List of all members | Public Member Functions | Public Attributes
ObjectInstancesToArViz Class Reference

This class can be used to visualize object instances from working memory to ArViz. More...

#include <MemoryX/components/WorkingMemoryToArViz/ObjectInstancesToArViz.h>

Public Member Functions

void attachObjectToRobotNode (const memoryx::AttachObjectToRobotNodeInput &attachment)
 
void detachObjectFromRobotNode (const memoryx::DetachObjectFromRobotNodeInput &detachment)
 
std::string getFloorObjectFile ()
 
void initFromProxies (const PriorKnowledgeInterfacePrx &priorKnowledge, const WorkingMemoryInterfacePrx &workingMemory, const armarx::RobotStateComponentInterfacePrx &robotStateComponent, const std::vector< std::string > &datasets)
 Set the proxies. More...
 
armarx::viz::Object makeFloorObject (const std::string &name="Floor")
 
armarx::viz::Polygon makeFloorPolygon (const Eigen::Vector2f &extents={10000, 10000}, float height=0)
 Make a polygon representing the floor. More...
 
std::optional< armarx::viz::Object > makeObject (const ObjectInstancePtr &object)
 Make a armarx::viz::Object from a memoryx::ObjectInstance. More...
 
 ObjectInstancesToArViz ()
 
void setArViz (armarx::viz::Client arviz)
 Set the ArViz client. More...
 
void updateFloorObject (float height=0)
 Draw a the floor as a simox object. More...
 
void updateFloorPolygon (const Eigen::Vector2f &extents={10000, 10000}, float height=0)
 Draw a the floor as a polygon. More...
 
void updateObjectClassBlackWhitelist (const armarx::BlackWhitelistUpdate &update)
 
void updateObjects ()
 Query object instances and update their visualization. More...
 
void updateObjects (const std::vector< ObjectInstancePtr > &objectInstances)
 Update the object instances' visualizations. More...
 

Public Attributes

std::string floorObjectFilename = "images/Floor20x20.xml"
 
std::string layerNameFloor = "Floor"
 
std::string layerNameObjects = "ObjectInstances"
 

Detailed Description

This class can be used to visualize object instances from working memory to ArViz.

Definition at line 28 of file ObjectInstancesToArViz.h.

Constructor & Destructor Documentation

◆ ObjectInstancesToArViz()

ObjectInstancesToArViz ( )

Definition at line 13 of file ObjectInstancesToArViz.cpp.

Member Function Documentation

◆ attachObjectToRobotNode()

void attachObjectToRobotNode ( const memoryx::AttachObjectToRobotNodeInput &  attachment)

Definition at line 179 of file ObjectInstancesToArViz.cpp.

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◆ detachObjectFromRobotNode()

void detachObjectFromRobotNode ( const memoryx::DetachObjectFromRobotNodeInput &  detachment)

Definition at line 186 of file ObjectInstancesToArViz.cpp.

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◆ getFloorObjectFile()

std::string getFloorObjectFile ( )

Definition at line 103 of file ObjectInstancesToArViz.cpp.

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◆ initFromProxies()

void initFromProxies ( const PriorKnowledgeInterfacePrx &  priorKnowledge,
const WorkingMemoryInterfacePrx &  workingMemory,
const armarx::RobotStateComponentInterfacePrx &  robotStateComponent,
const std::vector< std::string > &  datasets 
)

Set the proxies.

Definition at line 24 of file ObjectInstancesToArViz.cpp.

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◆ makeFloorObject()

armarx::viz::Object makeFloorObject ( const std::string &  name = "Floor")

Definition at line 96 of file ObjectInstancesToArViz.cpp.

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◆ makeFloorPolygon()

armarx::viz::Polygon makeFloorPolygon ( const Eigen::Vector2f &  extents = {10000, 10000},
float  height = 0 
)

Make a polygon representing the floor.

Definition at line 87 of file ObjectInstancesToArViz.cpp.

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◆ makeObject()

std::optional< armarx::viz::Object > makeObject ( const ObjectInstancePtr &  object)

Make a armarx::viz::Object from a memoryx::ObjectInstance.

Definition at line 112 of file ObjectInstancesToArViz.cpp.

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◆ setArViz()

void setArViz ( armarx::viz::Client  arviz)

Set the ArViz client.

Definition at line 18 of file ObjectInstancesToArViz.cpp.

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◆ updateFloorObject()

void updateFloorObject ( float  height = 0)

Draw a the floor as a simox object.

See also
makeFloorObject()

Definition at line 52 of file ObjectInstancesToArViz.cpp.

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◆ updateFloorPolygon()

void updateFloorPolygon ( const Eigen::Vector2f &  extents = {10000, 10000},
float  height = 0 
)

Draw a the floor as a polygon.

See also
makeFloorPolygon()

Definition at line 45 of file ObjectInstancesToArViz.cpp.

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◆ updateObjectClassBlackWhitelist()

void updateObjectClassBlackWhitelist ( const armarx::BlackWhitelistUpdate &  update)

Definition at line 170 of file ObjectInstancesToArViz.cpp.

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◆ updateObjects() [1/2]

void updateObjects ( )

Query object instances and update their visualization.

Definition at line 60 of file ObjectInstancesToArViz.cpp.

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◆ updateObjects() [2/2]

void updateObjects ( const std::vector< ObjectInstancePtr > &  objectInstances)

Update the object instances' visualizations.

Definition at line 72 of file ObjectInstancesToArViz.cpp.

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Member Data Documentation

◆ floorObjectFilename

std::string floorObjectFilename = "images/Floor20x20.xml"

Definition at line 77 of file ObjectInstancesToArViz.h.

◆ layerNameFloor

std::string layerNameFloor = "Floor"

Definition at line 74 of file ObjectInstancesToArViz.h.

◆ layerNameObjects

std::string layerNameObjects = "ObjectInstances"

Definition at line 75 of file ObjectInstancesToArViz.h.

The documentation for this class was generated from the following files: