Used to find objects in the ArmarX objects repository [1] (formerly [2]). More...

#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>

Inheritance diagram for ObjectFinder:

Public Types
using	path = std::filesystem::path

Public Member Functions
std::vector< armem::articulated_object::ArticulatedObjectDescription >	findAllArticulatedObjects (bool checkPaths) const

std::unordered_map< std::string, std::vector< armem::articulated_object::ArticulatedObjectDescription > >	findAllArticulatedObjectsByDataset (bool checkPaths=true) const

std::vector< armem::articulated_object::ArticulatedObjectDescription >	findAllArticulatedObjectsOfDataset (const std::string &dataset, bool checkPaths) const

std::vector< ObjectInfo >	findAllObjects (bool checkPaths=true) const

std::map< std::string, std::vector< ObjectInfo > >	findAllObjectsByDataset (bool checkPaths=true) const

std::vector< ObjectInfo >	findAllObjectsOfDataset (const std::string &dataset, bool checkPaths=true) const

std::optional< ObjectInfo >	findObject (const ObjectID &id) const

std::optional< ObjectInfo >	findObject (const objpose::ObjectPose &obj) const

std::optional< ObjectInfo >	findObject (const std::string &dataset, const std::string &name) const

std::optional< ObjectInfo >	findObject (const std::string &nameOrID) const

std::vector< path >	getDatasetDirectories () const

std::vector< std::string >	getDatasets () const

std::string	getPackageName () const

VirtualRobot::ManipulationObjectPtr	loadManipulationObject (const objpose::ObjectPose &obj, VirtualRobot::ObjectIO::ObjectDescription loadMode=VirtualRobot::ObjectIO::ObjectDescription::eFull) const

VirtualRobot::ObstaclePtr	loadObstacle (const objpose::ObjectPose &obj) const

std::vector< std::string >	loadRecognizedNames (const ObjectID &objectID, bool includeClassName=false) const
	Load names to use when matched when recognizing an object by name.

std::vector< std::string >	loadSpokenNames (const ObjectID &objectID, bool includeClassName=false) const
	Load names to use when verbalizing an object name.

	ObjectFinder (const ObjectFinder &)=default

	ObjectFinder (const std::string &objectsPackageName=DefaultObjectsPackageName, const path &relObjectsDir=DefaultObjectsDirectory)

	ObjectFinder (ObjectFinder &&)=default

ObjectFinder &	operator= (const ObjectFinder &)=default

ObjectFinder &	operator= (ObjectFinder &&)=default

void	setLogObjectDiscoveryError (bool logEnabled)

void	setPath (const std::string &path)

Static Public Member Functions
static VirtualRobot::ManipulationObjectPtr	loadManipulationObject (const std::optional< ObjectInfo > &ts, VirtualRobot::ObjectIO::ObjectDescription loadMode=VirtualRobot::ObjectIO::ObjectDescription::eFull)

static VirtualRobot::ObstaclePtr	loadObstacle (const std::optional< ObjectInfo > &ts)

Static Public Attributes
static const std::string	DefaultObjectsDirectory = "objects"

static const std::string	DefaultObjectsPackageName = "PriorKnowledgeData"

Detailed Description

Used to find objects in the ArmarX objects repository [1] (formerly [2]).

See also: [1] https://git.h2t.iar.kit.edu/sw/armarx/prior-knowledge-data

Definition at line 23 of file ObjectFinder.h.

Member Typedef Documentation

◆ path

using path = std::filesystem::path

Definition at line 26 of file ObjectFinder.h.

Constructor & Destructor Documentation

◆ ObjectFinder() [1/3]

ObjectFinder	(	const std::string &	objectsPackageName = DefaultObjectsPackageName,
		const path &	relObjectsDir = DefaultObjectsDirectory )

Definition at line 30 of file ObjectFinder.cpp.

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◆ ObjectFinder() [2/3]

ObjectFinder ( ObjectFinder && )

default

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◆ ObjectFinder() [3/3]

ObjectFinder ( const ObjectFinder & )

default

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Member Function Documentation

◆ findAllArticulatedObjects()

std::vector< armem::articulated_object::ArticulatedObjectDescription > findAllArticulatedObjects ( bool checkPaths ) const

Definition at line 188 of file ObjectFinder.cpp.

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◆ findAllArticulatedObjectsByDataset()

std::unordered_map< std::string, std::vector< armem::articulated_object::ArticulatedObjectDescription > > findAllArticulatedObjectsByDataset ( bool checkPaths = true ) const

Definition at line 262 of file ObjectFinder.cpp.

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◆ findAllArticulatedObjectsOfDataset()

std::vector< armem::articulated_object::ArticulatedObjectDescription > findAllArticulatedObjectsOfDataset	(	const std::string &	dataset,
		bool	checkPaths ) const

Definition at line 287 of file ObjectFinder.cpp.

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◆ findAllObjects()

std::vector< ObjectInfo > findAllObjects ( bool checkPaths = true ) const

Definition at line 164 of file ObjectFinder.cpp.

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◆ findAllObjectsByDataset()

std::map< std::string, std::vector< ObjectInfo > > findAllObjectsByDataset ( bool checkPaths = true ) const

Definition at line 211 of file ObjectFinder.cpp.

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◆ findAllObjectsOfDataset()

std::vector< ObjectInfo > findAllObjectsOfDataset	(	const std::string &	dataset,
		bool	checkPaths = true ) const

Definition at line 223 of file ObjectFinder.cpp.

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◆ findObject() [1/4]

std::optional< ObjectInfo > findObject ( const ObjectID & id ) const

Definition at line 119 of file ObjectFinder.cpp.

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◆ findObject() [2/4]

std::optional< ObjectInfo > findObject ( const objpose::ObjectPose & obj ) const

Definition at line 125 of file ObjectFinder.cpp.

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◆ findObject() [3/4]

std::optional< ObjectInfo > findObject	(	const std::string &	dataset,
		const std::string &	name ) const

Definition at line 79 of file ObjectFinder.cpp.

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◆ findObject() [4/4]

std::optional< ObjectInfo > findObject ( const std::string & nameOrID ) const

Definition at line 113 of file ObjectFinder.cpp.

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◆ getDatasetDirectories()

std::vector< ObjectFinder::path > getDatasetDirectories ( ) const

Definition at line 143 of file ObjectFinder.cpp.

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◆ getDatasets()

std::vector< std::string > getDatasets ( ) const

Definition at line 131 of file ObjectFinder.cpp.

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◆ getPackageName()

std::string getPackageName ( ) const

Definition at line 45 of file ObjectFinder.cpp.

◆ loadManipulationObject() [1/2]

VirtualRobot::ManipulationObjectPtr loadManipulationObject	(	const objpose::ObjectPose &	obj,
		VirtualRobot::ObjectIO::ObjectDescription	loadMode = VirtualRobot::ObjectIO::ObjectDescription::eFull ) const

Definition at line 349 of file ObjectFinder.cpp.

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◆ loadManipulationObject() [2/2]

VirtualRobot::ManipulationObjectPtr loadManipulationObject	(	const std::optional< ObjectInfo > &	ts,
		VirtualRobot::ObjectIO::ObjectDescription	loadMode = VirtualRobot::ObjectIO::ObjectDescription::eFull )

static

Definition at line 331 of file ObjectFinder.cpp.

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◆ loadObstacle() [1/2]

VirtualRobot::ObstaclePtr loadObstacle ( const objpose::ObjectPose & obj ) const

Definition at line 374 of file ObjectFinder.cpp.

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◆ loadObstacle() [2/2]

VirtualRobot::ObstaclePtr loadObstacle ( const std::optional< ObjectInfo > & ts )

static

Definition at line 357 of file ObjectFinder.cpp.

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◆ loadRecognizedNames()

std::vector< std::string > loadRecognizedNames	(	const ObjectID &	objectID,
		bool	includeClassName = false ) const

Load names to use when matched when recognizing an object by name.

If the object's names JSON file does not exist, no names will be added from a file. If you would like to detect this case, first findObject(), then use ObjectInfo::loadRecognizedNames(), which returns a std::optional.

Parameters

includeClassName If true, include the raw class name in the result.

See also: ObjectInfo::loadRecognizedNames()

Definition at line 403 of file ObjectFinder.cpp.

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◆ loadSpokenNames()

std::vector< std::string > loadSpokenNames	(	const ObjectID &	objectID,
		bool	includeClassName = false ) const

Load names to use when verbalizing an object name.

If the object's names JSON file does not exist, no names will be added from a file. If you would like to detect this case, first findObject(), then use ObjectInfo::loadSpokenNames(), which returns a std::optional.

Parameters

includeClassName If true, include the raw class name in the result.

See also: ObjectInfo::loadSpokenNames()

Definition at line 412 of file ObjectFinder.cpp.

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◆ operator=() [1/2]

ObjectFinder & operator= ( const ObjectFinder & )

default

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◆ operator=() [2/2]

ObjectFinder & operator= ( ObjectFinder && )

default

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◆ setLogObjectDiscoveryError()

void setLogObjectDiscoveryError ( bool logEnabled )

Definition at line 421 of file ObjectFinder.cpp.

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◆ setPath()

void setPath ( const std::string & path )

Definition at line 38 of file ObjectFinder.cpp.

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Member Data Documentation

◆ DefaultObjectsDirectory

const std::string DefaultObjectsDirectory = "objects"

inlinestatic

Definition at line 28 of file ObjectFinder.h.

◆ DefaultObjectsPackageName

const std::string DefaultObjectsPackageName = "PriorKnowledgeData"

inlinestatic

Definition at line 27 of file ObjectFinder.h.

The documentation for this class was generated from the following files:

RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ path

Constructor & Destructor Documentation

◆ ObjectFinder() [1/3]

◆ ObjectFinder() [2/3]

◆ ObjectFinder() [3/3]

Member Function Documentation

◆ findAllArticulatedObjects()

◆ findAllArticulatedObjectsByDataset()

◆ findAllArticulatedObjectsOfDataset()

◆ findAllObjects()

◆ findAllObjectsByDataset()

◆ findAllObjectsOfDataset()

◆ findObject() [1/4]

◆ findObject() [2/4]

◆ findObject() [3/4]

◆ findObject() [4/4]

◆ getDatasetDirectories()

◆ getDatasets()

◆ getPackageName()

◆ loadManipulationObject() [1/2]

◆ loadManipulationObject() [2/2]

◆ loadObstacle() [1/2]

◆ loadObstacle() [2/2]

◆ loadRecognizedNames()

◆ loadSpokenNames()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setLogObjectDiscoveryError()

◆ setPath()

Member Data Documentation

◆ DefaultObjectsDirectory

◆ DefaultObjectsPackageName