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5 #include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
15 using ComponentPlugin::ComponentPlugin;
20 template <
class... Ts>
21 std::optional<ObjectInfo>
24 return _finder.
findObject(std::forward<Ts>(ts)...);
27 template <
class... Ts>
28 VirtualRobot::ManipulationObjectPtr
34 VirtualRobot::ManipulationObjectPtr
47 void preOnInitComponent()
override;
48 void preOnConnectComponent()
override;
50 static constexpr
const char* PROPERTY_NAME =
"ObjectMemoryName";
::IceInternal::ProxyHandle<::IceProxy::armarx::objpose::ObjectPoseStorageInterface > ObjectPoseStorageInterfacePrx
std::optional< ObjectInfo > findObject(Ts &&... ts) const
std::vector< ObjectPose > ObjectPoseSeq
const ObjectFinder & getObjectFinder() const
objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage()
Provides an objpose::ObjectPoseTopicPrx objectPoseTopic as member variable.
static VirtualRobot::ManipulationObjectPtr loadManipulationObject(const std::optional< ObjectInfo > &ts)
Provides access to the armarx::objpose::ObjectPoseStorageInterface (aka the object memory).
Used to find objects in the ArmarX objects repository [1] (formerly [2]).
This file is part of ArmarX.
VirtualRobot::ManipulationObjectPtr findAndLoadObject(Ts &&... ts) const
objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage()
objpose::ObjectPoseClient createClient()
const ObjectFinder & getObjectFinder() const
ObjectPoseClientPluginUser()
The ManagedIceObject is the base class for all ArmarX objects.
VirtualRobot::ManipulationObjectPtr findAndLoadObject(const std::optional< ObjectInfo > &ts) const
std::optional< ObjectInfo > findObject(const std::string &dataset, const std::string &name) const
const ObjectFinder & setObjectFinderPath(const std::string &path)
plugins::ObjectPoseClientPlugin & getObjectPoseClientPlugin()
objpose::ObjectPoseClient getClient() const
This file offers overloads of toIce() and fromIce() functions for STL container types.
objpose::ObjectPoseSeq getObjectPoses()
objpose::ObjectPoseSeq getObjectPosesByProvider(const std::string &providerName)