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

Base classes

template<class T, ManagedObjectAccess Access>
class AbstractAttributesManager<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.
void finalizeAttrPathsBeforeRegister(const attributes::ArticulatedObjectAttributes::ptr& attributes) const override
This function will be called to finalize attributes' paths before registration, moving fully qualified paths to the appropriate hidden attribute fields. This can also be called without registration to make sure the paths specified in an attributes are properly configured.

Protected functions

auto parseMarkerSets(const attributes::ArticulatedObjectAttributes::ptr& attribs, const io::JsonGenericValue& jsonConfig) const -> bool
Parse Marker_sets object in json, if present.
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 AbstractAttributesManager-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 preRegisterObjectFinalize(attributes::ArticulatedObjectAttributes::ptr AOAttributesTemplate, const std::string& AOAttributesHandle, bool) -> core::managedContainers::ManagedObjectPreregistration override
This method will perform any essential updating to the managed object before registration is performed. If this updating fails, registration will also fail.
void postRegisterObjectHandling(int objectID, const std::string& objectHandle) override
Not required for this manager.
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

void esp::metadata::managers::AOAttributesManager::finalizeAttrPathsBeforeRegister(const attributes::ArticulatedObjectAttributes::ptr& attributes) const override

This function will be called to finalize attributes' paths before registration, moving fully qualified paths to the appropriate hidden attribute fields. This can also be called without registration to make sure the paths specified in an attributes are properly configured.

Parameters
attributes The attributes to be filtered.

bool esp::metadata::managers::AOAttributesManager::parseMarkerSets(const attributes::ArticulatedObjectAttributes::ptr& attribs, const io::JsonGenericValue& jsonConfig) const protected

Parse Marker_sets object in json, if present.

Parameters
attribs (out) an existing attributes to be modified.
jsonConfig json document to parse
Returns true if tag is found, of appropriate configuration, and holds actual values.

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 AbstractAttributesManager-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.

core::managedContainers::ManagedObjectPreregistration esp::metadata::managers::AOAttributesManager::preRegisterObjectFinalize(attributes::ArticulatedObjectAttributes::ptr AOAttributesTemplate, const std::string& AOAttributesHandle, bool) override protected

This method will perform any essential updating to the managed object before registration is performed. If this updating fails, registration will also fail.

Parameters
AOAttributesTemplate The attributes template.
AOAttributesHandle The key for referencing the template in the objectLibrary_.
Returns Whether the preregistration has succeeded and what handle to use to register the object if it has.

void esp::metadata::managers::AOAttributesManager::postRegisterObjectHandling(int objectID, const std::string& objectHandle) override protected

Not required for this manager.

Parameters
objectID the ID of the successfully registered managed object
objectHandle The name of the managed object

This method will perform any final manager-related handling after successfully registering an object.

See esp::attributes::managers::ObjectAttributesManager for an example.