ObjectPoseClient Class Reference

Provides access to the armarx::objpose::ObjectPoseStorageInterface (aka the object memory). More...

#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>

Public Member Functions

void connect (const ObjectPoseStorageInterfacePrx &objectPoseStorage)
 Connect to the given object pose storage. More...
 
std::optional< ObjectPosefetchObjectPose (const ObjectID &objectID) const
 Fetch the pose of a single object. More...
 
std::optional< ObjectPosefetchObjectPoseFromProvider (const ObjectID &objectID, const std::string &providerName) const
 Fetch the pose of a single object and a single provider. More...
 
ObjectPoseSeq fetchObjectPoses () const
 Fetch all known object poses. More...
 
ObjectPoseMap fetchObjectPosesAsMap () const
 Fetch all known object poses. More...
 
ObjectPoseSeq fetchObjectPosesFromProvider (const std::string &providerName) const
 Fetch object poses from a specific provider. More...
 
const ObjectFindergetObjectFinder () const
 Get the internal object finder. More...
 
const ObjectPoseStorageInterfacePrxgetObjectPoseStorage () const
 Get the object pose storage's proxy. More...
 
bool isConnected () const
 Indicate whether this client is connected to an object pose storage. More...
 
 ObjectPoseClient ()
 Construct a disconnected client. More...
 
 ObjectPoseClient (const ObjectPoseStorageInterfacePrx &objectPoseStorage, const ObjectFinder &finder={})
 Construct a client and connect it to the object pose storage. More...
 

Public Attributes

ObjectFinder objectFinder
 
ObjectPoseStorageInterfacePrx objectPoseStorage
 

Detailed Description

Provides access to the armarx::objpose::ObjectPoseStorageInterface (aka the object memory).

Definition at line 18 of file ObjectPoseClient.h.

Constructor & Destructor Documentation

◆ ObjectPoseClient() [1/2]

Construct a disconnected client.

Definition at line 9 of file ObjectPoseClient.cpp.

◆ ObjectPoseClient() [2/2]

ObjectPoseClient ( const ObjectPoseStorageInterfacePrx objectPoseStorage,
const ObjectFinder finder = {} 
)

Construct a client and connect it to the object pose storage.

Definition at line 14 of file ObjectPoseClient.cpp.

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Member Function Documentation

◆ connect()

void connect ( const ObjectPoseStorageInterfacePrx objectPoseStorage)

Connect to the given object pose storage.

This function can be used after default-constructing the client.

Parameters
objectPoseStorageThe object pose storage.

Definition at line 24 of file ObjectPoseClient.cpp.

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◆ fetchObjectPose()

std::optional< ObjectPose > fetchObjectPose ( const ObjectID objectID) const

Fetch the pose of a single object.

This is a network call. If you need multiple object poses, use fetchObjectPoses() instead.

Parameters
objectIDThe object's ID.
Returns
The object's pose, if known.

Definition at line 63 of file ObjectPoseClient.cpp.

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◆ fetchObjectPoseFromProvider()

std::optional< ObjectPose > fetchObjectPoseFromProvider ( const ObjectID objectID,
const std::string &  providerName 
) const

Fetch the pose of a single object and a single provider.

This is a network call. If you need multiple object poses, use fetchObjectPoses() instead.

Parameters
objectIDThe object's ID.
Returns
The object's pose, if known.

Definition at line 77 of file ObjectPoseClient.cpp.

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◆ fetchObjectPoses()

ObjectPoseSeq fetchObjectPoses ( ) const

Fetch all known object poses.

Returns
The known object poses.

Definition at line 39 of file ObjectPoseClient.cpp.

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◆ fetchObjectPosesAsMap()

ObjectPoseMap fetchObjectPosesAsMap ( ) const

Fetch all known object poses.

Returns
The known object poses, with object ID as key.

Definition at line 51 of file ObjectPoseClient.cpp.

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◆ fetchObjectPosesFromProvider()

ObjectPoseSeq fetchObjectPosesFromProvider ( const std::string &  providerName) const

Fetch object poses from a specific provider.

Parameters
providerNameThe provider's name.
Returns
The object poses from that provider.

Definition at line 92 of file ObjectPoseClient.cpp.

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◆ getObjectFinder()

const ObjectFinder & getObjectFinder ( ) const

Get the internal object finder.

Definition at line 111 of file ObjectPoseClient.cpp.

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◆ getObjectPoseStorage()

const ObjectPoseStorageInterfacePrx & getObjectPoseStorage ( ) const

Get the object pose storage's proxy.

Definition at line 104 of file ObjectPoseClient.cpp.

◆ isConnected()

bool isConnected ( ) const

Indicate whether this client is connected to an object pose storage.

That is, whether its proxy has been set via the constructor or connect().

If false, all fetch*() functions will return empty results.

Returns
True if connected

Definition at line 32 of file ObjectPoseClient.cpp.

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Member Data Documentation

◆ objectFinder

ObjectFinder objectFinder

Definition at line 119 of file ObjectPoseClient.h.

◆ objectPoseStorage

ObjectPoseStorageInterfacePrx objectPoseStorage

Definition at line 117 of file ObjectPoseClient.h.


The documentation for this class was generated from the following files: