ObjectPoseProviderPlugin.h

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#pragma once
 
#include <ArmarXCore/core/ComponentPlugin.h>
 
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
 
 
namespace armarx::plugins
{
 
    class ObjectPoseProviderPlugin : public ComponentPlugin
    {
    public:
 
        using ComponentPlugin::ComponentPlugin;
 
        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
        void preOnInitComponent() override;
        void preOnConnectComponent() override;
        void postOnConnectComponent() override;
 
        objpose::ObjectPoseTopicPrx createObjectPoseTopic();
 
 
    private:
 
        static constexpr const char* PROPERTY_NAME = "ObjectPoseTopicName";
 
    };
 
}
 
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
namespace armarx
{
 
    /**
     * @brief Provides an `objpose::ObjectPoseTopicPrx objectPoseTopic` as member variable.
     */
    class ObjectPoseProviderPluginUser :
        virtual public ManagedIceObject
        , virtual public objpose::ObjectPoseProvider
    {
    public:
 
        ObjectPoseProviderPluginUser();
 
        /// Implement to process object requests (empty default implementation).
        objpose::provider::RequestObjectsOutput requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&) override;
 
        objpose::ObjectPoseTopicPrx createObjectPoseTopic();
 
        objpose::ObjectPoseTopicPrx objectPoseTopic;
 
 
    private:
 
        armarx::plugins::ObjectPoseProviderPlugin* plugin = nullptr;
 
    };
}