Add getters for OOBB in robot and global frame

source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp

@@ -113,6 +113,25 @@ namespace armarx::objpose
         objpose::fromIce(provided.localOOBB, localOOBB);
     }
 
+
+    std::optional<simox::OrientedBoxf> ObjectPose::oobbRobot() const
+    {
+        if (localOOBB)
+        {
+            return localOOBB->transformed(objectPoseRobot);
+        }
+        return std::nullopt;
+    }
+
+    std::optional<simox::OrientedBoxf> ObjectPose::oobbGlobal() const
+    {
+        if (localOOBB)
+        {
+            return localOOBB->transformed(objectPoseGlobal);
+        }
+        return std::nullopt;
+    }
+
 }
 
 namespace armarx

source/RobotAPI/components/ObjectPoseObserver/ObjectPose.h

@@ -54,7 +54,15 @@ namespace armarx::objpose
         IceUtil::Time timestamp = IceUtil::Time::microSeconds(-1);
 
         /// Object bounding box in object's local coordinate frame.
+        /// @see oobbRobot(), oobbGlobal()
         std::optional<simox::OrientedBoxf> localOOBB;
+
+
+        /// Get the OOBB in the robot frame (according to `objectPoseRobot`).
+        std::optional<simox::OrientedBoxf> oobbRobot() const;
+        /// Get the OOBB in the global frame (according to `objectPoseGlobal`).
+        std::optional<simox::OrientedBoxf> oobbGlobal() const;
+
     };
     using ObjectPoseSeq = std::vector<ObjectPose>;