This file is part of ArmarX. More...

Namespaces
	arondto

	data

Classes
struct	ObjectAttachmentInfo

struct	ObjectPose
	An object pose as stored by the ObjectPoseStorage. More...

class	ObjectPoseClient
	Provides access to the `armarx::objpose::ObjectPoseStorageInterface` (aka the object memory). More...

struct	PoseManifoldGaussian
	A "gaussian" distribution in pose space (i.e. More...

class	ProvidedObjectPose
	An object pose provided by an ObjectPoseProvider. More...

class	RequestedObjects
	Handles requests for object pose estimation from the ObjectPoseProviderInterface. More...

Typedefs
using	ObjectPoseMap = std::map< ObjectID, ObjectPose >

using	ObjectPoseSeq = std::vector< ObjectPose >

using	ProvidedObjectPoseMap = std::map< ObjectID, ProvidedObjectPose >

using	ProvidedObjectPoseSeq = std::vector< ProvidedObjectPose >

Functions
VirtualRobot::ManipulationObjectPtr	asManipulationObject (const objpose::ObjectPose &objectPose)

VirtualRobot::SceneObjectSetPtr	asSceneObjects (const objpose::ObjectPoseSeq &objectPoses)

objpose::ObjectPoseSeq	filterObjects (objpose::ObjectPoseSeq objects, const std::vector< std::string > &datasetBlocklist)

const data::ObjectPose *	findObjectPoseByID (const data::ObjectPoseSeq &objectPoses, const armarx::data::ObjectID &id)

const ObjectPose *	findObjectPoseByID (const ObjectPoseSeq &objectPoses, const ObjectID &id)

data::ObjectPose *	findObjectPoseByID (data::ObjectPoseSeq &objectPoses, const armarx::data::ObjectID &id)

ObjectPose *	findObjectPoseByID (ObjectPoseSeq &objectPoses, const ObjectID &id)
	Find an object pose by the object ID. More...

void	from_json (const simox::json::json &j, ObjectPose &op)

void	fromAron (const arondto::ObjectAttachmentInfo &dto, ObjectAttachmentInfo &bo)

void	fromAron (const arondto::ObjectPose &dto, ObjectPose &bo)

void	fromAron (const arondto::ObjectType &dto, ObjectType &bo)

void	fromAron (const arondto::PoseManifoldGaussian &dto, PoseManifoldGaussian &bo)

simox::OrientedBox< float >	fromIce (const Box &box)

void	fromIce (const Box &box, simox::OrientedBox< float > &oobb)

void	fromIce (const BoxPtr &box, std::optional< simox::OrientedBox< float >> &oobb)

void	fromIce (const data::ObjectAttachmentInfo &ice, ObjectAttachmentInfo &attachment)

std::optional< ObjectAttachmentInfo >	fromIce (const data::ObjectAttachmentInfoPtr &ice)

void	fromIce (const data::ObjectAttachmentInfoPtr &ice, std::optional< ObjectAttachmentInfo > &attachment)

ObjectPose	fromIce (const data::ObjectPose &ice)

void	fromIce (const data::ObjectPose &ice, ObjectPose &pose)

ObjectPoseSeq	fromIce (const data::ObjectPoseSeq &ice)

void	fromIce (const data::ObjectPoseSeq &ice, ObjectPoseSeq &poses)

void	fromIce (const data::PoseManifoldGaussian &ice, PoseManifoldGaussian &cov)

std::optional< PoseManifoldGaussian >	fromIce (const data::PoseManifoldGaussianPtr &ice)

void	fromIce (const data::PoseManifoldGaussianPtr &ice, std::optional< PoseManifoldGaussian > &cov)

ProvidedObjectPose	fromIce (const data::ProvidedObjectPose &ice)

void	fromIce (const data::ProvidedObjectPose &ice, ProvidedObjectPose &pose)

ProvidedObjectPoseSeq	fromIce (const data::ProvidedObjectPoseSeq &ice)

void	fromIce (const data::ProvidedObjectPoseSeq &ice, ProvidedObjectPoseSeq &poses)

objpose::ObjectPosePredictionResult	predictObjectPoseLinear (const std::map< DateTime, ObjectPose > &poses, const DateTime &time, const ObjectPose &latestPose)
	Predict the pose of an object given a history of poses based on a linear regression. More...

void	to_json (simox::json::json &j, const ObjectPose &op)

void	toAron (arondto::ObjectAttachmentInfo &dto, const ObjectAttachmentInfo &bo)

void	toAron (arondto::ObjectPose &dto, const ObjectPose &bo)

void	toAron (arondto::ObjectType &dto, const ObjectType &bo)

void	toAron (arondto::PoseManifoldGaussian &dto, const PoseManifoldGaussian &bo)

void	toIce (Box &box, const simox::OrientedBox< float > &oobb)

void	toIce (BoxPtr &box, const std::optional< simox::OrientedBox< float >> &oobb)

data::ObjectPose	toIce (const ObjectPose &pose)

data::ObjectPoseSeq	toIce (const ObjectPoseSeq &poses)

data::ProvidedObjectPose	toIce (const ProvidedObjectPose &pose)

data::ProvidedObjectPoseSeq	toIce (const ProvidedObjectPoseSeq &poses)

objpose::AABB	toIce (const simox::AxisAlignedBoundingBox &aabb)

Box	toIce (const simox::OrientedBox< float > &oobb)

data::ObjectAttachmentInfoPtr	toIce (const std::optional< ObjectAttachmentInfo > &ice)

data::PoseManifoldGaussianPtr	toIce (const std::optional< PoseManifoldGaussian > &ice)

void	toIce (data::ObjectAttachmentInfo &ice, const ObjectAttachmentInfo &attachment)

void	toIce (data::ObjectAttachmentInfoPtr &ice, const std::optional< ObjectAttachmentInfo > &attachment)

void	toIce (data::ObjectPose &ice, const ObjectPose &pose)

void	toIce (data::ObjectPoseSeq &ice, const ObjectPoseSeq &poses)

void	toIce (data::PoseManifoldGaussian &ice, const PoseManifoldGaussian &cov)

void	toIce (data::PoseManifoldGaussianPtr &ice, const std::optional< PoseManifoldGaussian > &cov)

void	toIce (data::ProvidedObjectPose &ice, const ProvidedObjectPose &pose)

void	toIce (data::ProvidedObjectPoseSeq &ice, const ProvidedObjectPoseSeq &poses)

Variables
const simox::meta::EnumNames< objpose::ObjectType >	ObjectTypeNames

Detailed Description

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/.

Author: Fabian Reister ( fabian dot reister at kit dot edu )

Date: 2022

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Typedef Documentation

◆ ObjectPoseMap

using ObjectPoseMap = std::map<ObjectID, ObjectPose>

Definition at line 21 of file forward_declarations.h.

◆ ObjectPoseSeq

using ObjectPoseSeq = std::vector<ObjectPose>

Definition at line 20 of file forward_declarations.h.

◆ ProvidedObjectPoseMap

using ProvidedObjectPoseMap = std::map<ObjectID, ProvidedObjectPose>

Definition at line 26 of file forward_declarations.h.

◆ ProvidedObjectPoseSeq

using ProvidedObjectPoseSeq = std::vector<ProvidedObjectPose>

Definition at line 25 of file forward_declarations.h.

Function Documentation

◆ asManipulationObject()

VirtualRobot::ManipulationObjectPtr asManipulationObject ( const objpose::ObjectPose & objectPose )

Definition at line 53 of file util.cpp.

Here is the call graph for this function:

◆ asSceneObjects()

VirtualRobot::SceneObjectSetPtr asSceneObjects ( const objpose::ObjectPoseSeq & objectPoses )

Definition at line 70 of file util.cpp.

Here is the call graph for this function:

◆ filterObjects()

objpose::ObjectPoseSeq filterObjects	(	objpose::ObjectPoseSeq	objects,
		const std::vector< std::string > &	datasetBlocklist
	)

Definition at line 37 of file util.cpp.

◆ findObjectPoseByID() [1/4]

const objpose::data::ObjectPose * findObjectPoseByID	(	const data::ObjectPoseSeq &	objectPoses,
		const armarx::data::ObjectID &	id
	)

Definition at line 424 of file ObjectPose.cpp.

◆ findObjectPoseByID() [2/4]

const objpose::ObjectPose * findObjectPoseByID	(	const ObjectPoseSeq &	objectPoses,
		const ObjectID &	id
	)

Definition at line 400 of file ObjectPose.cpp.

◆ findObjectPoseByID() [3/4]

objpose::data::ObjectPose * findObjectPoseByID	(	data::ObjectPoseSeq &	objectPoses,
		const armarx::data::ObjectID &	id
	)

Definition at line 412 of file ObjectPose.cpp.

◆ findObjectPoseByID() [4/4]

objpose::ObjectPose * findObjectPoseByID	(	ObjectPoseSeq &	objectPoses,
		const ObjectID &	id
	)

Find an object pose by the object ID.

Return nullptr if not found.

Parameters

objectPoses	The object poses.
id	The object ID.

Returns: A pointer to the (first) object pose with objectID == id, or nullptr if none is found.

Definition at line 388 of file ObjectPose.cpp.

Here is the caller graph for this function:

◆ from_json()

void from_json	(	const simox::json::json &	j,
		ObjectPose &	op
	)

Definition at line 55 of file json_conversions.cpp.

◆ fromAron() [1/4]

void fromAron	(	const arondto::ObjectAttachmentInfo &	dto,
		ObjectAttachmentInfo &	bo
	)

Definition at line 15 of file objpose.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ fromAron() [2/4]

void fromAron	(	const arondto::ObjectPose &	dto,
		ObjectPose &	bo
	)

Definition at line 79 of file objpose.cpp.

Here is the call graph for this function:

◆ fromAron() [3/4]

void fromAron	(	const arondto::ObjectType &	dto,
		ObjectType &	bo
	)

Definition at line 45 of file objpose.cpp.

◆ fromAron() [4/4]

void fromAron	(	const arondto::PoseManifoldGaussian &	dto,
		PoseManifoldGaussian &	bo
	)

Definition at line 31 of file objpose.cpp.

Here is the call graph for this function:

◆ fromIce() [1/17]

simox::OrientedBoxf fromIce ( const Box & box )

Definition at line 134 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ fromIce() [2/17]

void armarx::objpose::fromIce	(	const Box &	box,
		simox::OrientedBox< float > &	oobb
	)

Here is the caller graph for this function:

◆ fromIce() [3/17]

void fromIce	(	const BoxPtr &	box,
		std::optional< simox::OrientedBox< float >> &	oobb
	)

Definition at line 122 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ fromIce() [4/17]

void fromIce	(	const data::ObjectAttachmentInfo &	ice,
		ObjectAttachmentInfo &	attachment
	)

Definition at line 273 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [5/17]

std::optional< objpose::ObjectAttachmentInfo > fromIce ( const data::ObjectAttachmentInfoPtr & ice )

Definition at line 293 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [6/17]

void fromIce	(	const data::ObjectAttachmentInfoPtr &	ice,
		std::optional< ObjectAttachmentInfo > &	attachment
	)

Definition at line 280 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [7/17]

objpose::ObjectPose fromIce ( const data::ObjectPose & ice )

Definition at line 340 of file ObjectPose.cpp.

◆ fromIce() [8/17]

void fromIce	(	const data::ObjectPose &	ice,
		ObjectPose &	pose
	)

Definition at line 336 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [9/17]

objpose::ObjectPoseSeq fromIce ( const data::ObjectPoseSeq & ice )

Definition at line 354 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [10/17]

void fromIce	(	const data::ObjectPoseSeq &	ice,
		ObjectPoseSeq &	poses
	)

Definition at line 345 of file ObjectPose.cpp.

◆ fromIce() [11/17]

void fromIce	(	const data::PoseManifoldGaussian &	ice,
		PoseManifoldGaussian &	cov
	)

Definition at line 165 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ fromIce() [12/17]

std::optional< objpose::PoseManifoldGaussian > fromIce ( const data::PoseManifoldGaussianPtr & ice )

Definition at line 196 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ fromIce() [13/17]

void fromIce	(	const data::PoseManifoldGaussianPtr &	ice,
		std::optional< PoseManifoldGaussian > &	cov
	)

Definition at line 183 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ fromIce() [14/17]

objpose::ProvidedObjectPose fromIce ( const data::ProvidedObjectPose & ice )

Definition at line 77 of file ProvidedObjectPose.cpp.

◆ fromIce() [15/17]

void fromIce	(	const data::ProvidedObjectPose &	ice,
		ProvidedObjectPose &	pose
	)

Definition at line 73 of file ProvidedObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [16/17]

objpose::ProvidedObjectPoseSeq fromIce ( const data::ProvidedObjectPoseSeq & ice )

Definition at line 92 of file ProvidedObjectPose.cpp.

Here is the call graph for this function:

◆ fromIce() [17/17]

void fromIce	(	const data::ProvidedObjectPoseSeq &	ice,
		ProvidedObjectPoseSeq &	poses
	)

Definition at line 82 of file ProvidedObjectPose.cpp.

◆ predictObjectPoseLinear()

objpose::ObjectPosePredictionResult predictObjectPoseLinear	(	const std::map< DateTime, ObjectPose > &	poses,
		const DateTime &	time,
		const ObjectPose &	latestPose
	)

Predict the pose of an object given a history of poses based on a linear regression.

If poses is empty, latestPose is returned.

Parameters

poses	the history of poses to base the prediction on
time	the timestamp to make the prediction for
latestPose	used for metadata so the result is valid even if poses is empty
settings	the settings to use for the prediction

Returns: the result of the prediction

Definition at line 37 of file predictions.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ to_json()

void to_json	(	simox::json::json &	j,
		const ObjectPose &	op
	)

Definition at line 30 of file json_conversions.cpp.

Here is the call graph for this function:

◆ toAron() [1/4]

void toAron	(	arondto::ObjectAttachmentInfo &	dto,
		const ObjectAttachmentInfo &	bo
	)

Definition at line 22 of file objpose.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ toAron() [2/4]

void toAron	(	arondto::ObjectPose &	dto,
		const ObjectPose &	bo
	)

Definition at line 124 of file objpose.cpp.

Here is the call graph for this function:

◆ toAron() [3/4]

void toAron	(	arondto::ObjectType &	dto,
		const ObjectType &	bo
	)

Definition at line 61 of file objpose.cpp.

◆ toAron() [4/4]

void toAron	(	arondto::PoseManifoldGaussian &	dto,
		const PoseManifoldGaussian &	bo
	)

Definition at line 37 of file objpose.cpp.

Here is the call graph for this function:

◆ toIce() [1/18]

void armarx::objpose::toIce	(	Box &	box,
		const simox::OrientedBox< float > &	oobb
	)

◆ toIce() [2/18]

void toIce	(	BoxPtr &	box,
		const std::optional< simox::OrientedBox< float >> &	oobb
	)

Definition at line 148 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ toIce() [3/18]

objpose::data::ObjectPose toIce ( const ObjectPose & pose )

Definition at line 366 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [4/18]

objpose::data::ObjectPoseSeq toIce ( const ObjectPoseSeq & poses )

Definition at line 380 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [5/18]

objpose::data::ProvidedObjectPose toIce ( const ProvidedObjectPose & pose )

Definition at line 105 of file ProvidedObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [6/18]

objpose::data::ProvidedObjectPoseSeq toIce ( const ProvidedObjectPoseSeq & poses )

Definition at line 121 of file ProvidedObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [7/18]

objpose::AABB toIce ( const simox::AxisAlignedBoundingBox & aabb )

Definition at line 94 of file ice_conversions.cpp.

Here is the caller graph for this function:

◆ toIce() [8/18]

Box armarx::objpose::toIce ( const simox::OrientedBox< float > & oobb )

◆ toIce() [9/18]

objpose::data::ObjectAttachmentInfoPtr toIce ( const std::optional< ObjectAttachmentInfo > & ice )

Definition at line 324 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [10/18]

objpose::data::PoseManifoldGaussianPtr toIce ( const std::optional< PoseManifoldGaussian > & ice )

Definition at line 227 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ toIce() [11/18]

void toIce	(	data::ObjectAttachmentInfo &	ice,
		const ObjectAttachmentInfo &	attachment
	)

Definition at line 304 of file ObjectPose.cpp.

◆ toIce() [12/18]

void toIce	(	data::ObjectAttachmentInfoPtr &	ice,
		const std::optional< ObjectAttachmentInfo > &	attachment
	)

Definition at line 311 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [13/18]

void toIce	(	data::ObjectPose &	ice,
		const ObjectPose &	pose
	)

Definition at line 362 of file ObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [14/18]

void toIce	(	data::ObjectPoseSeq &	ice,
		const ObjectPoseSeq &	poses
	)

Definition at line 371 of file ObjectPose.cpp.

◆ toIce() [15/18]

void toIce	(	data::PoseManifoldGaussian &	ice,
		const PoseManifoldGaussian &	cov
	)

Definition at line 204 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ toIce() [16/18]

void toIce	(	data::PoseManifoldGaussianPtr &	ice,
		const std::optional< PoseManifoldGaussian > &	cov
	)

Definition at line 214 of file ice_conversions.cpp.

Here is the call graph for this function:

◆ toIce() [17/18]

void toIce	(	data::ProvidedObjectPose &	ice,
		const ProvidedObjectPose &	pose
	)

Definition at line 100 of file ProvidedObjectPose.cpp.

Here is the call graph for this function:

◆ toIce() [18/18]

void toIce	(	data::ProvidedObjectPoseSeq &	ice,
		const ProvidedObjectPoseSeq &	poses
	)

Definition at line 111 of file ProvidedObjectPose.cpp.

Variable Documentation

◆ ObjectTypeNames

const simox::meta::EnumNames< objpose::ObjectType > ObjectTypeNames

Initial value:

=
    {
        { objpose::ObjectType::AnyObject, "AnyObject" },
        { objpose::ObjectType::KnownObject, "KnownObject" },
        { objpose::ObjectType::UnknownObject, "UnknownObject" }
    }

Definition at line 87 of file ice_conversions.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ ObjectPoseMap

◆ ObjectPoseSeq

◆ ProvidedObjectPoseMap

◆ ProvidedObjectPoseSeq

Function Documentation

◆ asManipulationObject()

◆ asSceneObjects()

◆ filterObjects()

◆ findObjectPoseByID() [1/4]

◆ findObjectPoseByID() [2/4]

◆ findObjectPoseByID() [3/4]

◆ findObjectPoseByID() [4/4]

◆ from_json()

◆ fromAron() [1/4]

◆ fromAron() [2/4]

◆ fromAron() [3/4]

◆ fromAron() [4/4]

◆ fromIce() [1/17]

◆ fromIce() [2/17]

◆ fromIce() [3/17]

◆ fromIce() [4/17]

◆ fromIce() [5/17]

◆ fromIce() [6/17]

◆ fromIce() [7/17]

◆ fromIce() [8/17]

◆ fromIce() [9/17]

◆ fromIce() [10/17]

◆ fromIce() [11/17]

◆ fromIce() [12/17]

◆ fromIce() [13/17]

◆ fromIce() [14/17]

◆ fromIce() [15/17]

◆ fromIce() [16/17]

◆ fromIce() [17/17]

◆ predictObjectPoseLinear()

◆ to_json()

◆ toAron() [1/4]

◆ toAron() [2/4]

◆ toAron() [3/4]

◆ toAron() [4/4]

◆ toIce() [1/18]

◆ toIce() [2/18]

◆ toIce() [3/18]

◆ toIce() [4/18]

◆ toIce() [5/18]

◆ toIce() [6/18]

◆ toIce() [7/18]

◆ toIce() [8/18]

◆ toIce() [9/18]

◆ toIce() [10/18]

◆ toIce() [11/18]

◆ toIce() [12/18]

◆ toIce() [13/18]

◆ toIce() [14/18]

◆ toIce() [15/18]

◆ toIce() [16/18]

◆ toIce() [17/18]

◆ toIce() [18/18]

Variable Documentation

◆ ObjectTypeNames