types.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     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Geometry>
 
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem_robot_state/types.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/Names.h>
 
#include "aron_forward_declarations.h"
 
namespace armarx::armem
{
    struct ObjectInstance
    {
        objpose::ObjectPose pose;
        MemoryID classID;
        MemoryID sourceID;
    };
} // namespace armarx::armem
 
namespace armarx::armem::clazz
{
    struct Feature
    {
        float angle;
        float scale;
        Eigen::Vector2f point2d;
        Eigen::Vector3f point3d;
        std::vector<float> feature;
    };
 
    struct ObjectClass
    {
        armarx::ObjectID id;
        armarx::PackagePath simoxXmlPath;
        armarx::PackagePath articulatedSimoxXmlPath;
        armarx::PackagePath urdfPath;
        armarx::PackagePath articulatedUrdfPath;
        armarx::PackagePath sdfPath;
        armarx::PackagePath articulatedSdfPath;
        armarx::PackagePath meshWrlPath;
        armarx::PackagePath meshObjPath;
        simox::AxisAlignedBoundingBox aabb;
        simox::OrientedBoxf oobb;
        armarx::Names names;
        std::vector<Feature> ivtFeatures;
    };
} // namespace armarx::armem::clazz
 
namespace armarx::armem::attachment
{
    using AgentID = armem::MemoryID;
    using ObjectID = armem::MemoryID;
 
    struct AgentDescription
    {
        /**
         * @brief id either pointing to a arondto::Robot or arondto::ArticulatedObject
         *
         */
        AgentID id;
 
        std::string frame;
    };
 
    /**
     * @brief ObjectAttachment describes a fixed transformation between an agent and an object.
     *
     *  The transformation is defined as follows:
     *
     *      agent.frame -> object root frame
     *
     */
    struct ObjectAttachment
    {
        AgentDescription agent;
 
        Eigen::Affine3f transformation;
 
        ObjectID object;
 
        armem::Time timestamp;
 
        bool active;
    };
 
    /**
     * @brief ArticulatedObjectAttachment describes a fixed transformation between an agent and an articulated object.
     *
     *  The transformation is defined as follows:
     *
     *      agent.frame -> object.frame
     *
     */
    struct ArticulatedObjectAttachment
    {
        AgentDescription agent;
 
        Eigen::Affine3f transformation;
 
        AgentDescription object;
 
        armem::Time timestamp;
 
        bool active;
    };
 
} // namespace armarx::armem::attachment
 
namespace armarx::armem::articulated_object
{
    using ArticulatedObjectDescription = armarx::armem::robot_state::description::RobotDescription;
 
    using ArticulatedObject = armarx::armem::robot_state::Robot;
    using ArticulatedObjects = armarx::armem::robot_state::Robots;
} // namespace armarx::armem::articulated_object
 
namespace armarx::armem::marker
{
    class Marker
    {
 
    public:
        Marker(const armarx::armem::arondto::Marker& dto);
        Marker(const std::string& name,
               const FramedPose& markerPose,
               const FramedPose& robotPose,
               const FramedPose& rgbCameraPose,
               const FramedPose& depthCameraPose);
 
        std::string name;
        FramedPose robotGlobal;
        FramedPose rgbCamera;
        FramedPose depthCamera;
        FramedPose markerPose;
        FramedPose markerGlobal;
 
        FramedPose getGlobalMarkerPose() const;
    };
} // namespace armarx::armem::marker