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.
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.
std::optional< armarx::viz::Object >	makeObject (const ObjectInstancePtr &object)
	Make a armarx::viz::Object from a memoryx::ObjectInstance.
	ObjectInstancesToArViz ()
void	setArViz (armarx::viz::Client arviz)
	Set the ArViz client.
void	updateFloorObject (float height=0)
	Draw a the floor as a simox object.
void	updateFloorPolygon (const Eigen::Vector2f &extents={10000, 10000}, float height=0)
	Draw a the floor as a polygon.
void	updateObjectClassBlackWhitelist (const armarx::BlackWhitelistUpdate &update)
void	updateObjects ()
	Query object instances and update their visualization.
void	updateObjects (const std::vector< ObjectInstancePtr > &objectInstances)
	Update the object instances' visualizations.

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.

Constructor & Destructor Documentation

ObjectInstancesToArViz()

ObjectInstancesToArViz

(

)

Member Function Documentation

attachObjectToRobotNode()

void attachObjectToRobotNode

(

const memoryx::AttachObjectToRobotNodeInput &

attachment

)

detachObjectFromRobotNode()

void detachObjectFromRobotNode

(

const memoryx::DetachObjectFromRobotNodeInput &

detachment

)

getFloorObjectFile()

std::string getFloorObjectFile

(

)

initFromProxies()

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

Set the proxies.

makeFloorObject()

armarx::viz::Object makeFloorObject

(

const std::string &

name = "Floor"

)

makeFloorPolygon()

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

Make a polygon representing the floor.

makeObject()

std::optional< armarx::viz::Object > makeObject

(

const ObjectInstancePtr &

object

)

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

setArViz()

void setArViz

(

armarx::viz::Client

arviz

)

Set the ArViz client.

updateFloorObject()

void updateFloorObject

(

float

height = 0

)

Draw a the floor as a simox object.

See also

makeFloorObject()

updateFloorPolygon()

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

Draw a the floor as a polygon.

See also

makeFloorPolygon()

updateObjectClassBlackWhitelist()

void updateObjectClassBlackWhitelist

(

const armarx::BlackWhitelistUpdate &

update

)

updateObjects() [1/2]

void updateObjects

(

)

Query object instances and update their visualization.

updateObjects() [2/2]

void updateObjects

(

const std::vector< ObjectInstancePtr > &

objectInstances

)

Update the object instances' visualizations.

Member Data Documentation

floorObjectFilename

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

layerNameFloor

std::string layerNameFloor = "Floor"

layerNameObjects

std::string layerNameObjects = "ObjectInstances"

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

• MemoryX/components/WorkingMemoryToArViz/ObjectInstancesToArViz.h
• MemoryX/components/WorkingMemoryToArViz/ObjectInstancesToArViz.cpp