ProvidedObjectPose.h

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#pragma once
 
#include <map>
#include <optional>
#include <vector>
 
#include <Eigen/Core>
 
#include <SimoxUtility/shapes/OrientedBox.h>
 
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/interface/objectpose/object_pose_types.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/PoseManifoldGaussian.h>
#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
 
namespace armarx::objpose
{
 
    /**
     * @brief An object pose provided by an ObjectPoseProvider.
     */
    class ProvidedObjectPose
    {
    public:
        ProvidedObjectPose();
        ProvidedObjectPose(const data::ProvidedObjectPose& ice);
 
        void fromIce(const data::ProvidedObjectPose& ice);
 
        data::ProvidedObjectPose toIce() const;
        void toIce(data::ProvidedObjectPose& ice) const;
 
    public:
        /// Name of the providing component.
        std::string providerName;
        /// Known or unknown object.
        ObjectType objectType = AnyObject;
        /// Whether object is static. Static objects don't decay.
        bool isStatic = false;
 
        /// The object ID, i.e. dataset, class name and instance name.
        armarx::ObjectID objectID;
 
        Eigen::Matrix4f objectPose = Eigen::Matrix4f::Identity();
        std::string objectPoseFrame;
        std::optional<PoseManifoldGaussian> objectPoseGaussian;
 
        /// The object's joint values if it is articulated.
        std::map<std::string, float> objectJointValues;
 
 
        /// Confidence in [0, 1] (1 = full, 0 = none).
        float confidence = 0;
        /// Source timestamp.
        DateTime timestamp = DateTime::Invalid();
 
        /// Object bounding box in object's local coordinate frame.
        /// @see oobbRobot(), oobbGlobal()
        std::optional<simox::OrientedBoxf> localOOBB;
    };
 
    void fromIce(const data::ProvidedObjectPose& ice, ProvidedObjectPose& pose);
    ProvidedObjectPose fromIce(const data::ProvidedObjectPose& ice);
 
    void fromIce(const data::ProvidedObjectPoseSeq& ice, ProvidedObjectPoseSeq& poses);
    ProvidedObjectPoseSeq fromIce(const data::ProvidedObjectPoseSeq& ice);
 
 
    void toIce(data::ProvidedObjectPose& ice, const ProvidedObjectPose& pose);
    data::ProvidedObjectPose toIce(const ProvidedObjectPose& pose);
 
    void toIce(data::ProvidedObjectPoseSeq& ice, const ProvidedObjectPoseSeq& poses);
    data::ProvidedObjectPoseSeq toIce(const ProvidedObjectPoseSeq& poses);
 
 
} // namespace armarx::objpose