utils.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/>.
 *
 * @package    RobotAPI::ArmarXObjects::armem_objects
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.aron.generated.h>
 
namespace armarx::armem::objects
{
 
    armem::MemoryID reconstructObjectInstanceID(const objpose::ObjectPose& objectPose);
 
    /** 
     * @brief createFamiliarObjectInstanceFromManipulationObject Create a FamiliarObjectInstance from a known ManipulationObject.
     * 
     * @details This function creates a FamiliarObjectInstance from the provided ManipulationObject by sampling the mesh points.
     *
     * @param manipulationObject  The ManipulationObject to create the FamiliarObjectInstance from.
     * @param objectID            The ObjectID to assign to the FamiliarObjectInstance.
     *
     * @return The created FamiliarObjectInstance.
    */
    armarx::armem::arondto::FamiliarObjectInstance
    createFamiliarObjectInstanceFromManipulationObject(
        const VirtualRobot::ManipulationObject& manipulationObject,
        const armarx::ObjectID& objectID);
 
    pcl::PointCloud<pcl::PointXYZRGBA>
    samplePointCloudFromTriMesh(const VirtualRobot::TriMeshModel& mesh, int sampleCount);
 
 
} // namespace armarx::armem::objects