Package rst.scene

Not documented

Messages

• SceneObjects
• SceneObject
• SceneObjectQuery

clearer: should be made invisible via css

Message SceneObjects

class rst.scene.SceneObjects

A set of scene objects.

Code author: David Klotz <dklotz@techfak.uni-bielefeld.de>

scene_object

Type :array of rst.scene.SceneObject

The set of scene objects.

Empty collection of scene objects is allowed.

The order of scene objects is not significant.

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message SceneObjects {

    /**
     * The set of scene objects.
     *
     * Empty collection of scene objects is allowed.
     *
     * The order of scene objects is not significant.
     */
    repeated SceneObject scene_object = 1;

}

Message SceneObject

class rst.scene.SceneObject

Description of a planar object in the scene surrounding the robot.

name

Type :ASCII-STRING

A unique object identifier.

kind

Type :ASCII-STRING

The “kind” of the object, e.g.: “chair”, “painting”, etc.

center

Type :rst.geometry.Pose

Geometrical object position and orientation in the world coordinate system.

shape

Type :rst.geometry.Shape3DFloat

Geometric shape of the object.

All transformations are relative to center.

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message SceneObject {

    /**
     * A unique object identifier.
     */
    required string name = 1;

    /**
     * The "kind" of the object, e.g.: "chair", "painting", etc.
     */
    optional string kind = 2;

    /**
     * Geometrical object position and orientation in the world
     * coordinate system.
     */
    required geometry.Pose center = 3;

    /**
     * Geometric shape of the object.
     *
     * All transformations are relative to @ref .center.
     */
    optional geometry.Shape3DFloat shape = 4;

}

Message SceneObjectQuery

class rst.scene.SceneObjectQuery

Query specification for selecting scene object by name and/or kind.

Code author: David Klotz <dklotz@techfak.uni-bielefeld.de>

name_filter

Type :ASCII-STRING

Regular expression selecting only objects with matching names.

kind_filter

Type :ASCII-STRING

Regular expression selecting only objects with matching kinds.

Hint: to match multiple object kinds in a query, use the regular expression construct:

(KIND1|KIND2|...)

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message SceneObjectQuery {

    /**
     * Regular expression selecting only objects with matching names.
     */
    optional string name_filter = 1 [default = ".*"];

    /**
     * Regular expression selecting only objects with matching kinds.
     *
     * Hint: to match multiple object kinds in a query, use the
     * regular expression construct:
     *
     *   (KIND1|KIND2|...)
     */
    optional string kind_filter = 2 [default = ".*"];

}