esp::metadata::managers::AOAttributesManager class
#include <esp/metadata/managers/AOAttributesManager.h>

Base classes

template<class T, ManagedObjectAccess Access> class AttributesManager<attributes::ArticulatedObjectAttributes, ManagedObjectAccess::Copy>: Class template defining responsibilities and functionality for managing esp::metadata::attributes::AbstractAttributes constructs.

Constructors, destructors, conversion operators

AOAttributesManager()

Public functions

auto createObject(const std::string& aoConfigFilename, bool registerTemplate = true) -> attributes::ArticulatedObjectAttributes::ptr override: Creates an instance of an articulated object template described by the passed string. For esp::metadata::attributes::ArticulatedObjectAttributes templates, this is a config file name. Parses global and Habitat-specific articulated object parameters (such as render asset and semantic id) from the specified configuration file.
void setValsFromJSONDoc(attributes::ArticulatedObjectAttributes::ptr attribs, const io::JsonGenericValue& jsonConfig) override: Method to take an existing attributes and set its values from passed json config file.
auto getArticulatedObjectModelFilenames() const -> std::map<std::string, std::string>: This is to be deprecated. Provide a map of the articulated object model filenames (.urdf) that have been referenced in the Scene Dataset via paths, either .urdf or .json. To be removed in favor of directly accessing these values through the AOAttributesMaanager.

Protected functions

auto initNewObjectInternal(const std::string& handleName, bool builtFromConfig) -> attributes::ArticulatedObjectAttributes::ptr override: Used Internally. Create and configure newly-created attributes with any default values, before any specific values are set.
void deleteObjectInternalFinalize(int templateID, const std::string& templateHandle) override: This method will perform any necessary updating that is attributesManager-specific upon template removal, such as removing a specific template handle from the list of file-based template handles in ObjectAttributesManager. This should only be called esp::core::ManagedContainerBase.
auto registerObjectFinalize(attributes::ArticulatedObjectAttributes::ptr AOAttributesTemplate, const std::string& AOAttributesHandle, bool) -> int override: Add a copy of the esp::metadata::attributes::ArticulatedObjectAttributes shared_ptr object to the objectLibrary_.
void resetFinalize() override: Any articulated-object-attributes-specific resetting that needs to happen on reset.

Function documentation

attributes::ArticulatedObjectAttributes::ptr esp::metadata::managers::AOAttributesManager::createObject(const std::string& aoConfigFilename, bool registerTemplate = true) override

Creates an instance of an articulated object template described by the passed string. For esp::metadata::attributes::ArticulatedObjectAttributes templates, this is a config file name. Parses global and Habitat-specific articulated object parameters (such as render asset and semantic id) from the specified configuration file.

Parameters
aoConfigFilename	The configuration file to parse.
registerTemplate	whether to add this template to the library. If the user is going to edit this template, this should be false - any subsequent editing will require re-registration. Defaults to true. If specified as true, then this function returns a copy of the registered template.
Returns	a reference to the articulated object attributes parsed from the specified configuration file.

If a template exists with this handle, this existing template will be overwritten with the newly created one if registerTemplate is true.

void esp::metadata::managers::AOAttributesManager::setValsFromJSONDoc(attributes::ArticulatedObjectAttributes::ptr attribs, const io::JsonGenericValue& jsonConfig) override

Method to take an existing attributes and set its values from passed json config file.

Parameters
attribs	(out) an existing attributes to be modified.
jsonConfig	json document to parse

attributes::ArticulatedObjectAttributes::ptr esp::metadata::managers::AOAttributesManager::initNewObjectInternal(const std::string& handleName, bool builtFromConfig) override protected

Used Internally. Create and configure newly-created attributes with any default values, before any specific values are set.

Parameters
handleName	handle name to be assigned to attributes
builtFromConfig	Whether this ArticulatedObjectAttributes is being built from a config file (i.e. handleName is the name of a configuration file) or from some other source (such as a default being built for an existing URDF that otherwise had no specified JSON config).
Returns	Newly created but unregistered ArticulatedObjectAttributes pointer, with only default values set.

void esp::metadata::managers::AOAttributesManager::deleteObjectInternalFinalize(int templateID, const std::string& templateHandle) override protected

This method will perform any necessary updating that is attributesManager-specific upon template removal, such as removing a specific template handle from the list of file-based template handles in ObjectAttributesManager. This should only be called esp::core::ManagedContainerBase.

Parameters
templateID	the ID of the template to remove
templateHandle	the string key of the attributes desired.

int esp::metadata::managers::AOAttributesManager::registerObjectFinalize(attributes::ArticulatedObjectAttributes::ptr AOAttributesTemplate, const std::string& AOAttributesHandle, bool) override protected

Add a copy of the esp::metadata::attributes::ArticulatedObjectAttributes shared_ptr object to the objectLibrary_.

Parameters
AOAttributesTemplate	The attributes template.
AOAttributesHandle	The key for referencing the template in the objectLibrary_.
Returns	The index in the objectLibrary_ of object template.

esp::metadata::managers::AOAttributesManager class #include <esp/metadata/managers/AOAttributesManager.h>