
- std::string className;
- std::string instanceName;
- std::string collection;
-
- Eigen::Vector3f position = Eigen::Vector3f::Zero();
- Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
-
- std::map<std::string, float> jointValues;
-
- ObjectID getClassID() const;
- ObjectID getClassID(ObjectFinder& finder) const;
- ObjectID getObjectID() const;
- ObjectID getObjectID(ObjectFinder& finder) const;
- };
- std::vector<Object> objects;
- };
-
- void to_json(nlohmann::json& j, const SceneSnapshot::Object& rhs);
- void from_json(const nlohmann::json& j, SceneSnapshot::Object& rhs);
-
- void to_json(nlohmann::json& j, const SceneSnapshot& rhs);
- void from_json(const nlohmann::json& j, SceneSnapshot& rhs);
-
-}