ObjectPoseClientExample.h

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/*
 * 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/>.
 *
 * @package    RobotAPI::ArmarXObjects::ObjectPoseClientExample
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
// Include the ClientPlugin
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
 
namespace armarx
{
 
    /**
     * @defgroup Component-ObjectPoseClientExample ObjectPoseClientExample
     * @ingroup RobotAPI-Components
     *
     * An example showing how to get object poses from the ObjectPoseStorage.
     *
     * @class ObjectPoseClientExample
     * @ingroup Component-ObjectPoseClientExample
     * @brief Brief description of class ObjectPoseClientExample.
     *
     * Gets and visualizes object poses from the ObjectPoseStorage.
     */
    class ObjectPoseClientExample :
        virtual public armarx::Component,
        virtual public armarx::DebugObserverComponentPluginUser,
        virtual public armarx::ArVizComponentPluginUser
        // Derive from the client plugin.
        ,
        virtual public armarx::ObjectPoseClientPluginUser
 
    {
    public:
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
 
    private:
        void objectProcessingTaskRun();
 
        viz::Layer visualizePredictions(const objpose::ObjectPoseClient& client,
                                        const objpose::ObjectPoseSeq& objectPoses);
 
 
    private:
        armarx::SimpleRunningTask<>::pointer_type objectProcessingTask;
 
        struct Properties
        {
            int predictionsPerObject = 5; // NOLINT
            int millisecondPredictionIncrement = 200; // NOLINT
        };
 
        Properties p;
    };
} // namespace armarx