ice interfaces

source/RobotAPI/interface/CMakeLists.txt

@@ -10,6 +10,10 @@ set(SLICE_FILES
     observers/ObserverFilters.ice
     observers/GraspCandidateObserverInterface.ice
 
+    core/articulated_object/types.ice
+    core/articulated_object/topic.ice
+    core/articulated_object/provider.ice
+
     core/BlackWhitelist.ice
     core/PoseBase.ice
     core/GeometryBase.ice

source/RobotAPI/interface/core/articulated_object/provider.ice

+
+#pragma once
+
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/articulated_object/types.ice>
+
+
+module armarx
+{
+
+    module articulated_object
+    {
+
+        module provider
+        {
+
+            interface ArticulatedObjectStateProvider;
+
+
+            struct ProviderInfo
+            {
+                ArticulatedObjectStateProvider* proxy;
+                data::ArticulatedObjectIDs supportedObjects;
+            };
+
+            struct TrackingRequest
+            {
+                /// Object IDs.
+                data::ArticulatedObjectIDs objectIDs;
+
+                /// For how long to request localization. Negative for no timeout.
+                long relativeTimeoutMS;
+            };
+
+            dictionary<data::ArticulatedObjectID, bool> TrackingRequestStatus;
+
+            struct TrackingRequestResponse
+            {
+                TrackingRequestStatus status;
+            };
+
+            interface ArticulatedObjectStateProvider
+            {
+                /// Get the provider info.
+                ProviderInfo getProviderInfo();
+
+                /// Request to track the specified objects for some time.
+                TrackingRequestResponse trackObjects(TrackingRequest input);
+            };
+
+        };
+
+    }
+
+}
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source/RobotAPI/interface/core/articulated_object/topic.ice

+
+#pragma once
+
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/articulated_object/types.ice>
+
+
+module armarx
+{
+
+    module articulated_object
+    {
+
+        interface ArticulatedObjectTopic
+        {
+            void reportArticulatedObjects(string provider, data::ArticulatedObjects objects);
+        };
+
+    }
+
+}
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source/RobotAPI/interface/core/articulated_object/types.ice

+
+#pragma once
+
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+
+
+module armarx
+{
+
+    module articulated_object
+    {
+
+        module data
+        {
+
+            dictionary<string, float> JointPositions;
+
+            struct Config
+            {
+                double timestamp;
+                FramedPoseBase globalPose;
+                JointPositions jointMap;
+            };
+
+            struct ArticulatedObjectID
+            {
+                string name;
+                string xml;
+
+                // string instance;
+            };
+
+            struct ArticulatedObject
+            {
+                ArticulatedObjectID id;
+                Config config;
+            }
+
+            sequence<ArticulatedObject> ArticulatedObjects;
+
+            sequence<ArticulatedObjectID> ArticulatedObjectIDs;
+
+        }
+
+    }
+
+}
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