Go to the documentation of this file.
42 "Gives information about having initial or validated hypotheses.");
45 "initialHypothesesCreated",
47 "Is 1 when initial object hypotheses are available, 0 if not, -1 "
48 "if the creation failed.");
51 "hypothesesValidated",
53 "Is 1 when object hypotheses were validated, 0 if not, -1 if the validation failed.");
56 "Gives information about position and extent of the object hypothesis for "
57 "pushing or grasping.");
61 "Position of the center of the object hypothesis");
65 "Estimated maximal extent of the object from its center");
69 "First (i.e. longest) principal axis of the object hypothesis point cloud");
73 "Second principal axis of the object hypothesis point cloud");
77 "Third principal axis of the object hypothesis point cloud");
81 "Eigenvalues of the object hypothesis point cloud, i.e. variance (or std. "
82 "dev.?) along the principal axes");
91 if (hypothesesCreated)
93 setDataField(
"objectHypotheses",
"initialHypothesesCreated", 1);
98 setDataField(
"objectHypotheses",
"initialHypothesesCreated", -1);
109 if (hypothesesValidated)
111 setDataField(
"objectHypotheses",
"hypothesesValidated", 1);
116 setDataField(
"objectHypotheses",
"hypothesesValidated", -1);
126 setDataField(
"objectHypotheses",
"initialHypothesesCreated", 0);
127 setDataField(
"objectHypotheses",
"hypothesesValidated", 0);
134 const ::armarx::FramedPositionBasePtr& objectPosition,
136 const ::armarx::Vector3BasePtr& principalAxis1,
137 const ::armarx::Vector3BasePtr& principalAxis2,
138 const ::armarx::Vector3BasePtr& principalAxis3,
139 const ::armarx::Vector3BasePtr& eigenValues,
void updateChannel(const std::string &channelName, const std::set< std::string > &updatedDatafields=std::set< std::string >())
Update all conditions for a channel.
void onInitObserver() override
Framework hook.
The Variant class is described here: Variants.
void reportObjectHypothesesValidated(bool hypothesesValidated, const Ice::Current &) override
const VariantTypeId Float
const VariantTypeId Vector3
void reportInitialObjectHypothesesCreated(bool hypothesesCreated, const Ice::Current &) override
void setDataField(const std::string &channelName, const std::string &datafieldName, const Variant &value, bool triggerFilterUpdate=true)
set datafield with datafieldName and in channel channelName
void reportObjectHypothesisPosition(const ::armarx::FramedPositionBasePtr &objectPosition, ::Ice::Float objectExtent, const ::armarx::Vector3BasePtr &principalAxis1, const ::armarx::Vector3BasePtr &principalAxis2, const ::armarx::Vector3BasePtr &principalAxis3, const ::armarx::Vector3BasePtr &eigenValues, const Ice::Current &) override
void resetHypothesesStatus(const Ice::Current &) override
void usingTopic(const std::string &name, bool orderedPublishing=false)
Registers a proxy for subscription after initialization.
void onConnectObserver() override
Framework hook.
void offerConditionCheck(std::string checkName, ConditionCheck *conditionCheck)
Offer a condition check.
const VariantTypeId FramedPosition
void offerDataFieldWithDefault(std::string channelName, std::string datafieldName, const Variant &defaultValue, std::string description)
Offer a datafield with default value.
void offerDataField(std::string channelName, std::string datafieldName, VariantTypeId type, std::string description)
Offer a datafield without default value.
void offerChannel(std::string channelName, std::string description)
Offer a channel.