ObjectLearningByPushingObserver.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <ArmarXCore/observers/Observer.h>
 
#include <VisionX/interface/components/ObjectLearningByPushing.h>
 
namespace visionx
{
 
    class ObjectLearningByPushingObserver :
        virtual public armarx::Observer,
        virtual public ObjectLearningByPushingListener
    {
    public:
        // framework hooks
        void onInitObserver() override;
        void onConnectObserver() override;
 
        std::string
        getDefaultName() const override
        {
            return "ObjectLearningByPushingObserver";
        }
 
        void reportInitialObjectHypothesesCreated(bool hypothesesCreated,
                                                  const Ice::Current&) override;
        void reportObjectHypothesesValidated(bool hypothesesValidated,
                                             const Ice::Current&) override;
        void resetHypothesesStatus(const Ice::Current&) override;
        void reportObjectHypothesisPosition(const ::armarx::FramedPositionBasePtr& objectPosition,
                                            ::Ice::Float objectExtent,
                                            const ::armarx::Vector3BasePtr& principalAxis1,
                                            const ::armarx::Vector3BasePtr& principalAxis2,
                                            const ::armarx::Vector3BasePtr& principalAxis3,
                                            const ::armarx::Vector3BasePtr& eigenValues,
                                            const Ice::Current&) override;
    };
 
} // namespace visionx