Move ProvidedObjectPose and ObjectPose to types.h

source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice

@@ -36,35 +36,6 @@ module armarx
     module objpose
     {
 
-        struct ObjectPose
-        {
-            /// Name of the providing component.
-            string providerName;
-            /// Known or unknown object.
-            ObjectTypeEnum objectType = AnyObject;
-
-            /// The object ID, i.e. dataset and name.
-            ObjectID objectID;
-
-            PoseBase objectPoseRobot;
-            PoseBase objectPoseGlobal;
-            PoseBase objectPoseOriginal;
-            string objectPoseOriginalFrame;
-
-            StringFloatDictionary robotConfig;
-            PoseBase robotPose;
-
-            /// Confidence in [0, 1] (1 = full, 0 = none).
-            float confidence = 0;
-            /// Source timestamp.
-            long timestampMicroSeconds = -1;
-
-            /// Object bounding box in object's local coordinate frame.
-            Box localOOBB;
-        };
-        sequence<ObjectPose> ObjectPoseSeq;
-
-
         interface ObjectPoseObserverInterface extends ObserverInterface, ObjectPoseTopic
         {
             ObjectPoseSeq getObjectPoses();

source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice

@@ -33,31 +33,6 @@ module armarx
     // A struct's name cannot cannot differ only in capitalization from its immediately enclosing module name.
     module objpose
     {
-        struct ProvidedObjectPose
-        {
-            /// Name of the providing component.
-            string providerName;
-            /// Known or unknown object.
-            ObjectTypeEnum objectType = AnyObject;
-
-            /// The object ID, i.e. dataset and name.
-            ObjectID objectID;
-
-            /// Pose in `objectPoseFrame`.
-            PoseBase objectPose;
-            string objectPoseFrame;
-
-            /// Confidence in [0, 1] (1 = full, 0 = none).
-            float confidence = 0;
-            /// Source timestamp.
-            long timestampMicroSeconds = -1;
-
-            /// Object bounding box in object's local coordinate frame.
-            Box localOOBB;
-        };
-        sequence<ProvidedObjectPose> ProvidedObjectPoseSeq;
-
-
         struct ProviderInfo
         {
             ObjectTypeEnum objectType = AnyObject;

source/RobotAPI/interface/objectpose/types.ice

@@ -57,6 +57,63 @@ module armarx
             Vector3Base extents;
         };
 
+
+        /// An object pose provided by an ObjectPoseProvider.
+        struct ProvidedObjectPose
+        {
+            /// Name of the providing component.
+            string providerName;
+            /// Known or unknown object.
+            ObjectTypeEnum objectType = AnyObject;
+
+            /// The object ID, i.e. dataset and name.
+            ObjectID objectID;
+
+            /// Pose in `objectPoseFrame`.
+            PoseBase objectPose;
+            string objectPoseFrame;
+
+            /// Confidence in [0, 1] (1 = full, 0 = none).
+            float confidence = 0;
+            /// Source timestamp.
+            long timestampMicroSeconds = -1;
+
+            /// Object bounding box in object's local coordinate frame.
+            Box localOOBB;
+        };
+        sequence<ProvidedObjectPose> ProvidedObjectPoseSeq;
+
+
+        /// An object pose as stored by the ObjectPoseObserver.
+        struct ObjectPose
+        {
+            /// Name of the providing component.
+            string providerName;
+            /// Known or unknown object.
+            ObjectTypeEnum objectType = AnyObject;
+
+            /// The object ID, i.e. dataset and name.
+            ObjectID objectID;
+
+            PoseBase objectPoseRobot;
+            PoseBase objectPoseGlobal;
+            PoseBase objectPoseOriginal;
+            string objectPoseOriginalFrame;
+
+            StringFloatDictionary robotConfig;
+            PoseBase robotPose;
+
+            /// Confidence in [0, 1] (1 = full, 0 = none).
+            float confidence = 0;
+            /// Source timestamp.
+            long timestampMicroSeconds = -1;
+
+            /// Object bounding box in object's local coordinate frame.
+            Box localOOBB;
+        };
+        sequence<ObjectPose> ObjectPoseSeq;
+
+
     };
 };