PoseEstimatorModule.hpp

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#ifndef AIKIDO_PERCEPTION_POSEESTIMATORMODULE_HPP_
#define AIKIDO_PERCEPTION_POSEESTIMATORMODULE_HPP_
 
#include <string>
 
#include <dart/dart.hpp>
#include <tf/transform_listener.h>
 
#include "aikido/io/CatkinResourceRetriever.hpp"
#include "aikido/io/util.hpp"
#include "aikido/io/yaml.hpp"
#include "aikido/perception/AssetDatabase.hpp"
#include "aikido/perception/DetectedObject.hpp"
#include "aikido/perception/PerceptionModule.hpp"
 
namespace aikido {
namespace perception {
 
class PoseEstimatorModule : public PerceptionModule
{
public:
  PoseEstimatorModule(
      ros::NodeHandle nodeHandle,
      const std::string& markerTopic,
      std::shared_ptr<AssetDatabase> assetData,
      std::shared_ptr<aikido::io::CatkinResourceRetriever> resourceRetriever,
      const std::string& referenceFrameId,
      dart::dynamics::Frame* referenceLink);
 
  virtual ~PoseEstimatorModule() = default;
 
  bool detectObjects(
      const aikido::planner::WorldPtr& env,
      ros::Duration timeout = ros::Duration(),
      ros::Time timestamp = ros::Time(0.0),
      std::vector<DetectedObject>* detectedObjects = nullptr) override;
 
private:
  ros::NodeHandle mNodeHandle;
 
  std::string mMarkerTopic;
 
  std::shared_ptr<AssetDatabase> mAssetData;
 
  std::shared_ptr<aikido::io::CatkinResourceRetriever> mResourceRetriever;
 
  std::string mReferenceFrameId;
 
  dart::dynamics::Frame* mReferenceLink;
 
  tf::TransformListener mTfListener;
};
 
} // namespace perception
} // namespace aikido
 
#endif // AIKIDO_PERCEPTION_POSEESTIMATORMODULE_HPP_