articulated_objects.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Niklas Arlt ( niklas dot arlt at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <string>
#include <vector>
 
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
 
namespace armarx::navigation::util
{
 
    struct ArticulatedObjectsResult
    {
        std::vector<VirtualRobot::RobotPtr> objects;
 
        /// Objects whose description or state was not (yet) available in the object memory.
        std::vector<armarx::ObjectID> missing;
 
        bool
        complete() const
        {
            return missing.empty();
        }
 
        /// The missing object IDs, for logging.
        std::string missingToString() const;
    };
 
    /**
     * @brief Loads the articulated objects for the given (already filtered) articulated object
     * poses.
     *
     * Objects that cannot be loaded or synchronized are reported in `missing` instead of throwing.
     * This happens regularly during startup: the object pose provider and the object memory
     * segments are filled by different producers, so a pose can be known before the corresponding
     * memory entry exists. The caller decides whether to retry or to continue without the object.
     */
    ArticulatedObjectsResult loadArticulatedObjects(
        armem::articulated_object::ArticulatedObjectReader& reader,
        const objpose::ObjectPoseSeq& articulatedObjectPoses,
        VirtualRobot::RobotIO::RobotDescription loadMode = VirtualRobot::RobotIO::eStructure);
 
} // namespace armarx::navigation::util