29 #include <RobotAPI/interface/core/RobotState.h>
32 #include <Eigen/Eigen>
41 public Ice::LocalObject
45 recognitionMethod(recognitionMethod)
54 if (this->robotStatePrx)
56 this->robotStatePrx->unref();
66 std::vector<std::string> jobClassNames = job->getClassNamesToBeLocalized();
68 for (std::vector<std::string>::iterator iterNames = jobClassNames.begin() ; iterNames != jobClassNames.end() ; iterNames++)
70 classNamesUnique.insert(*iterNames);
79 for (LocalizationJobList::iterator iter = jobs.begin() ; iter != jobs.end() ; iter++)
93 for (LocalizationJobList::iterator iter = jobs.begin() ; iter != jobs.end() ; iter++)
95 (*iter)->setFinished();
101 std::vector<std::string> classNames;
102 std::copy(classNamesUnique.begin(), classNamesUnique.end(), std::back_inserter(classNames));
109 std::vector<LocalizationQueryPtr> queries;
111 for (LocalizationJobList::iterator iter = jobs.begin() ; iter != jobs.end() ; iter++)
113 queries.push_back((*iter)->getQuery());
121 return recognitionMethod;
126 if (this->robotStatePrx)
128 this->robotStatePrx->unref();
131 this->robotStatePrx = robotStatePrx;
133 if (this->robotStatePrx)
135 this->robotStatePrx->ref();
141 return robotStatePrx;
146 this->robotPose = robotPose;
157 std::set<std::string> classNamesUnique;
158 std::string recognitionMethod;