From fc020f5716249525b922a680b95858fb9f1459e6 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 10 Mar 2022 09:06:45 +0100
Subject: [PATCH] ObjectPoseClient: fetchObjectPose
---
.../ArmarXObjects/ObjectPoseClient.cpp | 17 ++++++++++++++++-
.../libraries/ArmarXObjects/ObjectPoseClient.h | 5 ++++-
2 files changed, 20 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.cpp
index 8710af33c..a707e9c3c 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.cpp
@@ -1,4 +1,6 @@
#include "ObjectPoseClient.h"
+#include <optional>
+#include "RobotAPI/libraries/ArmarXObjects/ObjectPose.h"
namespace armarx::objpose
@@ -54,7 +56,21 @@ namespace armarx::objpose
}
return map;
}
+
+
+ std::optional<ObjectPose> ObjectPoseClient::fetchObjectPose(const ObjectID& objectID)
+ {
+ const auto *object = findObjectPoseByID(fetchObjectPoses(), objectID);
+
+ if(object != nullptr)
+ {
+ return *object;
+ }
+
+ return std::nullopt;
+ }
+
ObjectPoseSeq ObjectPoseClient::fetchObjectPosesFromProvider(const std::string& providerName)
{
if (!objectPoseStorage)
@@ -66,7 +82,6 @@ namespace armarx::objpose
}
-
const ObjectPoseStorageInterfacePrx&
ObjectPoseClient::getObjectPoseStorage() const
{
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h
index 33f9a6dd7..9bae3131e 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h
@@ -1,5 +1,6 @@
#pragma once
+#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
@@ -31,10 +32,12 @@ namespace armarx::objpose
ObjectPoseMap
fetchObjectPosesAsMap();
+ std::optional<ObjectPose>
+ fetchObjectPose(const ObjectID& objectID);
+
ObjectPoseSeq
fetchObjectPosesFromProvider(const std::string& providerName);
-
const ObjectPoseStorageInterfacePrx&
getObjectPoseStorage() const;
--
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