FamiliarObjectDetectionExample.h

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#pragma once
 
#include <experimental/memory>
#include <string>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
#include "RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h"
#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
#include "RobotAPI/libraries/armem_objects/client/familiar_object_instance/ObjectReader.h"
#include <RobotAPI/interface/objectpose/FamiliarObjectPoseStorageInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>
#include <RobotAPI/libraries/armem/client/plugins.h>
 
namespace armarx::familiar_objects
{
 
    /**
     * @defgroup Component-ExampleClient ExampleClient
     * @ingroup RobotAPI-Components
     * A description of the component ExampleClient.
     *
     * @class ExampleClient
     * @ingroup Component-ExampleClient
     * @brief Brief description of class ExampleClient.
     *
     * Detailed description of class ExampleClient.
     */
    class FamiliarObjectDetectionExample :
        virtual public armarx::Component,
        virtual public armarx::armem::client::ComponentPluginUser,
        virtual public armarx::ObjectPoseClientPluginUser
    {
    public:
        FamiliarObjectDetectionExample();
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        void run();
 
        void storeKnownObjectAsFamiliarObjectInMemory() const;
 
 
        void storeExemplaryFamiliarObjectInMemory() const;
        void readExemplaryFamiliarObjectFromMemory() const;
 
    private:
        struct Properties
        {
            std::string robotName;
 
            armarx::arondto::ObjectID knownObjectID;
            armarx::arondto::ObjectID knownObjectAsFamID;
 
            armarx::arondto::ObjectID exemplaryFamiliarObjectID;
 
            float objectShiftX = 0;
            float objectShiftY = 60;
 
            unsigned int nFamObjects = 3;
 
        } p;
 
        // Writing familiar object instances to memory
        objpose::FamiliarObjectPoseStorageInterfacePrx familiarObjectPoseStoragePrx;
 
        // Reading familiar object instances from memory
        std::experimental::observer_ptr<armem::client::plugins::ReaderWriterPlugin<
            armarx::armem::obj::familiar_object_instance::Reader>>
            familiarObjectInstanceReaderPlugin;
 
        armarx::PeriodicTask<FamiliarObjectDetectionExample>::pointer_type detectTask;
    };
 
} // namespace armarx::familiar_objects