Tweak interfaces

source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice

@@ -35,18 +35,19 @@ module armarx
     {
         interface ObjectPoseObserverInterface extends ObserverInterface, ObjectPoseTopic
         {
-            InfoMap getAvailableProvidersWithInfo();
+            ObjectPoseSeq getObjectPoses();
+            ObjectPoseSeq getObjectPosesByProvider(string providerName);
+
+            void requestObjects(ObjectIDSeq objectIDs, long relativeTimeoutMS);
+
+
             Ice::StringSeq getAvailableProviderNames();
+            ProviderInfoMap getAvailableProvidersWithInfo();
             ProviderInfo getProviderInfo(string providerName);
             bool hasProvider(string providerName);
 
-            ObjectPoseSeq getObjectPoses();
-            ObjectPoseSeq getObjectPosesByProvider(string providerName);
-
             int getUpdateCounterByProvider(string providerName);
             StringIntDictionary getAllUpdateCounters();
-
-            bool setProviderConfig(string providerName, StringVariantBaseMap config);
         };
     };
 

source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice

@@ -44,14 +44,15 @@ module armarx
             string project;  ///< e.g. "KIT", "YCB", "SecondHands", ...
             string name;     ///< e.g. "Amicelli", "001_chips_can", ...
         };
+        sequence<ObjectID> ObjectIDSeq;
 
         struct ObjectPose
         {
             ObjectTypeEnum objectType = AnyObject;
             ObjectID objectID;
 
-            PoseBase objectPose;  ///< In robot frame.
-            PoseBase robotPose;   ///< In global frame.
+            PoseBase objectPose;  ///< In `objectPoseFrame`.
+            string objectPoseFrame;
 
             /// Confidence in [0, 1] (1 = full, 0 = none).
             float confidence = 0;
@@ -60,27 +61,30 @@ module armarx
 
             string providerName;
         };
-
         sequence<ObjectPose> ObjectPoseSeq;
 
 
         struct ProviderInfo
         {
             ObjectTypeEnum objectType = AnyObject;
-            StringVariantBaseMap currentConfig;
+            ObjectIDSeq supportedObjects;
         };
-
-        dictionary<string, ProviderInfo> InfoMap;
+        dictionary<string, ProviderInfo> ProviderInfoMap;
 
 
         interface ObjectPoseTopic
         {
-            void reportProviderInfo(string providerName, ProviderInfo info);
+            /// Signal that a new provider is now available (and ready for `getProviderInfo()`.
+            void reportProviderAvailable(string providerName);
             void reportObjectPoses(string providerName, ObjectPoseSeq candidates);
         };
 
-        interface ObjectPoseProviderInterface extends RequestableServiceListenerInterface
+        interface ObjectPoseProvider
         {
+            /// Get the provider info.
+            ProviderInfo getProviderInfo();
+            /// Request to track the specified objects for some time.
+            void requestObjects(ObjectIDSeq objectIDs, long relativeTimeoutMS);
         };
     };