Change order of members

source/RobotAPI/interface/objectpose/object_pose_types.ice

@@ -79,6 +79,9 @@ module armarx
             /// An object pose provided by an ObjectPoseProvider.
             struct ProvidedObjectPose
             {
+                /// The object ID, i.e. dataset, class name and instance name.
+                armarx::data::ObjectID objectID;
+
                 /// Name of the providing component.
                 string providerName;
                 /// Known or unknown object.
@@ -86,14 +89,13 @@ module armarx
                 /// Whether object is static. Static objects don't decay.
                 bool isStatic = false;
 
-                /// The object ID, i.e. dataset and name.
-                armarx::data::ObjectID objectID;
-
                 /// Pose in `objectPoseFrame`.
                 PoseBase objectPose;
+                /// The frame in which the object was localized.
                 string objectPoseFrame;
-                PoseManifoldGaussian objectPoseGaussian;
 
+                /// Object pose with uncertainty.
+                PoseManifoldGaussian objectPoseGaussian;
 
                 /// The object's joint values if it is articulated.
                 NameValueMap objectJointValues;
@@ -114,6 +116,9 @@ module armarx
             /// An object pose as stored by the ObjectPoseStorage.
             struct ObjectPose
             {
+                /// The object ID, i.e. dataset, class name and instance name.
+                armarx::data::ObjectID objectID;
+
                 /// Name of the providing component.
                 string providerName;
                 /// Known or unknown object.
@@ -121,9 +126,6 @@ module armarx
                 /// Whether object is static. Static objects don't decay.
                 bool isStatic = false;
 
-                /// The object ID, i.e. dataset and name.
-                armarx::data::ObjectID objectID;
-
                 PoseBase objectPoseRobot;
                 PoseManifoldGaussian objectPoseRobotGaussian;
 

source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp

@@ -29,10 +29,11 @@ namespace armarx::objpose
 
     void ObjectPose::fromIce(const data::ObjectPose& ice)
     {
+        armarx::fromIce(ice.objectID, objectID);
+
         providerName = ice.providerName;
         objectType = ice.objectType;
         isStatic = ice.isStatic;
-        armarx::fromIce(ice.objectID, objectID);
 
         armarx::fromIce(ice.objectPoseRobot, objectPoseRobot);
         objpose::fromIce(ice.objectPoseRobotGaussian, objectPoseRobotGaussian);
@@ -66,10 +67,11 @@ namespace armarx::objpose
 
     void ObjectPose::toIce(data::ObjectPose& ice) const
     {
+        armarx::toIce(ice.objectID, objectID);
+
         ice.providerName = providerName;
         ice.objectType = objectType;
         ice.isStatic = isStatic;
-        armarx::toIce(ice.objectID, objectID);
 
         armarx::toIce(ice.objectPoseRobot, objectPoseRobot);
         objpose::toIce(ice.objectPoseRobotGaussian, objectPoseRobotGaussian);
@@ -96,10 +98,11 @@ namespace armarx::objpose
 
     void ObjectPose::fromProvidedPose(const data::ProvidedObjectPose& provided, VirtualRobot::RobotPtr robot)
     {
+        armarx::fromIce(provided.objectID, objectID);
+
         providerName = provided.providerName;
         objectType = provided.objectType;
         isStatic = provided.isStatic;
-        armarx::fromIce(provided.objectID, objectID);
 
         armarx::fromIce(provided.objectPose, objectPoseOriginal);
         objpose::fromIce(provided.objectPoseGaussian, objectPoseOriginalGaussian);
@@ -374,6 +377,3 @@ namespace armarx
     }
 
 }
-
-
-