ObjectPoseClientPlugin.h

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#pragma once
 
#include <ArmarXCore/core/ComponentPlugin.h>
 
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
 
namespace armarx::plugins
{
    class ObjectPoseClientPlugin : public ComponentPlugin
    {
    public:
        using ComponentPlugin::ComponentPlugin;
 
        objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
        objpose::ObjectPoseClient createClient();
 
        template <class... Ts>
        std::optional<ObjectInfo>
        findObject(Ts&&... ts) const
        {
            return _finder.findObject(std::forward<Ts>(ts)...);
        }
 
        template <class... Ts>
        VirtualRobot::ManipulationObjectPtr
        findAndLoadObject(Ts&&... ts) const
        {
            return findAndLoadObject(findObject(std::forward<Ts>(ts)...));
        }
 
        VirtualRobot::ManipulationObjectPtr
        findAndLoadObject(const std::optional<ObjectInfo>& ts) const
        {
            return _finder.loadManipulationObject(ts);
        }
 
        const ObjectFinder& setObjectFinderPath(const std::string& path);
        const ObjectFinder& getObjectFinder() const;
 
 
    private:
        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
        void preOnInitComponent() override;
        void preOnConnectComponent() override;
 
        static constexpr const char* PROPERTY_NAME = "ObjectMemoryName";
 
        ObjectFinder _finder;
        objpose::ObjectPoseStorageInterfacePrx _objectPoseStorage;
    };
} // namespace armarx::plugins
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
namespace armarx
{
    /**
     * @brief Provides an `objpose::ObjectPoseTopicPrx objectPoseTopic` as member variable.
     */
    class ObjectPoseClientPluginUser : virtual public ManagedIceObject
    {
    public:
        /// Allow usage like: ObjectPoseClient::getObjects()
        using ObjectPoseClient = ObjectPoseClientPluginUser;
 
        ObjectPoseClientPluginUser();
 
        objpose::ObjectPoseClient getClient() const;
        objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
 
        objpose::ObjectPoseSeq getObjectPoses();
        objpose::ObjectPoseSeq getObjectPosesByProvider(const std::string& providerName);
 
 
        plugins::ObjectPoseClientPlugin& getObjectPoseClientPlugin();
        const plugins::ObjectPoseClientPlugin& getObjectPoseClientPlugin() const;
 
        const ObjectFinder& getObjectFinder() const;
 
 
    private:
        armarx::plugins::ObjectPoseClientPlugin* plugin = nullptr;
    };
} // namespace armarx