69 lines
No EOL
1.7 KiB
C++
69 lines
No EOL
1.7 KiB
C++
#pragma once
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#include <string>
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#include <geometry_msgs/msg/pose.hpp>
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#include "scene_monitor_interfaces/msg/grasp_pose.hpp"
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// #include "scene_monitor_interfaces/msg/bounding_box.hpp"
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// #include "scene_monitor_interfaces/msg/principal_properties.hpp"
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#include "nlohmann_json/json.hpp"
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namespace component_state_monitor
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{
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using json = nlohmann::json;
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/*
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Description:
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Initialized:
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- state when model is initialized by provided metadata
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Printed:
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- model is ready for manipulation and other operations in sim/real
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Posted:
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- model is posted with another
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*/
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enum ComponentState
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{
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Initialized,
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Printed,
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Posted
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};
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class Component
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{
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public:
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Component();
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Component(const std::string &frame_name);
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ComponentState getCurrentState() const;
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std::string getFrameName() const;
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scene_monitor_interfaces::msg::GraspPose getGraspPose(const std::string &grasp_pose_name) const;
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std::vector<scene_monitor_interfaces::msg::GraspPose> getGraspPoses() const;
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geometry_msgs::msg::Pose getPlacementPose() const;
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void setFrameName(const std::string &frame_name);
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void initializeFromJson(json &input);
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/*
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TODO
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- create methods for get all recently needed component
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from metadata class
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*/
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void updateState(const ComponentState &state);
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private:
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// float _volume;
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std::string _frame_name;
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ComponentState _current_state;
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geometry_msgs::msg::Pose _placement;
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// geometry_msgs::msg::Point _center_of_mass;
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std::map<std::string, scene_monitor_interfaces::msg::GraspPose> _grasp_poses;
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// scene_monitor_interfaces::msg::BoundingBox _bounding_box;
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// scene_monitor_interfaces::msg::PrincipalProperties _principal_properties;
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};
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} |