ObjectPoseClient.cpp

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#include "ObjectPoseClient.h"
#include <optional>
#include "RobotAPI/libraries/ArmarXObjects/ObjectPose.h"
 
 
namespace armarx::objpose
{
 
    ObjectPoseClient::ObjectPoseClient()
    {
    }
 
 
    ObjectPoseClient::ObjectPoseClient(
            const ObjectPoseStorageInterfacePrx& objectPoseStorage,
            const ObjectFinder& finder) :
        objectFinder(finder)
    {
        this->connect(objectPoseStorage);
    }
 
 
    void
    ObjectPoseClient::connect(
            const ObjectPoseStorageInterfacePrx& objectPoseStorage)
    {
        this->objectPoseStorage = objectPoseStorage;
    }
 
 
    bool
    ObjectPoseClient::isConnected() const
    {
        return bool(objectPoseStorage);
    }
 
 
    ObjectPoseSeq
    ObjectPoseClient::fetchObjectPoses() const
    {
        if (not objectPoseStorage)
        {
            ARMARX_WARNING << "No object pose observer.";
            return {};
        }
        return fromIce(objectPoseStorage->getObjectPoses());
    }
 
 
    ObjectPoseMap
    ObjectPoseClient::fetchObjectPosesAsMap() const
    {
        ObjectPoseMap map;
        for (auto& pose : fetchObjectPoses())
        {
            map.emplace(pose.objectID, std::move(pose));
        }
        return map;
    }
 
    
    std::optional<ObjectPose>
    ObjectPoseClient::fetchObjectPose(const ObjectID& objectID) const
    {
        const auto objectPoses = fetchObjectPoses();
        const auto *object = findObjectPoseByID(objectPoses, objectID);
 
        if(object != nullptr)
        {
            return *object;
        }
 
        return std::nullopt;
    }
 
    std::optional<ObjectPose>
    ObjectPoseClient::fetchObjectPoseFromProvider(const ObjectID& objectID, const std::string& providerName) const
    {
        const auto objectPoses = fetchObjectPosesFromProvider(providerName);
        const auto *object = findObjectPoseByID(objectPoses, objectID);
 
        if(object != nullptr)
        {
            return *object;
        }
 
        return std::nullopt;
    }
    
 
    ObjectPoseSeq
    ObjectPoseClient::fetchObjectPosesFromProvider(const std::string& providerName) const
    {
        if (!objectPoseStorage)
        {
            ARMARX_WARNING << "No object pose observer.";
            return {};
        }
        return fromIce(objectPoseStorage->getObjectPosesByProvider(providerName));
    }
 
 
    const ObjectPoseStorageInterfacePrx&
    ObjectPoseClient::getObjectPoseStorage() const
    {
        return objectPoseStorage;
    }
 
 
    const ObjectFinder&
    ObjectPoseClient::getObjectFinder() const
    {
        return objectFinder;
    }
 
}