ObjectInfo Class Reference

Accessor for the object files. More...

#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>

Public Types
using	path = std::filesystem::path

Public Member Functions
PackageFileLocation	articulatedSdf () const
PackageFileLocation	articulatedSimoxXML () const
PackageFileLocation	articulatedUrdf () const
PackageFileLocation	boundingBoxJson () const
virtual bool	checkPaths () const
	Checks the existence of expected files.
std::string	className () const
std::string	dataset () const
PackageFileLocation	file (const std::string &extension, const std::string &suffix="", bool fixDataPath=false) const
std::optional< PackageFileLocation >	getArticulatedModel () const
	Return the articulated Simox XML, URDF or SDF, if one exists.
std::optional< PackageFileLocation >	getModel () const
	Return the Simox XML, URDF or SDF, if one exists.
ObjectID	id () const
	Return "dataset/name".
std::string	idStr () const
std::optional< simox::AxisAlignedBoundingBox >	loadAABB () const
	Load the AABB (axis-aligned bounding-box) from the bounding box JSON file.
std::optional< simox::OrientedBox< float > >	loadOOBB () const
	Load the OOBB (object-oriented bounding box) from the bounding box JSON file.
std::optional< std::vector< std::string > >	loadRecognizedNames () const
	Load names to use when matched when recognizing an object by name.
std::optional< std::vector< std::string > >	loadSpokenNames () const
	Load names to use when verbalizing an object name.
PackageFileLocation	meshWrl () const
std::string	name () const
PackageFileLocation	namesJson () const
	File containing recognized and spoken names of objects.
	ObjectInfo (const std::string &packageName, const path &absPackageDataDir, const path &relObjectsPath, const ObjectID &id)
	ObjectInfo.
	ObjectInfo (const std::string &packageName, const path &packageDataDir, const path &relObjectsPath, const std::string &dataset, const std::string &className)
std::string	package () const
PackageFileLocation	sdf () const
void	setLogError (bool enabled)
PackageFileLocation	simoxXML () const
PackageFileLocation	urdf () const
PackageFileLocation	wavefrontObj () const
virtual	~ObjectInfo ()=default

Detailed Description

Accessor for the object files.

Member Typedef Documentation

path

using path = std::filesystem::path

Constructor & Destructor Documentation

ObjectInfo() [1/2]

ObjectInfo	(	const std::string &	packageName,
		const path &	absPackageDataDir,
		const path &	relObjectsPath,
		const ObjectID &	id )

ObjectInfo.

Parameters

packageName	The ArmarX package.
absPackageDataDir	Absolute path to the package's data directory.
localObjectsPath	The path where objects are stored in the data directory.
id	The object class ID (with dataset and class name).

ObjectInfo() [2/2]

ObjectInfo	(	const std::string &	packageName,
		const path &	packageDataDir,
		const path &	relObjectsPath,
		const std::string &	dataset,
		const std::string &	className )

~ObjectInfo()

virtual ~ObjectInfo ( )

virtualdefault

Member Function Documentation

articulatedSdf()

PackageFileLocation articulatedSdf

(

)

const

articulatedSimoxXML()

PackageFileLocation articulatedSimoxXML

(

)

const

articulatedUrdf()

PackageFileLocation articulatedUrdf

(

)

const

boundingBoxJson()

PackageFileLocation boundingBoxJson

(

)

const

checkPaths()

bool checkPaths ( ) const

virtual

Checks the existence of expected files.

If a file is does not exist, emits a warning returns false.

Returns

True if all existing files are found, false otherwise.

className()

std::string className

(

)

const

dataset()

std::string dataset

(

)

const

file()

PackageFileLocation file	(	const std::string &	extension,
		const std::string &	suffix = "",
		bool	fixDataPath = false ) const

getArticulatedModel()

std::optional< PackageFileLocation > getArticulatedModel

(

)

const

Return the articulated Simox XML, URDF or SDF, if one exists.

getModel()

std::optional< PackageFileLocation > getModel

(

)

const

Return the Simox XML, URDF or SDF, if one exists.

id()

ObjectID id

(

)

const

Return "dataset/name".

idStr()

std::string idStr

(

)

const

loadAABB()

std::optional< simox::AxisAlignedBoundingBox > loadAABB

(

)

const

Load the AABB (axis-aligned bounding-box) from the bounding box JSON file.

Returns

Return the AABB if successful, std::nullopt if file does not exist.

loadOOBB()

std::optional< simox::OrientedBox< float > > loadOOBB

(

)

const

Load the OOBB (object-oriented bounding box) from the bounding box JSON file.

The OOBB is defined the object's local frame.

Returns

Return the OOBB if successful, std::nullopt if file does not exist.

loadRecognizedNames()

std::optional< std::vector< std::string > > loadRecognizedNames

(

)

const

Load names to use when matched when recognizing an object by name.

See also

namesJson()

loadSpokenNames()

std::optional< std::vector< std::string > > loadSpokenNames

(

)

const

Load names to use when verbalizing an object name.

See also

namesJson()

meshWrl()

PackageFileLocation meshWrl

(

)

const

name()

std::string name ( ) const

inline

namesJson()

PackageFileLocation namesJson

(

)

const

File containing recognized and spoken names of objects.

package()

std::string package

(

)

const

sdf()

PackageFileLocation sdf

(

)

const

setLogError()

void setLogError

(

bool

enabled

)

simoxXML()

PackageFileLocation simoxXML

(

)

const

urdf()

PackageFileLocation urdf

(

)

const

wavefrontObj()

PackageFileLocation wavefrontObj

(

)

const

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

• RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
• RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp