An object pose as stored by the ObjectPoseStorage. More...

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

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

void	fromProvidedPose (const data::ProvidedObjectPose &provided, VirtualRobot::RobotPtr robot=nullptr)

objpose::ObjectPose	getAttached (VirtualRobot::RobotPtr agent) const
	Get a copy of `*this` with updated attachment. More...

	ObjectPose ()

	ObjectPose (const data::ObjectPose &ice)

std::optional< simox::OrientedBoxf >	oobbGlobal () const
	Get the OOBB in the global frame (according to `objectPoseGlobal`). More...

std::optional< simox::OrientedBoxf >	oobbRobot () const
	Get the OOBB in the robot frame (according to `objectPoseRobot`). More...

void	setObjectPoseGlobal (const Eigen::Matrix4f &objectPoseGlobal, bool updateObjectPoseRobot=true)

void	setObjectPoseRobot (const Eigen::Matrix4f &objectPoseRobot, bool updateObjectPoseGlobal=true)

data::ObjectPose	toIce () const

void	toIce (data::ObjectPose &ice) const

objpose::ProvidedObjectPose	toProvidedObjectPoseGlobal () const

void	updateAttached (VirtualRobot::RobotPtr agent)
	Update an the object pose and robot state of an attached object pose according to the given agent state (in-place). More...

Public Attributes
std::optional< PackagePath >	articulatedSimoxXmlPath

std::optional< ObjectAttachmentInfo >	attachment
	Attachment information. More...

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

bool	isStatic = false
	Whether object is static. Static objects don't decay. More...

std::optional< simox::OrientedBoxf >	localOOBB
	Object bounding box in object's local coordinate frame. More...

armarx::ObjectID	objectID
	The object ID, i.e. dataset, class name and instance name. More...

std::map< std::string, float >	objectJointValues
	The object's joint values if it is articulated. More...

Eigen::Matrix4f	objectPoseGlobal = Eigen::Matrix4f::Identity()
	The object pose in the global frame. More...

std::optional< PoseManifoldGaussian >	objectPoseGlobalGaussian
	... and with uncertainty. More...

Eigen::Matrix4f	objectPoseOriginal = Eigen::Matrix4f::Identity()
	The object pose in the frame it was originally localized in. More...

std::string	objectPoseOriginalFrame
	The frame the object was originally localized in. More...

std::optional< PoseManifoldGaussian >	objectPoseOriginalGaussian
	... and with uncertainty. More...

Eigen::Matrix4f	objectPoseRobot = Eigen::Matrix4f::Identity()
	The object pose in the robot root frame. More...

std::optional< PoseManifoldGaussian >	objectPoseRobotGaussian
	... and with uncertainty. More...

ObjectType	objectType = AnyObject
	Known or unknown object. More...

std::string	providerName
	Name of the providing component. More...

std::map< std::string, float >	robotConfig
	The robot config when the object was observed. More...

std::string	robotName
	The name of the robot. More...

Eigen::Matrix4f	robotPose = Eigen::Matrix4f::Identity()
	The robot pose when the object was observed. More...

DateTime	timestamp = DateTime::Invalid()
	Source timestamp. More...

Detailed Description

An object pose as stored by the ObjectPoseStorage.

Definition at line 36 of file ObjectPose.h.

Constructor & Destructor Documentation

◆ ObjectPose() [1/2]

ObjectPose ( )

Definition at line 22 of file ObjectPose.cpp.

◆ ObjectPose() [2/2]

ObjectPose ( const data::ObjectPose & ice )

Definition at line 26 of file ObjectPose.cpp.

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Member Function Documentation

◆ fromIce()

void fromIce ( const data::ObjectPose & ice )

Definition at line 31 of file ObjectPose.cpp.

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◆ fromProvidedPose()

void fromProvidedPose	(	const data::ProvidedObjectPose &	provided,
		VirtualRobot::RobotPtr	robot = `nullptr`
	)

Definition at line 102 of file ObjectPose.cpp.

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◆ getAttached()

objpose::ObjectPose getAttached ( VirtualRobot::RobotPtr agent ) const

Get a copy of *this with updated attachment.

See also: updateAttached()

Definition at line 239 of file ObjectPose.cpp.

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◆ oobbGlobal()

std::optional< simox::OrientedBoxf > oobbGlobal ( ) const

Get the OOBB in the global frame (according to objectPoseGlobal).

Definition at line 230 of file ObjectPose.cpp.

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◆ oobbRobot()

std::optional< simox::OrientedBoxf > oobbRobot ( ) const

Get the OOBB in the robot frame (according to objectPoseRobot).

Definition at line 221 of file ObjectPose.cpp.

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◆ setObjectPoseGlobal()

void setObjectPoseGlobal	(	const Eigen::Matrix4f &	objectPoseGlobal,
		bool	updateObjectPoseRobot = `true`
	)

Definition at line 210 of file ObjectPose.cpp.

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◆ setObjectPoseRobot()

void setObjectPoseRobot	(	const Eigen::Matrix4f &	objectPoseRobot,
		bool	updateObjectPoseGlobal = `true`
	)

Definition at line 200 of file ObjectPose.cpp.

◆ toIce() [1/2]

data::ObjectPose toIce ( ) const

Definition at line 63 of file ObjectPose.cpp.

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◆ toIce() [2/2]

void toIce ( data::ObjectPose & ice ) const

Definition at line 70 of file ObjectPose.cpp.

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◆ toProvidedObjectPoseGlobal()

objpose::ProvidedObjectPose toProvidedObjectPoseGlobal ( ) const

Definition at line 176 of file ObjectPose.cpp.

◆ updateAttached()

void updateAttached ( VirtualRobot::RobotPtr agent )

Update an the object pose and robot state of an attached object pose according to the given agent state (in-place).

Parameters

agent The agent/robot.

Definition at line 248 of file ObjectPose.cpp.

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Member Data Documentation

◆ articulatedSimoxXmlPath

std::optional<PackagePath> articulatedSimoxXmlPath

Definition at line 125 of file ObjectPose.h.

◆ attachment

std::optional<ObjectAttachmentInfo> attachment

Attachment information.

Definition at line 95 of file ObjectPose.h.

◆ confidence

float confidence = 0

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

Definition at line 98 of file ObjectPose.h.

◆ isStatic

bool isStatic = false

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

Definition at line 65 of file ObjectPose.h.

◆ localOOBB

std::optional<simox::OrientedBoxf> localOOBB

Object bounding box in object's local coordinate frame.

See also: oobbRobot(), oobbGlobal()

Definition at line 104 of file ObjectPose.h.

◆ objectID

armarx::ObjectID objectID

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

Definition at line 58 of file ObjectPose.h.

◆ objectJointValues

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

The object's joint values if it is articulated.

Definition at line 85 of file ObjectPose.h.

◆ objectPoseGlobal

Eigen::Matrix4f objectPoseGlobal = Eigen::Matrix4f::Identity()

The object pose in the global frame.

Definition at line 73 of file ObjectPose.h.

◆ objectPoseGlobalGaussian

std::optional<PoseManifoldGaussian> objectPoseGlobalGaussian

... and with uncertainty.

Definition at line 75 of file ObjectPose.h.

◆ objectPoseOriginal

Eigen::Matrix4f objectPoseOriginal = Eigen::Matrix4f::Identity()

The object pose in the frame it was originally localized in.

Definition at line 78 of file ObjectPose.h.

◆ objectPoseOriginalFrame

std::string objectPoseOriginalFrame

The frame the object was originally localized in.

Definition at line 80 of file ObjectPose.h.

◆ objectPoseOriginalGaussian

std::optional<PoseManifoldGaussian> objectPoseOriginalGaussian

... and with uncertainty.

Definition at line 82 of file ObjectPose.h.

◆ objectPoseRobot

Eigen::Matrix4f objectPoseRobot = Eigen::Matrix4f::Identity()

The object pose in the robot root frame.

Definition at line 68 of file ObjectPose.h.

◆ objectPoseRobotGaussian

std::optional<PoseManifoldGaussian> objectPoseRobotGaussian

... and with uncertainty.

Definition at line 70 of file ObjectPose.h.

◆ objectType

ObjectType objectType = AnyObject

Known or unknown object.

Definition at line 63 of file ObjectPose.h.

◆ providerName

std::string providerName

Name of the providing component.

Definition at line 61 of file ObjectPose.h.

◆ robotConfig

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

The robot config when the object was observed.

Definition at line 88 of file ObjectPose.h.

◆ robotName

std::string robotName

The name of the robot.

Definition at line 92 of file ObjectPose.h.

◆ robotPose

Eigen::Matrix4f robotPose = Eigen::Matrix4f::Identity()

The robot pose when the object was observed.

Definition at line 90 of file ObjectPose.h.

◆ timestamp

DateTime timestamp = DateTime::Invalid()

Source timestamp.

Definition at line 100 of file ObjectPose.h.

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

RobotAPI/libraries/ArmarXObjects/ObjectPose.h
RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ObjectPose() [1/2]

◆ ObjectPose() [2/2]

Member Function Documentation

◆ fromIce()

◆ fromProvidedPose()

◆ getAttached()

◆ oobbGlobal()

◆ oobbRobot()

◆ setObjectPoseGlobal()

◆ setObjectPoseRobot()

◆ toIce() [1/2]

◆ toIce() [2/2]

◆ toProvidedObjectPoseGlobal()

◆ updateAttached()

Member Data Documentation

◆ articulatedSimoxXmlPath

◆ attachment

◆ confidence

◆ isStatic

◆ localOOBB

◆ objectID

◆ objectJointValues

◆ objectPoseGlobal

◆ objectPoseGlobalGaussian

◆ objectPoseOriginal

◆ objectPoseOriginalFrame

◆ objectPoseOriginalGaussian

◆ objectPoseRobot

◆ objectPoseRobotGaussian

◆ objectType

◆ providerName

◆ robotConfig

◆ robotName

◆ robotPose

◆ timestamp