Accessor for the object files. More...

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

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

Public Member Functions
PackageFileLocation	articulatedSdf () const

PackageFileLocation	articulatedSimoxXML () const

PackageFileLocation	articulatedUrdf () const

PackageFileLocation	boundingBoxJson () const

virtual bool	checkPaths () const
	Checks the existence of expected files.

std::string	className () const

std::string	dataset () const

PackageFileLocation	file (const std::string &extension, const std::string &suffix="", bool fixDataPath=false) const

std::optional< PackageFileLocation >	getArticulatedModel () const
	Return the articulated Simox XML, URDF or SDF, if one exists.

std::optional< PackageFileLocation >	getModel () const
	Return the Simox XML, URDF or SDF, if one exists.

ObjectID	id () const
	Return "dataset/name".

std::string	idStr () const

std::optional< simox::AxisAlignedBoundingBox >	loadAABB () const
	Load the AABB (axis-aligned bounding-box) from the bounding box JSON file.

std::optional< simox::OrientedBox< float > >	loadOOBB () const
	Load the OOBB (object-oriented bounding box) from the bounding box JSON file.

std::optional< std::vector< std::string > >	loadRecognizedNames () const
	Load names to use when matched when recognizing an object by name.

std::optional< std::vector< std::string > >	loadSpokenNames () const
	Load names to use when verbalizing an object name.

PackageFileLocation	meshWrl () const

std::string	name () const

PackageFileLocation	namesJson () const
	File containing recognized and spoken names of objects.

	ObjectInfo (const std::string &packageName, const path &absPackageDataDir, const path &relObjectsPath, const ObjectID &id)
	ObjectInfo.

	ObjectInfo (const std::string &packageName, const path &packageDataDir, const path &relObjectsPath, const std::string &dataset, const std::string &className)

std::string	package () const

PackageFileLocation	sdf () const

void	setLogError (bool enabled)

PackageFileLocation	simoxXML () const

PackageFileLocation	urdf () const

PackageFileLocation	wavefrontObj () const

virtual	~ObjectInfo ()=default

Detailed Description

Accessor for the object files.

Definition at line 36 of file ObjectInfo.h.

Member Typedef Documentation

◆ path

using path = std::filesystem::path

Definition at line 39 of file ObjectInfo.h.

Constructor & Destructor Documentation

◆ ObjectInfo() [1/2]

ObjectInfo	(	const std::string &	packageName,
		const path &	absPackageDataDir,
		const path &	relObjectsPath,
		const ObjectID &	id )

ObjectInfo.

Parameters

packageName	The ArmarX package.
absPackageDataDir	Absolute path to the package's data directory.
localObjectsPath	The path where objects are stored in the data directory.
id	The object class ID (with dataset and class name).

Definition at line 20 of file ObjectInfo.cpp.

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◆ ObjectInfo() [2/2]

ObjectInfo	(	const std::string &	packageName,
		const path &	packageDataDir,
		const path &	relObjectsPath,
		const std::string &	dataset,
		const std::string &	className )

Definition at line 31 of file ObjectInfo.cpp.

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◆ ~ObjectInfo()

virtual ~ObjectInfo ( )

virtualdefault

Member Function Documentation

◆ articulatedSdf()

PackageFileLocation articulatedSdf ( ) const

Definition at line 161 of file ObjectInfo.cpp.

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◆ articulatedSimoxXML()

PackageFileLocation articulatedSimoxXML ( ) const

Definition at line 149 of file ObjectInfo.cpp.

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◆ articulatedUrdf()

PackageFileLocation articulatedUrdf ( ) const

Definition at line 155 of file ObjectInfo.cpp.

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◆ boundingBoxJson()

PackageFileLocation boundingBoxJson ( ) const

Definition at line 200 of file ObjectInfo.cpp.

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◆ checkPaths()

bool checkPaths ( ) const

virtual

Checks the existence of expected files.

If a file is does not exist, emits a warning returns false.

Returns: True if all existing files are found, false otherwise.

Definition at line 379 of file ObjectInfo.cpp.

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◆ className()

std::string className ( ) const

Definition at line 62 of file ObjectInfo.cpp.

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◆ dataset()

std::string dataset ( ) const

Definition at line 56 of file ObjectInfo.cpp.

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◆ file()

PackageFileLocation file	(	const std::string &	extension,
		const std::string &	suffix = "",
		bool	fixDataPath = false ) const

Definition at line 91 of file ObjectInfo.cpp.

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◆ getArticulatedModel()

std::optional< PackageFileLocation > getArticulatedModel ( ) const

Return the articulated Simox XML, URDF or SDF, if one exists.

Definition at line 167 of file ObjectInfo.cpp.

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◆ getModel()

std::optional< PackageFileLocation > getModel ( ) const

Return the Simox XML, URDF or SDF, if one exists.

Definition at line 128 of file ObjectInfo.cpp.

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◆ id()

ObjectID id ( ) const

Return "dataset/name".

Definition at line 68 of file ObjectInfo.cpp.

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◆ idStr()

std::string idStr ( ) const

Definition at line 74 of file ObjectInfo.cpp.

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◆ loadAABB()

std::optional< simox::AxisAlignedBoundingBox > loadAABB ( ) const

Load the AABB (axis-aligned bounding-box) from the bounding box JSON file.

Returns: Return the AABB if successful, std::nullopt if file does not exist.

Definition at line 212 of file ObjectInfo.cpp.

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◆ loadOOBB()

std::optional< simox::OrientedBox< float > > loadOOBB ( ) const

Load the OOBB (object-oriented bounding box) from the bounding box JSON file.

The OOBB is defined the object's local frame.

Returns: Return the OOBB if successful, std::nullopt if file does not exist.

Definition at line 269 of file ObjectInfo.cpp.

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◆ loadRecognizedNames()

std::optional< std::vector< std::string > > loadRecognizedNames ( ) const

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

See also: namesJson()

Definition at line 328 of file ObjectInfo.cpp.

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◆ loadSpokenNames()

std::optional< std::vector< std::string > > loadSpokenNames ( ) const

Load names to use when verbalizing an object name.

See also: namesJson()

Definition at line 334 of file ObjectInfo.cpp.

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◆ meshWrl()

PackageFileLocation meshWrl ( ) const

Definition at line 188 of file ObjectInfo.cpp.

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◆ name()

std::string name ( ) const

inline

Definition at line 72 of file ObjectInfo.h.

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◆ namesJson()

PackageFileLocation namesJson ( ) const

File containing recognized and spoken names of objects.

Definition at line 206 of file ObjectInfo.cpp.

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◆ package()

std::string package ( ) const

Definition at line 50 of file ObjectInfo.cpp.

◆ sdf()

PackageFileLocation sdf ( ) const

Definition at line 122 of file ObjectInfo.cpp.

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◆ setLogError()

void setLogError ( bool enabled )

Definition at line 44 of file ObjectInfo.cpp.

◆ simoxXML()

PackageFileLocation simoxXML ( ) const

Definition at line 110 of file ObjectInfo.cpp.

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◆ urdf()

PackageFileLocation urdf ( ) const

Definition at line 116 of file ObjectInfo.cpp.

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◆ wavefrontObj()

PackageFileLocation wavefrontObj ( ) const

Definition at line 194 of file ObjectInfo.cpp.

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

RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ path

Constructor & Destructor Documentation

◆ ObjectInfo() [1/2]

◆ ObjectInfo() [2/2]

◆ ~ObjectInfo()

Member Function Documentation

◆ articulatedSdf()

◆ articulatedSimoxXML()

◆ articulatedUrdf()

◆ boundingBoxJson()

◆ checkPaths()

◆ className()

◆ dataset()

◆ file()

◆ getArticulatedModel()

◆ getModel()

◆ id()

◆ idStr()

◆ loadAABB()

◆ loadOOBB()

◆ loadRecognizedNames()

◆ loadSpokenNames()

◆ meshWrl()

◆ name()

◆ namesJson()

◆ package()

◆ sdf()

◆ setLogError()

◆ simoxXML()

◆ urdf()

◆ wavefrontObj()