ice_conversions.h

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#pragma once
 
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
#include <RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.h>
#include <RobotAPI/interface/objectpose/object_pose_types.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
 
namespace simox
{
    // #include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
    struct AxisAlignedBoundingBox;
    // #include <SimoxUtility/shapes/OrientedBox.h>
    template <class FloatT>
    class OrientedBox;
} // namespace simox
 
namespace armarx::data
{
    std::ostream& operator<<(std::ostream& os, const ObjectID& id);
}
 
namespace armarx
{
 
    void fromIce(const data::ObjectID& ice, ObjectID& id);
    ObjectID fromIce(const data::ObjectID& id);
 
    void fromIce(const data::ObjectIDSeq& ice, std::vector<ObjectID>& ids);
    std::vector<ObjectID> fromIce(const data::ObjectIDSeq& id);
 
    void toIce(data::ObjectID& ice, const ObjectID& ids);
    data::ObjectID toIce(const ObjectID& ids);
 
    void toIce(data::ObjectIDSeq& ice, const std::vector<ObjectID>& ids);
    data::ObjectIDSeq toIce(const std::vector<ObjectID>& ids);
 
} // namespace armarx
 
namespace armarx::objpose
{
    extern const simox::meta::EnumNames<objpose::ObjectType> ObjectTypeNames;
 
    objpose::AABB toIce(const simox::AxisAlignedBoundingBox& aabb);
 
    void fromIce(const Box& box, simox::OrientedBox<float>& oobb);
    void fromIce(const BoxPtr& box, std::optional<simox::OrientedBox<float>>& oobb);
    simox::OrientedBox<float> fromIce(const Box& box);
 
    void toIce(BoxPtr& box, const std::optional<simox::OrientedBox<float>>& oobb);
    void toIce(Box& box, const simox::OrientedBox<float>& oobb);
    Box toIce(const simox::OrientedBox<float>& oobb);
 
 
    void fromIce(const data::PoseManifoldGaussian& ice, PoseManifoldGaussian& cov);
    void fromIce(const data::PoseManifoldGaussianPtr& ice,
                 std::optional<PoseManifoldGaussian>& cov);
    std::optional<PoseManifoldGaussian> fromIce(const data::PoseManifoldGaussianPtr& ice);
 
    void toIce(data::PoseManifoldGaussian& ice, const PoseManifoldGaussian& cov);
    void toIce(data::PoseManifoldGaussianPtr& ice, const std::optional<PoseManifoldGaussian>& cov);
    data::PoseManifoldGaussianPtr toIce(const std::optional<PoseManifoldGaussian>& ice);
 
} // namespace armarx::objpose