Set the scaling factor from a property

source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp

@@ -9,10 +9,10 @@
 namespace armarx
 {
     Editor::Editor(viz::Client& client,
-                   std::string const& providerName,
+                   Properties properties,
                    std::function<void(objpose::ProvidedObjectPoseSeq &)> pushToMemory,
                    std::function<objpose::ObjectPoseSeq(void)> pullFromMemory)
-        : providerName(providerName)
+        : properties(std::move(properties))
         , client(client)
         , pushToMemory(std::move(pushToMemory))
         , pullFromMemory(std::move(pullFromMemory))
@@ -106,7 +106,7 @@ namespace armarx
             }
 
             objpose::ProvidedObjectPose& providing = providingPoses.emplace_back();
-            providing.providerName = providerName;
+            providing.providerName = properties.providerName;
             providing.objectType = objpose::KnownObject;
 
             providing.objectID = current.objectID;
@@ -158,12 +158,10 @@ namespace armarx
             interaction.contextMenu(description.options);
         }
 
-        const float scale = 1.01F;
-
         viz::Object object =
                 viz::Object(objectPose.objectID.str())
                 .pose(description.transform * objectPose.objectPoseGlobal)
-                .scale(scale)
+                .scale(properties.objectScaling)
                 .fileByObjectFinder(objectPose.objectID)
                 .enable(interaction);
 

source/RobotAPI/components/InteractiveMemoryEditor/Editor.h

@@ -14,8 +14,14 @@ namespace armarx
     class Editor
     {
     public:
+        struct Properties
+        {
+            std::string providerName;
+            float const& objectScaling;
+        };
+
         explicit Editor(viz::Client& client,
-                        std::string const& providerName,
+                        Properties properties,
                         std::function<void(objpose::ProvidedObjectPoseSeq&)> pushToMemory,
                         std::function<objpose::ObjectPoseSeq(void)> pullFromMemory);
         void step();
@@ -24,7 +30,7 @@ namespace armarx
         static constexpr const char* memoryLayerName = "Memory";
         static constexpr const char* metaLayerName = "Meta";
 
-        std::string const& providerName;
+        Properties properties;
 
         viz::Client& client;
         const std::function<void(objpose::ProvidedObjectPoseSeq&)> pushToMemory;

source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.cpp

@@ -4,7 +4,6 @@
 
 #include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
 #include <RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
 
 #include "Editor.h"
 
@@ -14,6 +13,9 @@ namespace armarx
     {
         armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
 
+        defs->optional(this->objectScaling, "Editor.ObjectScaling",
+                       "Scaling factor that is applied to all intractable objects.");
+
         return defs;
     }
 
@@ -56,11 +58,14 @@ namespace armarx
 
     void InteractiveMemoryEditor::run()
     {
-        CycleUtil cycle(50);
+        const int64_t cycleDurationMs = 50;
+        CycleUtil cycle(cycleDurationMs);
 
         objpose::ObjectPoseClient client = getClient();
 
-        Editor editor(arviz, getName(),
+        Editor::Properties properties = { .providerName = getName(), .objectScaling = objectScaling };
+
+        Editor editor(arviz, properties,
                       [&](objpose::ProvidedObjectPoseSeq &poses)
                       {
                           objectPoseTopic->reportObjectPoses(getName(), objpose::toIce(poses));
@@ -78,13 +83,13 @@ namespace armarx
         }
     }
 
-    objpose::ProviderInfo InteractiveMemoryEditor::getProviderInfo(const Ice::Current &)
+    objpose::ProviderInfo InteractiveMemoryEditor::getProviderInfo(const Ice::Current & /*unused*/)
     {
         return providerInfo;
     }
 
     objpose::provider::RequestObjectsOutput InteractiveMemoryEditor::requestObjects(
-            const objpose::provider::RequestObjectsInput &input, const Ice::Current &)
+            const objpose::provider::RequestObjectsInput &input, const Ice::Current & /*unused*/)
     {
         objpose::provider::RequestObjectsOutput output;
 

source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.h

@@ -40,6 +40,8 @@ namespace armarx
         armarx::ObjectFinder objectFinder;
         objpose::ProviderInfo providerInfo;
 
+        float objectScaling = 1.01F;
+
         armarx::SimpleRunningTask<>::pointer_type objectVizTask;
     };
 }  // namespace armarx