SimoxObjectWrapper offers a simplified access to the Simox ManipulationObject (i.e visualization, collision model, grasps) stored in the attributes of MemoryX entity. More...

#include <MemoryX/libraries/helpers/VirtualRobotHelpers/SimoxObjectWrapper.h>

Inheritance diagram for SimoxObjectWrapper:

Public Types
enum	UncertaintyVisuType { eEllipse, eHeatMap, eHeatSurface }

Public Member Functions
void	clear (bool removeFiles=true)
	Clears the Simox ManipulationObject and optionally removes the corresponding files from GridFS. More...

VirtualRobot::CollisionModelPtr	getCollisionModel () const
	Retrieve collision model. More...

VirtualRobot::ManipulationObjectPtr	getManipulationObject () const
	Retrieve the complete Simox ManipulationObject. More...

std::string	getManipulationObjectFileName () const
	Retrieve the Simox MainpulationObjects file name in local cache. More...

Eigen::Vector3f	getPutdownOrientationRPY ()
	Returns the orientation of the object that it should have when it is being put down e.g. More...

VirtualRobot::VisualizationNodePtr	getVisualization () const
	Retrieve visualization model. More...

Ice::ObjectPtr	ice_clone () const override

void	refreshVisuPose ()
	Update object visualization using the current values of pose and position uncertainty from the wrapped entity. More...

void	setAndStoreManipulationFile (const std::string &xmlFName, const std::string &filesDBName)
	Create Simox ManipulationObject from an XML file and store it in the wrapped entity. More...

std::string	setAndStoreManipulationObject (const VirtualRobot::ManipulationObjectPtr mo, const std::string &filesDBName)
	Store Simox ManipulationObject in the wrapped entity. More...

void	setAndStoreModelIVFiles (const std::string &ivFNameVis, const std::string &ivFNameCollision, const std::string &filesDBName)
	Create Simox ManipulationObject from separate .iv models and store it in the wrapped entity. More...

void	setManipulationFile (const std::string &xmlFName)
	Create Simox ManipulationObject from an XML file, but do not store it in the wrapped entity. More...

void	setManipulationObject (const VirtualRobot::ManipulationObjectPtr mo)
	Set Simox ManipulationObject in the wrapped entity. More...

void	setModelIVFiles (const std::string &ivFNameVis, const std::string &ivFNameCollision)
	Create Simox ManipulationObject from separate .iv models, but do not store it in the wrapped entity. More...

void	setPutdownOrientationRPY (Eigen::Vector3f &rpy)
	Sets the orientation of the object that it should have when it is being put down e.g. More...

void	setUncertaintyVisuParams (float ellipseRadiusInSigmas, float heatmapMinVariance, float heatmapDensityThreshold, int heatmapGridSize)
	Set parameters for uncertainty visualization. More...

void	setUncertaintyVisuType (UncertaintyVisuType visuType)
	Set visualization type for position uncertainty. More...

	SimoxObjectWrapper (const GridFileManagerPtr &gfm, VirtualRobot::RobotIO::RobotDescription loadMode=VirtualRobot::RobotIO::eFull)
	Constructs new SimoxObjectWrapper. More...

void	updateFromEntity (const EntityBasePtr &entity)
	Update the Simox object using attribute values (position, orientation etc) from the entity, but reusing the existing visualization. More...

	~SimoxObjectWrapper () override

Public Member Functions inherited from AbstractFileEntityWrapper
	AbstractFileEntityWrapper (GridFileManagerPtr fileManager)

Public Member Functions inherited from AbstractEntityWrapper
	AbstractEntityWrapper ()

EntityBasePtr	getEntity () const
	Get the stored name of the stored entity. More...

std::string	getId () const
	Get the identifier of the stored entity. More...

std::string	getName () const
	Get the name of the stored entity. More...

void	setEntity (const EntityBasePtr &entity)
	Replace the stored entity with a new one. More...

	~AbstractEntityWrapper () override

Static Public Member Functions
static void	FindIvTextures (const std::string &ivFName, NameList &textures)
	FindIvTextures scans the given `ivFName` for texture files and returns them in the `textures` string list. More...

static std::string	GetAbsolutePath (SbString filename, const std::string &origFile)
	GetAbsolutePath prepend `filename` with `origFile` and append it to `storeFilenames` (does nothing if `filename` is NULL) More...

static void	GetAllFilenames (SoNode *node, std::vector< std::string > &storeFilenames, const std::string &origFile="")
	GetAllFilenames walks `node` and appends absolute paths of all found SoFile, SoImage, and SoTexture2 node filenames to `storeFilenames`. More...

Additional Inherited Members
Protected Member Functions inherited from AbstractFileEntityWrapper
std::string	cacheAttributeFile (const std::string &attrName, bool preserveOriginalFName=false) const

void	cleanUpAttributeFiles (EntityAttributeBasePtr oldAttr, EntityAttributeBasePtr newAttr)
	cleanUpAttributeFiles compares the files attached to the two given attributes and removes the files of the oldAttr, if they dont match. More...

void	removeAttributeFiles (const memoryx::EntityAttributeBasePtr &attr)
	removes all files of an attribute from the gridfs More...

Protected Attributes inherited from AbstractFileEntityWrapper
GridFileManagerPtr	fileManager

Detailed Description

SimoxObjectWrapper offers a simplified access to the Simox ManipulationObject (i.e visualization, collision model, grasps) stored in the attributes of MemoryX entity.

Definition at line 46 of file SimoxObjectWrapper.h.

Member Enumeration Documentation

◆ UncertaintyVisuType

enum UncertaintyVisuType

Enumerator
eEllipse
eHeatMap
eHeatSurface

Definition at line 49 of file SimoxObjectWrapper.h.

Constructor & Destructor Documentation

◆ SimoxObjectWrapper()

SimoxObjectWrapper	(	const GridFileManagerPtr &	gfm,
		VirtualRobot::RobotIO::RobotDescription	loadMode = `VirtualRobot::RobotIO::eFull`
	)

Constructs new SimoxObjectWrapper.

Parameters

gfm	GridFileManager to store/load files
loadMode	eFull or eCollisionModel. If eFull, then both, visualization and collision model is loaded. If eCollisionModel then only the collision model will be loaded.

Definition at line 81 of file SimoxObjectWrapper.cpp.

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◆ ~SimoxObjectWrapper()

~SimoxObjectWrapper ( )

override

Definition at line 101 of file SimoxObjectWrapper.cpp.

Member Function Documentation

◆ clear()

void clear ( bool removeFiles = true )

Clears the Simox ManipulationObject and optionally removes the corresponding files from GridFS.

Parameters

removeFiles whether GridFS files (.iv models, textures, MO XML) should be deleted as well

Definition at line 620 of file SimoxObjectWrapper.cpp.

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◆ FindIvTextures()

void FindIvTextures	(	const std::string &	ivFName,
		NameList &	textures
	)

static

FindIvTextures scans the given ivFName for texture files and returns them in the textures string list.

Parameters

ivFName	path to Inventor file to scan for textures
textures	vector of strings containing the paths to texture files

Definition at line 868 of file SimoxObjectWrapper.cpp.

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◆ GetAbsolutePath()

std::string GetAbsolutePath	(	SbString	filename,
		const std::string &	origFile
	)

static

GetAbsolutePath prepend filename with origFile and append it to storeFilenames (does nothing if filename is NULL)

Parameters

filename	SbString of the filename to check
origFile	string containing the original filename
storeFilenames	vector filename strings to which the result should be appended

Definition at line 1027 of file SimoxObjectWrapper.cpp.

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◆ GetAllFilenames()

void GetAllFilenames	(	SoNode *	node,
		std::vector< std::string > &	storeFilenames,
		const std::string &	origFile = `""`
	)

static

GetAllFilenames walks node and appends absolute paths of all found SoFile, SoImage, and SoTexture2 node filenames to storeFilenames.

Parameters

node	SoNode which is analyzed
storeFilenames	vector to which the found filenames are appended
origFile	name of the original file used to load `node` (can be used to retrieve absolute paths like texture filenames which are stored as relative paths in Coin3D).

Definition at line 917 of file SimoxObjectWrapper.cpp.

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◆ getCollisionModel()

VirtualRobot::CollisionModelPtr getCollisionModel ( ) const

Retrieve collision model.

Corresponding files will be fetched and cached locally, if needed.

Definition at line 124 of file SimoxObjectWrapper.cpp.

◆ getManipulationObject()

VirtualRobot::ManipulationObjectPtr getManipulationObject ( ) const

Retrieve the complete Simox ManipulationObject.

Corresponding files will be fetched and cached locally, if needed.

Definition at line 138 of file SimoxObjectWrapper.cpp.

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◆ getManipulationObjectFileName()

std::string getManipulationObjectFileName ( ) const

Retrieve the Simox MainpulationObjects file name in local cache.

File is cached when this method is called.

Definition at line 150 of file SimoxObjectWrapper.cpp.

◆ getPutdownOrientationRPY()

Eigen::Vector3f getPutdownOrientationRPY ( )

Returns the orientation of the object that it should have when it is being put down e.g.

onto the table by the robot.

Definition at line 886 of file SimoxObjectWrapper.cpp.

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◆ getVisualization()

VirtualRobot::VisualizationNodePtr getVisualization ( ) const

Retrieve visualization model.

Corresponding files will be fetched and cached locally, if needed.

Definition at line 110 of file SimoxObjectWrapper.cpp.

◆ ice_clone()

Ice::ObjectPtr ice_clone ( ) const

override

Definition at line 105 of file SimoxObjectWrapper.cpp.

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◆ refreshVisuPose()

void refreshVisuPose ( )

Update object visualization using the current values of pose and position uncertainty from the wrapped entity.

Definition at line 299 of file SimoxObjectWrapper.cpp.

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◆ setAndStoreManipulationFile()

void setAndStoreManipulationFile	(	const std::string &	xmlFName,
		const std::string &	filesDBName
	)

Create Simox ManipulationObject from an XML file and store it in the wrapped entity.

See setManipulationObject for details.

Parameters

xmlFName	name of XML file with manipulation object definition
filesDBName	Mongo database name to store additional files into

Definition at line 173 of file SimoxObjectWrapper.cpp.

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◆ setAndStoreManipulationObject()

std::string setAndStoreManipulationObject	(	const VirtualRobot::ManipulationObjectPtr	mo,
		const std::string &	filesDBName
	)

Store Simox ManipulationObject in the wrapped entity.

Namely, this function does the following:

1. Clears previous manipulation object, if any. Corresponding files are deleted from GridFS as well.
2. Saves all files in the GridFS
2.1. Manipulation object XML file
2.2. Visualization model file (normally, *.iv)
2.3. Collision model file (normally, *.iv)
2.4. Any textures used by 2.2. and 2.3.
3. Stores references to the files from 2. in corresponding attributes of the wrapped enity

Parameters

mo	manipulation object
filesDBName	Mongo database name to store additional files into

Returns: MongoDB Id of the stored object

Definition at line 161 of file SimoxObjectWrapper.cpp.

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◆ setAndStoreModelIVFiles()

void setAndStoreModelIVFiles	(	const std::string &	ivFNameVis,
		const std::string &	ivFNameCollision,
		const std::string &	filesDBName
	)

Create Simox ManipulationObject from separate .iv models and store it in the wrapped entity.

See setManipulationObject for details.

Parameters

ivFNameVis	name of .iv file for visualization model
ivFNameCollision	name of .iv file for collision model
filesDBName	Mongo database name to store additional files into

Definition at line 197 of file SimoxObjectWrapper.cpp.

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◆ setManipulationFile()

void setManipulationFile ( const std::string & xmlFName )

Create Simox ManipulationObject from an XML file, but do not store it in the wrapped entity.

See setManipulationObject for details.

Parameters

xmlFName name of XML file with manipulation object definition

Definition at line 187 of file SimoxObjectWrapper.cpp.

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◆ setManipulationObject()

void setManipulationObject ( const VirtualRobot::ManipulationObjectPtr mo )

Set Simox ManipulationObject in the wrapped entity.

The object is not stored to GridFS.

Parameters

mo	manipulation object

Definition at line 167 of file SimoxObjectWrapper.cpp.

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◆ setModelIVFiles()

void setModelIVFiles	(	const std::string &	ivFNameVis,
		const std::string &	ivFNameCollision
	)

Create Simox ManipulationObject from separate .iv models, but do not store it in the wrapped entity.

See setManipulationObject for details.

Parameters

ivFNameVis	name of .iv file for visualization model
ivFNameCollision	name of .iv file for collision model

Definition at line 205 of file SimoxObjectWrapper.cpp.

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◆ setPutdownOrientationRPY()

void setPutdownOrientationRPY ( Eigen::Vector3f & rpy )

Sets the orientation of the object that it should have when it is being put down e.g.

onto the table by the robot.

Definition at line 908 of file SimoxObjectWrapper.cpp.

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◆ setUncertaintyVisuParams()

void setUncertaintyVisuParams	(	float	ellipseRadiusInSigmas,
		float	heatmapMinVariance,
		float	heatmapDensityThreshold,
		int	heatmapGridSize
	)

Set parameters for uncertainty visualization.

Parameters

ellipseRadiusInSigmas
heatmapMinVariance
heatmapDensityThreshold

Definition at line 216 of file SimoxObjectWrapper.cpp.

◆ setUncertaintyVisuType()

void setUncertaintyVisuType ( UncertaintyVisuType visuType )

Set visualization type for position uncertainty.

Parameters

visuType one of: eEllipse - ellipsoids, full 3d uncertainty shown eHeatMap - flat colored map, XY uncertainty only eHeatSurface - 3d surface,

Definition at line 211 of file SimoxObjectWrapper.cpp.

◆ updateFromEntity()

void updateFromEntity ( const EntityBasePtr & entity )

Update the Simox object using attribute values (position, orientation etc) from the entity, but reusing the existing visualization.

This method meant to be used with subsequent observations of the same entity. For new entity instances, create new SimoxObjectWrapper object instead.

Parameters

entity entity to get attribute values from

Definition at line 292 of file SimoxObjectWrapper.cpp.

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

MemoryX/libraries/helpers/VirtualRobotHelpers/SimoxObjectWrapper.h
MemoryX/libraries/helpers/VirtualRobotHelpers/SimoxObjectWrapper.cpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ UncertaintyVisuType

Constructor & Destructor Documentation

◆ SimoxObjectWrapper()

◆ ~SimoxObjectWrapper()

Member Function Documentation

◆ clear()

◆ FindIvTextures()

◆ GetAbsolutePath()

◆ GetAllFilenames()

◆ getCollisionModel()

◆ getManipulationObject()

◆ getManipulationObjectFileName()

◆ getPutdownOrientationRPY()

◆ getVisualization()

◆ ice_clone()

◆ refreshVisuPose()

◆ setAndStoreManipulationFile()

◆ setAndStoreManipulationObject()

◆ setAndStoreModelIVFiles()

◆ setManipulationFile()

◆ setManipulationObject()

◆ setModelIVFiles()

◆ setPutdownOrientationRPY()

◆ setUncertaintyVisuParams()

◆ setUncertaintyVisuType()

◆ updateFromEntity()