aikido::perception::DetectedObject Class Reference

DetectedObject delegates a detected object from a third-party perception algorithm. More...

#include <aikido/perception/DetectedObject.hpp>

Public Member Functions
	DetectedObject ()=default
	Default constructor. More...
	DetectedObject (const std::string &objectName, const int &objectId, const std::string &detectionFrameID, const std::string &yamlStr)
	Constructs a DetectedObject. More...
virtual	~DetectedObject ()=default
std::string	getUid () const
	Get the unique id of the object. More...
std::string	getAssetKey () const
	Get the object key for AssetDatabase. More...
std::string	getDetectionFrameID () const
	Get the detection frame id that refers the origin of this object's pose. More...
std::string	getName () const
	Get the name of this object. More...
YAML::Node	getYamlNode ()
	Get the map of keys to additional informations. More...
dart::dynamics::MetaSkeletonPtr	getMetaSkeleton () const
	Get the metaSkeleton associated with this object. More...
void	setMetaSkeleton (const dart::dynamics::MetaSkeletonPtr &metaSkeleton)
	Set Metaskeleton. More...
template<typename T >
T	getInfoByKey (const std::string &key) const
	Get a specific value from the information map by a key and the typename of the field. More...

Private Attributes
std::string	mObjectName
	The name of the object. More...
std::string	mUid
	The unique id of the object. More...
std::string	mAssetKey
	The object key for AssetDatabase. More...
std::string	mDetectionFrameID
	The detection frame id that refers the origin of this object's pose. More...
YAML::Node	mYamlNode
	The information map with additional information of this object. More...
dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton associated with this object. More...

Detailed Description

DetectedObject delegates a detected object from a third-party perception algorithm.

A perception algorithm should send information for an object via ROS visualization_msgs/Marker message like the following: Marker.ns + "_" + Marker.id -> uid (identity in planner::World) Marker.ns -> object name (e.g. "cantaloupe") Marker.header.frame_id -> detectionFrameID Marker.text -> yamlStr yamlStr contains any additional information in YAML format. It must contain the Asset Database Key using "db_key". (

See also

AssetDatabase for details) Here is an example:

{
  "db_key": "food_item",
  "score": 0.9,
  "success_rates": [0.4, 0.9, 0.1, 0.2],
  "strategies": ["vertical_0", "vertical_90", "tilted_0", "tilted_90"],
}

ObjectName may be different from AssetDatabase key, which may be a higher-level description of the object. For example, objectName can be "cantaloupe" while AssetDatabase key is "food_item".

Constructor & Destructor Documentation

DetectedObject() [1/2]

aikido::perception::DetectedObject::DetectedObject ( )

default

Default constructor.

DetectedObject() [2/2]

aikido::perception::DetectedObject::DetectedObject	(	const std::string &	objectName,
		const int &	objectId,
		const std::string &	detectionFrameID,
		const std::string &	yamlStr
	)

Constructs a DetectedObject.

Object's Uid is created as objectName_objectID

Parameters

[in]	objectName	Name of the object.
[in]	objectId	Unique ID for object in Aikido world.
[in]	detectionFrameID	Frame ID from ROS Marker
[in]	yamlStr	YAML string which specifies AssetDatabase with {"db_key": key} and additional parameters.

~DetectedObject()

virtual aikido::perception::DetectedObject::~DetectedObject ( )

virtualdefault

Member Function Documentation

getAssetKey()

std::string aikido::perception::DetectedObject::getAssetKey

(

)

const

Get the object key for AssetDatabase.

getDetectionFrameID()

std::string aikido::perception::DetectedObject::getDetectionFrameID

(

)

const

Get the detection frame id that refers the origin of this object's pose.

getInfoByKey()

template<typename T >

T aikido::perception::DetectedObject::getInfoByKey

(

const std::string &

key

)

const

Get a specific value from the information map by a key and the typename of the field.

Parameters

[in]

key

The key (string) of a field in the information map Sequence types (e.g. [1, 2]) can be read into standard containers (e.g. std::vector<double>) Map types are not supported with this function. Please get the manually with getYamlNode().

getMetaSkeleton()

dart::dynamics::MetaSkeletonPtr aikido::perception::DetectedObject::getMetaSkeleton

(

)

const

Get the metaSkeleton associated with this object.

getName()

std::string aikido::perception::DetectedObject::getName

(

)

const

Get the name of this object.

getUid()

std::string aikido::perception::DetectedObject::getUid

(

)

const

Get the unique id of the object.

getYamlNode()

YAML::Node aikido::perception::DetectedObject::getYamlNode

(

)

Get the map of keys to additional informations.

setMetaSkeleton()

void aikido::perception::DetectedObject::setMetaSkeleton

(

const dart::dynamics::MetaSkeletonPtr &

metaSkeleton

)

Set Metaskeleton.

Member Data Documentation

mAssetKey

std::string aikido::perception::DetectedObject::mAssetKey

private

The object key for AssetDatabase.

mDetectionFrameID

std::string aikido::perception::DetectedObject::mDetectionFrameID

private

The detection frame id that refers the origin of this object's pose.

mMetaSkeleton

dart::dynamics::MetaSkeletonPtr aikido::perception::DetectedObject::mMetaSkeleton

private

MetaSkeleton associated with this object.

mObjectName

std::string aikido::perception::DetectedObject::mObjectName

private

The name of the object.

mUid

std::string aikido::perception::DetectedObject::mUid

private

The unique id of the object.

mYamlNode

YAML::Node aikido::perception::DetectedObject::mYamlNode

private

The information map with additional information of this object.