DummyObjectLocalizer.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/>.
 *
 * @package    MemoryX::ArmarXObjects::DummyObjectLocalizer
 * @author     Fabian Paus ( fabian dot paus at kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/interface/core/PoseBase.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <MemoryX/interface/workingmemory/WorkingMemoryUpdaterBase.h>
 
namespace armarx
{
 
    struct DummyObject
    {
        std::string name;
        FramedPosePtr pose;
    };
 
    /**
     * @class DummyObjectLocalizerPropertyDefinitions
     * @brief
     */
    class DummyObjectLocalizerPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        DummyObjectLocalizerPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            //defineRequiredProperty<std::string>("PropertyName", "Description");
            defineOptionalProperty<std::string>("ObjectPoseFile",
                                                "MemoryX/DummyObjectLocations.json",
                                                "A file containing framed poses for each object "
                                                "which should be reported by this localizer.");
 
            defineOptionalProperty<std::string>(
                "RobotStateComponentName",
                "RobotStateComponent",
                "Name of the robot state component that should be used");
        }
    };
 
    /**
     * @defgroup Component-DummyObjectLocalizer DummyObjectLocalizer
     * @ingroup MemoryX-Components
     * A description of the component DummyObjectLocalizer.
     *
     * @class DummyObjectLocalizer
     * @ingroup Component-DummyObjectLocalizer
     * @brief Brief description of class DummyObjectLocalizer.
     *
     * Detailed description of class DummyObjectLocalizer.
     */
    class DummyObjectLocalizer :
        virtual public memoryx::ObjectLocalizerInterface,
        virtual public armarx::Component
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "DummyObjectLocalizer";
        }
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        // ObjectLocalizerInterface interface
        memoryx::ObjectLocalizationResultList
        localizeObjectClasses(const memoryx::ObjectClassNameList& classes,
                              const Ice::Current&) override;
 
    private:
        std::vector<DummyObject> dummyObjects;
 
 
        armarx::RobotStateComponentInterfacePrx robotStateComponent;
    };
} // namespace armarx