AssetDatabase.hpp

Go to the documentation of this file.

#ifndef AIKIDO_PERCEPTION_ASSET_DATABASE_HPP_
#define AIKIDO_PERCEPTION_ASSET_DATABASE_HPP_
 
#include <stdexcept>
 
#include <dart/common/LocalResourceRetriever.hpp>
#include <dart/dart.hpp>
 
#include "aikido/io/CatkinResourceRetriever.hpp"
#include "aikido/io/yaml.hpp"
 
namespace aikido {
namespace perception {
 
 
 
class AssetDatabase
{
public:
  AssetDatabase(
      const dart::common::ResourceRetrieverPtr& resourceRetriever,
      const dart::common::Uri& configDataURI);
 
  virtual ~AssetDatabase() = default;
 
  void getAssetByKey(
      const std::string& assetKey,
      dart::common::Uri& assetResource,
      Eigen::Isometry3d& assetOffset) const;
 
private:
  YAML::Node mAssetData;
};
 
} // namespace perception
} // namespace aikido
 
#endif // AIKIDO_PERCEPTION_OBJECT_DATABASE_HPP_