ProvidedObjectPose Class Reference

An object pose provided by an ObjectPoseProvider. More...

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

Public Member Functions
void	fromIce (const data::ProvidedObjectPose &ice)
	ProvidedObjectPose ()
	ProvidedObjectPose (const data::ProvidedObjectPose &ice)
data::ProvidedObjectPose	toIce () const
void	toIce (data::ProvidedObjectPose &ice) const

Public Attributes
float	confidence = 0
	Confidence in [0, 1] (1 = full, 0 = none).
bool	isStatic = false
	Whether object is static. Static objects don't decay.
std::optional< simox::OrientedBoxf >	localOOBB
	Object bounding box in object's local coordinate frame.
armarx::ObjectID	objectID
	The object ID, i.e. dataset, class name and instance name.
std::map< std::string, float >	objectJointValues
	The object's joint values if it is articulated.
Eigen::Matrix4f	objectPose = Eigen::Matrix4f::Identity()
std::string	objectPoseFrame
std::optional< PoseManifoldGaussian >	objectPoseGaussian
ObjectType	objectType = AnyObject
	Known or unknown object.
std::string	providerName
	Name of the providing component.
DateTime	timestamp = DateTime::Invalid()
	Source timestamp.

Detailed Description

An object pose provided by an ObjectPoseProvider.

Constructor & Destructor Documentation

ProvidedObjectPose() [1/2]

ProvidedObjectPose

(

)

ProvidedObjectPose() [2/2]

ProvidedObjectPose

(

const data::ProvidedObjectPose &

ice

)

Member Function Documentation

fromIce()

void fromIce

(

const data::ProvidedObjectPose &

ice

)

toIce() [1/2]

data::ProvidedObjectPose toIce

(

)

const

toIce() [2/2]

void toIce

(

data::ProvidedObjectPose &

ice

)

const

Member Data Documentation

confidence

float confidence = 0

Confidence in [0, 1] (1 = full, 0 = none).

isStatic

bool isStatic = false

Whether object is static. Static objects don't decay.

localOOBB

std::optional<simox::OrientedBoxf> localOOBB

Object bounding box in object's local coordinate frame.

See also

oobbRobot(), oobbGlobal()

objectID

armarx::ObjectID objectID

The object ID, i.e. dataset, class name and instance name.

objectJointValues

std::map<std::string, float> objectJointValues

The object's joint values if it is articulated.

objectPose

Eigen::Matrix4f objectPose = Eigen::Matrix4f::Identity()

objectPoseFrame

std::string objectPoseFrame

objectPoseGaussian

std::optional<PoseManifoldGaussian> objectPoseGaussian

objectType

ObjectType objectType = AnyObject

Known or unknown object.

providerName

std::string providerName

Name of the providing component.

timestamp

DateTime timestamp = DateTime::Invalid()

Source timestamp.

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

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