add features to objectclass

source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml

@@ -13,6 +13,30 @@ Core segment type of Object/Class.
     </AronIncludes>
     <GenerateTypes>
 
+        <Object name="armarx::armem::arondto::Feature">
+            <ObjectChild key="angle">
+                <float32 />
+            </ObjectChild>
+
+            <ObjectChild key="scale">
+                <float32 />
+            </ObjectChild>
+
+            <ObjectChild key="point2d">
+                <vector2f />
+            </ObjectChild>
+
+            <ObjectChild key="point3d">
+                <vector3f />
+            </ObjectChild>
+
+            <ObjectChild key="feature">
+                <List>
+                    <float32 />
+                </List>
+            </ObjectChild>
+        </Object>
+
         <Object name="armarx::armem::arondto::ObjectClass">
 
             <ObjectChild key="id">
@@ -62,6 +86,12 @@ Core segment type of Object/Class.
                 <armarx::arondto::ObjectNames />
             </ObjectChild>
 
+            <ObjectChild key="ivtFeatures">
+                <List>
+                    <armarx::armem::arondto::Feature />
+                </List>
+            </ObjectChild>
+
         </Object>
 
     </GenerateTypes>

source/RobotAPI/libraries/armem_objects/aron_conversions.cpp

@@ -111,6 +111,71 @@ namespace armarx::armem
 
 } // namespace armarx::armem
 
+namespace armarx::armem::clazz
+{
+
+    void
+    fromAron(const arondto::Feature& dto, Feature& bo)
+    {
+        bo.angle = dto.angle;
+        bo.scale = dto.scale;
+        bo.feature = dto.feature;
+        bo.point2d = dto.point2d;
+        bo.point3d = dto.point3d;
+    }
+
+    void
+    toAron(arondto::Feature& dto, const Feature& bo)
+    {
+        dto.angle = bo.angle;
+        dto.scale = bo.scale;
+        dto.feature = bo.feature;
+        dto.point2d = bo.point2d;
+        dto.point3d = bo.point3d;
+    }
+
+    void
+    fromAron(const arondto::ObjectClass& dto, ObjectClass& bo)
+    {
+        armarx::fromAron(dto.id, bo.id);
+        armarx::fromAron(dto.simoxXmlPath, bo.simoxXmlPath);
+        armarx::fromAron(dto.articulatedSimoxXmlPath, bo.articulatedSimoxXmlPath);
+        armarx::fromAron(dto.urdfPath, bo.urdfPath);
+        armarx::fromAron(dto.articulatedUrdfPath, bo.articulatedUrdfPath);
+        armarx::fromAron(dto.sdfPath, bo.sdfPath);
+        armarx::fromAron(dto.meshWrlPath, bo.meshWrlPath);
+        armarx::fromAron(dto.meshObjPath, bo.meshObjPath);
+        armarx::fromAron(dto.aabb, bo.aabb);
+        armarx::fromAron(dto.oobb, bo.oobb);
+        bo.ivtFeatures.clear();
+        for (const auto& i : dto.ivtFeatures)
+        {
+            fromAron(i, bo.ivtFeatures.emplace_back());
+        }
+    }
+
+    void
+    toAron(arondto::ObjectClass& dto, const ObjectClass& bo)
+    {
+        armarx::toAron(dto.id, bo.id);
+        armarx::toAron(dto.simoxXmlPath, bo.simoxXmlPath);
+        armarx::toAron(dto.articulatedSimoxXmlPath, bo.articulatedSimoxXmlPath);
+        armarx::toAron(dto.urdfPath, bo.urdfPath);
+        armarx::toAron(dto.articulatedUrdfPath, bo.articulatedUrdfPath);
+        armarx::toAron(dto.sdfPath, bo.sdfPath);
+        armarx::toAron(dto.meshWrlPath, bo.meshWrlPath);
+        armarx::toAron(dto.meshObjPath, bo.meshObjPath);
+        armarx::toAron(dto.aabb, bo.aabb);
+        armarx::toAron(dto.oobb, bo.oobb);
+        dto.ivtFeatures.clear();
+        for (const auto& i : bo.ivtFeatures)
+        {
+            toAron(dto.ivtFeatures.emplace_back(), i);
+        }
+    }
+
+} // namespace armarx::armem::clazz
+
 armarx::armem::MemoryID
 armarx::armem::obj::makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose)
 {

source/RobotAPI/libraries/armem_objects/aron_conversions.h

 #pragma once
 
 #include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
-
-#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/types.h>
 
 namespace armarx::armem
@@ -18,19 +17,32 @@ namespace armarx::armem
 
 
     /* Attachments */
-    void fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo);
+    void fromAron(const arondto::attachment::AgentDescription& dto,
+                  attachment::AgentDescription& bo);
     void toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo);
 
-    void fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo);
+    void fromAron(const arondto::attachment::ObjectAttachment& dto,
+                  attachment::ObjectAttachment& bo);
     void toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo);
 
-    void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto, attachment::ArticulatedObjectAttachment& bo);
-    void toAron(arondto::attachment::ArticulatedObjectAttachment& dto, const attachment::ArticulatedObjectAttachment& bo);
+    void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
+                  attachment::ArticulatedObjectAttachment& bo);
+    void toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
+                const attachment::ArticulatedObjectAttachment& bo);
+
+    void fromAron(const arondto::Marker& dto, marker::Marker& bo);
+    void toAron(arondto::Marker& dto, const marker::Marker& bo);
+} // namespace armarx::armem
+
+namespace armarx::armem::clazz
+{
+    void fromAron(const armarx::armem::arondto::Feature& dto, Feature& bo);
+    void toAron(armarx::armem::arondto::Feature& dto, const Feature& bo);
 
-    void fromAron(const arondto::Marker& dto, marker::Marker&bo);
-    void toAron(arondto::Marker& dto, const marker::Marker&bo);
-}  // namespace armarx::armem
+    void fromAron(const armarx::armem::arondto::ObjectClass& dto, ObjectClass& bo);
+    void toAron(armarx::armem::arondto::ObjectClass& dto, const ObjectClass& bo);
 
+} // namespace armarx::armem::clazz
 
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
 
@@ -38,4 +50,4 @@ namespace armarx::armem::obj
 {
     /// Make a Memory ID for the object instance snapshot representing this pose.
     MemoryID makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose);
-}
+} // namespace armarx::armem::obj

source/RobotAPI/libraries/armem_objects/types.h

@@ -23,6 +23,8 @@
 
 #include <Eigen/Geometry>
 
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+
 #include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
@@ -31,7 +33,6 @@
 
 #include "aron_forward_declarations.h"
 
-
 namespace armarx::armem
 {
     struct ObjectInstance
@@ -40,7 +41,36 @@ namespace armarx::armem
         MemoryID classID;
         MemoryID sourceID;
     };
-}
+} // namespace armarx::armem
+
+namespace armarx::armem::clazz
+{
+    struct Feature
+    {
+        float angle;
+        float scale;
+        Eigen::Vector2f point2d;
+        Eigen::Vector3f point3d;
+        std::vector<float> feature;
+    };
+
+    struct ObjectClass
+    {
+        armarx::ObjectID id;
+        armarx::PackagePath simoxXmlPath;
+        armarx::PackagePath articulatedSimoxXmlPath;
+        armarx::PackagePath urdfPath;
+        armarx::PackagePath articulatedUrdfPath;
+        armarx::PackagePath sdfPath;
+        armarx::PackagePath articulatedSdfPath;
+        armarx::PackagePath meshWrlPath;
+        armarx::PackagePath meshObjPath;
+        simox::AxisAlignedBoundingBox aabb;
+        simox::OrientedBoxf oobb;
+        // TODO NAMES
+        std::vector<Feature> ivtFeatures;
+    };
+} // namespace armarx::armem::clazz
 
 namespace armarx::armem::attachment
 {
@@ -110,7 +140,6 @@ namespace armarx::armem::articulated_object
     using ArticulatedObjects = armarx::armem::robot::Robots;
 } // namespace armarx::armem::articulated_object
 
-
 namespace armarx::armem::marker
 {
     class Marker