Namespaces
namespace	arondto

namespace	data

namespace	util
	This file is part of ArmarX.

Classes
struct	ObjectAttachmentInfo

struct	ObjectPose
	An object pose as stored by the ObjectPoseStorage. More...

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

struct	PoseManifoldGaussian
	A "gaussian" distribution in pose space (i.e. More...

class	ProvidedObjectPose
	An object pose provided by an ObjectPoseProvider. More...

class	RequestedObjects
	Handles requests for object pose estimation from the ObjectPoseProviderInterface. More...

Typedefs
using	ObjectPoseMap = std::map<ObjectID, ObjectPose>

using	ObjectPoseSeq = std::vector<ObjectPose>

using	ProvidedObjectPoseMap = std::map<ObjectID, ProvidedObjectPose>

using	ProvidedObjectPoseSeq = std::vector<ProvidedObjectPose>

Functions
const data::ObjectPose *	findObjectPoseByID (const data::ObjectPoseSeq &objectPoses, const armarx::data::ObjectID &id)

const ObjectPose *	findObjectPoseByID (const ObjectPoseSeq &objectPoses, const ObjectID &id)

data::ObjectPose *	findObjectPoseByID (data::ObjectPoseSeq &objectPoses, const armarx::data::ObjectID &id)

ObjectPose *	findObjectPoseByID (ObjectPoseSeq &objectPoses, const ObjectID &id)
	Find an object pose by the object ID.

void	from_json (const simox::json::json &j, ObjectPose &op)

void	fromAron (const arondto::ObjectAttachmentInfo &dto, ObjectAttachmentInfo &bo)

void	fromAron (const arondto::ObjectPose &dto, ObjectPose &bo)

void	fromAron (const arondto::ObjectType &dto, ObjectType &bo)

void	fromAron (const arondto::PoseManifoldGaussian &dto, PoseManifoldGaussian &bo)

simox::OrientedBox< float >	fromIce (const Box &box)

void	fromIce (const Box &box, simox::OrientedBox< float > &oobb)

void	fromIce (const BoxPtr &box, std::optional< simox::OrientedBox< float > > &oobb)

void	fromIce (const data::ObjectAttachmentInfo &ice, ObjectAttachmentInfo &attachment)

std::optional< ObjectAttachmentInfo >	fromIce (const data::ObjectAttachmentInfoPtr &ice)

void	fromIce (const data::ObjectAttachmentInfoPtr &ice, std::optional< ObjectAttachmentInfo > &attachment)

ObjectPose	fromIce (const data::ObjectPose &ice)

void	fromIce (const data::ObjectPose &ice, ObjectPose &pose)

ObjectPoseSeq	fromIce (const data::ObjectPoseSeq &ice)

void	fromIce (const data::ObjectPoseSeq &ice, ObjectPoseSeq &poses)

void	fromIce (const data::PoseManifoldGaussian &ice, PoseManifoldGaussian &cov)

std::optional< PoseManifoldGaussian >	fromIce (const data::PoseManifoldGaussianPtr &ice)

void	fromIce (const data::PoseManifoldGaussianPtr &ice, std::optional< PoseManifoldGaussian > &cov)

ProvidedObjectPose	fromIce (const data::ProvidedObjectPose &ice)

void	fromIce (const data::ProvidedObjectPose &ice, ProvidedObjectPose &pose)

ProvidedObjectPoseSeq	fromIce (const data::ProvidedObjectPoseSeq &ice)

void	fromIce (const data::ProvidedObjectPoseSeq &ice, ProvidedObjectPoseSeq &poses)

objpose::ObjectPosePredictionResult	predictObjectPoseLinear (const std::map< DateTime, ObjectPose > &poses, const DateTime &time, const ObjectPose &latestPose)
	Predict the pose of an object given a history of poses based on a linear regression.

void	to_json (simox::json::json &j, const ObjectPose &op)

void	toAron (arondto::ObjectAttachmentInfo &dto, const ObjectAttachmentInfo &bo)

void	toAron (arondto::ObjectPose &dto, const ObjectPose &bo)

void	toAron (arondto::ObjectType &dto, const ObjectType &bo)

void	toAron (arondto::PoseManifoldGaussian &dto, const PoseManifoldGaussian &bo)

void	toIce (Box &box, const simox::OrientedBox< float > &oobb)

void	toIce (BoxPtr &box, const std::optional< simox::OrientedBox< float > > &oobb)

data::ObjectPose	toIce (const ObjectPose &pose)

data::ObjectPoseSeq	toIce (const ObjectPoseSeq &poses)

data::ProvidedObjectPose	toIce (const ProvidedObjectPose &pose)

data::ProvidedObjectPoseSeq	toIce (const ProvidedObjectPoseSeq &poses)

objpose::AABB	toIce (const simox::AxisAlignedBoundingBox &aabb)

Box	toIce (const simox::OrientedBox< float > &oobb)

data::ObjectAttachmentInfoPtr	toIce (const std::optional< ObjectAttachmentInfo > &ice)

data::PoseManifoldGaussianPtr	toIce (const std::optional< PoseManifoldGaussian > &ice)

void	toIce (data::ObjectAttachmentInfo &ice, const ObjectAttachmentInfo &attachment)

void	toIce (data::ObjectAttachmentInfoPtr &ice, const std::optional< ObjectAttachmentInfo > &attachment)

void	toIce (data::ObjectPose &ice, const ObjectPose &pose)

void	toIce (data::ObjectPoseSeq &ice, const ObjectPoseSeq &poses)

void	toIce (data::PoseManifoldGaussian &ice, const PoseManifoldGaussian &cov)

void	toIce (data::PoseManifoldGaussianPtr &ice, const std::optional< PoseManifoldGaussian > &cov)

void	toIce (data::ProvidedObjectPose &ice, const ProvidedObjectPose &pose)

void	toIce (data::ProvidedObjectPoseSeq &ice, const ProvidedObjectPoseSeq &poses)

Variables
const simox::meta::EnumNames< objpose::ObjectType >	ObjectTypeNames

Typedef Documentation

◆ ObjectPoseMap

using ObjectPoseMap = std::map<ObjectID, ObjectPose>

◆ ObjectPoseSeq

using ObjectPoseSeq = std::vector<ObjectPose>

◆ ProvidedObjectPoseMap

using ProvidedObjectPoseMap = std::map<ObjectID, ProvidedObjectPose>

◆ ProvidedObjectPoseSeq

using ProvidedObjectPoseSeq = std::vector<ProvidedObjectPose>

Function Documentation

◆ findObjectPoseByID() [1/4]

const objpose::data::ObjectPose * findObjectPoseByID	(	const data::ObjectPoseSeq &	objectPoses,
		const armarx::data::ObjectID &	id )

◆ findObjectPoseByID() [2/4]

const objpose::ObjectPose * findObjectPoseByID	(	const ObjectPoseSeq &	objectPoses,
		const ObjectID &	id )

◆ findObjectPoseByID() [3/4]

objpose::data::ObjectPose * findObjectPoseByID	(	data::ObjectPoseSeq &	objectPoses,
		const armarx::data::ObjectID &	id )

◆ findObjectPoseByID() [4/4]

objpose::ObjectPose * findObjectPoseByID	(	ObjectPoseSeq &	objectPoses,
		const ObjectID &	id )

Find an object pose by the object ID.

Return nullptr if not found.

Parameters

objectPoses	The object poses.
id	The object ID.

Returns: A pointer to the (first) object pose with objectID == id, or nullptr if none is found.

◆ from_json()

void from_json	(	const simox::json::json &	j,
		ObjectPose &	op )

◆ fromAron() [1/4]

void fromAron	(	const arondto::ObjectAttachmentInfo &	dto,
		ObjectAttachmentInfo &	bo )

◆ fromAron() [2/4]

void fromAron	(	const arondto::ObjectPose &	dto,
		ObjectPose &	bo )

◆ fromAron() [3/4]

void fromAron	(	const arondto::ObjectType &	dto,
		ObjectType &	bo )

◆ fromAron() [4/4]

void fromAron	(	const arondto::PoseManifoldGaussian &	dto,
		PoseManifoldGaussian &	bo )

◆ fromIce() [1/17]

simox::OrientedBoxf fromIce ( const Box & box )

◆ fromIce() [2/17]

void fromIce	(	const Box &	box,
		simox::OrientedBox< float > &	oobb )

◆ fromIce() [3/17]

void fromIce	(	const BoxPtr &	box,
		std::optional< simox::OrientedBox< float > > &	oobb )

◆ fromIce() [4/17]

void fromIce	(	const data::ObjectAttachmentInfo &	ice,
		ObjectAttachmentInfo &	attachment )

◆ fromIce() [5/17]

std::optional< objpose::ObjectAttachmentInfo > fromIce ( const data::ObjectAttachmentInfoPtr & ice )

◆ fromIce() [6/17]

void fromIce	(	const data::ObjectAttachmentInfoPtr &	ice,
		std::optional< ObjectAttachmentInfo > &	attachment )

◆ fromIce() [7/17]

objpose::ObjectPose fromIce ( const data::ObjectPose & ice )

◆ fromIce() [8/17]

void fromIce	(	const data::ObjectPose &	ice,
		ObjectPose &	pose )

◆ fromIce() [9/17]

objpose::ObjectPoseSeq fromIce ( const data::ObjectPoseSeq & ice )

◆ fromIce() [10/17]

void fromIce	(	const data::ObjectPoseSeq &	ice,
		ObjectPoseSeq &	poses )

◆ fromIce() [11/17]

void fromIce	(	const data::PoseManifoldGaussian &	ice,
		PoseManifoldGaussian &	cov )

◆ fromIce() [12/17]

std::optional< objpose::PoseManifoldGaussian > fromIce ( const data::PoseManifoldGaussianPtr & ice )

◆ fromIce() [13/17]

void fromIce	(	const data::PoseManifoldGaussianPtr &	ice,
		std::optional< PoseManifoldGaussian > &	cov )

◆ fromIce() [14/17]

objpose::ProvidedObjectPose fromIce ( const data::ProvidedObjectPose & ice )

◆ fromIce() [15/17]

void fromIce	(	const data::ProvidedObjectPose &	ice,
		ProvidedObjectPose &	pose )

◆ fromIce() [16/17]

objpose::ProvidedObjectPoseSeq fromIce ( const data::ProvidedObjectPoseSeq & ice )

◆ fromIce() [17/17]

void fromIce	(	const data::ProvidedObjectPoseSeq &	ice,
		ProvidedObjectPoseSeq &	poses )

◆ predictObjectPoseLinear()

objpose::ObjectPosePredictionResult predictObjectPoseLinear	(	const std::map< DateTime, ObjectPose > &	poses,
		const DateTime &	time,
		const ObjectPose &	latestPose )

Predict the pose of an object given a history of poses based on a linear regression.

If poses is empty, latestPose is returned.

Parameters

poses	the history of poses to base the prediction on
time	the timestamp to make the prediction for
latestPose	used for metadata so the result is valid even if poses is empty
settings	the settings to use for the prediction

Returns: the result of the prediction

◆ to_json()

void to_json	(	simox::json::json &	j,
		const ObjectPose &	op )

◆ toAron() [1/4]

void toAron	(	arondto::ObjectAttachmentInfo &	dto,
		const ObjectAttachmentInfo &	bo )

◆ toAron() [2/4]

void toAron	(	arondto::ObjectPose &	dto,
		const ObjectPose &	bo )

◆ toAron() [3/4]

void toAron	(	arondto::ObjectType &	dto,
		const ObjectType &	bo )

◆ toAron() [4/4]

void toAron	(	arondto::PoseManifoldGaussian &	dto,
		const PoseManifoldGaussian &	bo )

◆ toIce() [1/18]

void toIce	(	Box &	box,
		const simox::OrientedBox< float > &	oobb )

◆ toIce() [2/18]

void toIce	(	BoxPtr &	box,
		const std::optional< simox::OrientedBox< float > > &	oobb )

◆ toIce() [3/18]

objpose::data::ObjectPose toIce ( const ObjectPose & pose )

◆ toIce() [4/18]

objpose::data::ObjectPoseSeq toIce ( const ObjectPoseSeq & poses )

◆ toIce() [5/18]

objpose::data::ProvidedObjectPose toIce ( const ProvidedObjectPose & pose )

◆ toIce() [6/18]

objpose::data::ProvidedObjectPoseSeq toIce ( const ProvidedObjectPoseSeq & poses )

◆ toIce() [7/18]

objpose::AABB toIce ( const simox::AxisAlignedBoundingBox & aabb )

◆ toIce() [8/18]

Box toIce ( const simox::OrientedBox< float > & oobb )

◆ toIce() [9/18]

objpose::data::ObjectAttachmentInfoPtr toIce ( const std::optional< ObjectAttachmentInfo > & ice )

◆ toIce() [10/18]

objpose::data::PoseManifoldGaussianPtr toIce ( const std::optional< PoseManifoldGaussian > & ice )

◆ toIce() [11/18]

void toIce	(	data::ObjectAttachmentInfo &	ice,
		const ObjectAttachmentInfo &	attachment )

◆ toIce() [12/18]

void toIce	(	data::ObjectAttachmentInfoPtr &	ice,
		const std::optional< ObjectAttachmentInfo > &	attachment )

◆ toIce() [13/18]

void toIce	(	data::ObjectPose &	ice,
		const ObjectPose &	pose )

◆ toIce() [14/18]

void toIce	(	data::ObjectPoseSeq &	ice,
		const ObjectPoseSeq &	poses )

◆ toIce() [15/18]

void toIce	(	data::PoseManifoldGaussian &	ice,
		const PoseManifoldGaussian &	cov )

◆ toIce() [16/18]

void toIce	(	data::PoseManifoldGaussianPtr &	ice,
		const std::optional< PoseManifoldGaussian > &	cov )

◆ toIce() [17/18]

void toIce	(	data::ProvidedObjectPose &	ice,
		const ProvidedObjectPose &	pose )

◆ toIce() [18/18]

void toIce	(	data::ProvidedObjectPoseSeq &	ice,
		const ProvidedObjectPoseSeq &	poses )

Variable Documentation

◆ ObjectTypeNames

const simox::meta::EnumNames< objpose::ObjectType > ObjectTypeNames

extern

Initial value:

= {
        {objpose::ObjectType::AnyObject, "AnyObject"},
        {objpose::ObjectType::KnownObject, "KnownObject"},
        {objpose::ObjectType::UnknownObject, "UnknownObject"}}

Namespaces

Classes

Typedefs

Functions

Variables