New plug-in for belief state and R2GTrajectory. A R2GTrajectory is co…

…mputed combining a Belief state with the grasp::trajectory associated with a contact query
pacman-project · Jun 21, 2016 · 8568517 · 8568517
1 parent c2f0e6f
commit 8568517
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Showing 21 changed files with 594 additions and 3,094 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -784,9 +784,9 @@ IF (BUILD_SPAM_DATA_R2GTRAJECTORY)
 	#	ADD_LIBRARY(SpamDataR2GTrajectory STATIC ${DATA_R2GTRAJECTORY_HEADERS} ${DATA_R2GTRAJECTORY_SOURCES} ${DATA_R2GTRAJECTORY_FILES})
 	#endif(BUILD_DYNAMIC_LIBS)
 	if (WIN32)
-		TARGET_LINK_LIBRARIES(SpamDataR2GTrajectory SpamHBPlan)
+		TARGET_LINK_LIBRARIES(SpamDataR2GTrajectory SpamHBPlan SpamDataBelief)
 	elseif (UNIX)
-		TARGET_LINK_LIBRARIES(SpamDataR2GTrajectory SpamHBPlan)
+		TARGET_LINK_LIBRARIES(SpamDataR2GTrajectory SpamHBPlan SpamDataBelief)
 	endif()
 
 	SET_PROPERTY(TARGET SpamDataR2GTrajectory PROPERTY RELEASE_POSTFIX ${CMAKE_RELEASE_POSTFIX})

diff --git a/include/Spam/App/PosePlanner/Data.h b/include/Spam/App/PosePlanner/Data.h
@@ -59,8 +59,10 @@ namespace data {
 
 class BeliefState {
 public:
+	virtual const golem::Mat34& getModelFrame() const = 0;
+	virtual const golem::Mat34& getQueryTransform() const = 0;
 	virtual Belief::Desc::Ptr getBeliefDesc() const = 0;
-	virtual void set(const grasp::RBPose::Sample::Seq& poses, const grasp::RBPose::Sample::Seq& hypotheses) = 0;
+	virtual void set(const golem::Mat34 modelFrame, const golem::Mat34 queryTransform, const grasp::RBPose::Sample::Seq& poses, const grasp::RBPose::Sample::Seq& hypotheses) = 0;
 };
 
 //------------------------------------------------------------------------------