#include <aidk.hpp>

Public Member Functions
	AIDKClient (const std::string ip, float request_timeout)
	Constructor of client. More...

	~AIDKClient ()
	Destructor of client. More...

bool	is_ready () const noexcept
	Check if AI edge is ready. More...

AIStatus	get_current_state () const noexcept
	Get current AI edge state code. More...

bool	detect (const std::string obj_name, const std::string camera_id, const int coordinate_id=1, const std::vector< double > &camera_pose={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}, const std::vector< double > &tcp_pose={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}, const std::vector< double > &tcp_force={0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, const std::string command="CUSTOM", const std::string custom="")
	Detect request. More...

bool	detect_with_image (const std::string obj_name, const std::string camera_id, const int coordinate_id=1, const std::vector< double > &camera_pose={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}, const std::vector< double > &camera_intrinsic={0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, const std::vector< double > &tcp_pose={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}, const std::vector< double > &tcp_force={0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, const std::vector< u_char > &rgb_input=std::vector< u_char >(), const std::vector< u_char > &depth_input=std::vector< u_char >(), const std::string custom="")
	Detect request with image input. More...

bool	detect_v1x (const std::string command, const std::vector< double > &camera_pose={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}, const std::vector< double > &tcp_pose={0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}, const std::vector< double > &tcp_force={0.0, 0.0, 0.0, 0.0, 0.0, 0.0})
	Detect request V1x. More...

uint64_t	get_detected_time () const noexcept
	Get timestamp of detect request. More...

bool	reload_configs (const std::string name) const noexcept
	Reload project config. More...

bool	save_configs () const noexcept
	Save current project config. More...

bool	warmup () const noexcept
	Warmup current project, if configured on NoemaEdge. More...

std::vector< std::string >	all_direct_command () const noexcept
	All direct commands. More...

std::vector< std::string >	get_detected_obj_names () const noexcept
	Function to get all current detect object names. More...

std::vector< int >	get_detected_obj_nums () const noexcept
	Function to get all current detect object nums. More...

int	get_detected_obj_num (const std::string &obj_name) const noexcept
	Function to get detected object number based of object name. More...

bool	parse_result (const std::string &obj_name, const std::string &key, int index, std::vector< Result > &result) noexcept
	Function to parse detection result. More...

std::vector< float >	get_camera_intrinsic () const noexcept
	Function to get camera intrinsic. More...

std::tuple< std::string, std::string, std::vector< std::string > >	get_runtime_info () const noexcept
	Function to get runtime info. More...

std::tuple< std::vector< std::string >, std::vector< std::string > >	list_remote_files (const std::string remote_dir) const noexcept
	List file and dir list under remote directory. More...

std::tuple< uint64_t, uint32_t >	get_file_info (const std::string remote_file_path) const
	Function to get remote file info. More...

bool	send_file (const std::string local_file_path, const std::string remote_file_path) const
	Function to send local file to remote file path. More...

bool	receive_file (const std::string remote_file_path, const std::string local_file_path) const noexcept
	Receive remote file to local file path. More...

void	send_folder (const std::string local_dir, const std::string remote_dir) const
	Copy local folder to remote folder. More...

void	receive_folder (const std::string remote_dir, const std::string local_dir) const noexcept
	Copy remote folder to local folder. More...

bool	remove_path (const std::string remote_file_path) const noexcept
	Remove remote files or folders. More...

bool	make_remote_directory (const std::string remote_dir) const noexcept
	Make directory in remote. More...

std::unordered_map< std::string, value_variant >	get_direct_setting_variables ()
	Get settable variables. More...

Response	set_direct_setting_variables (std::unordered_map< std::string, value_variant > &vars)
	Set variable. More...

Detailed Description

Examples: test_aidk_compute.cpp, test_aidk_compute_image.cpp, and test_aidk_others.cpp.

Constructor & Destructor Documentation

◆ AIDKClient()

flexiv::ai::AIDKClient::AIDKClient	(	const std::string	ip,
		float	request_timeout
	)

Constructor of client.

Parameters

ip	string of AI Noema App ip.
request_timeout	timeout of detect request(unit:second).

◆ ~AIDKClient()

flexiv::ai::AIDKClient::~AIDKClient ( )

Destructor of client.

Member Function Documentation

◆ all_direct_command()

std::vector<std::string> flexiv::ai::AIDKClient::all_direct_command ( ) const

noexcept

All direct commands.

Returns: string vector of all direct commands.

◆ detect()

bool flexiv::ai::AIDKClient::detect	(	const std::string	obj_name,
		const std::string	camera_id,
		const int	coordinate_id = `1`,
		const std::vector< double > &	camera_pose = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	tcp_pose = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	tcp_force = `{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}`,
		const std::string	command = `"CUSTOM"`,
		const std::string	custom = `""`
	)

Detect request.

Parameters

obj_name	object name.
camera_id	camera id to use.
coordinate_id	result coordinate space id, 0 for world space, 1 for camera space.
camera_pose	camera pose, can be list/ndarray, 7D or 4x4.
tcp_pose	optionally used. Robot tcp pose [x, y, z, qw, qx, qy, qz]
tcp_force	optionally used. Robot tcp force & wrench. [x, y, z, wx, wy, wx]
command	command name, should always be "CUSTOM".
custom	custom command.

Returns: success or not of detection request.

◆ detect_v1x()

bool flexiv::ai::AIDKClient::detect_v1x	(	const std::string	command,
		const std::vector< double > &	camera_pose = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	tcp_pose = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	tcp_force = `{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}`
	)

Detect request V1x.

Parameters

command	direct command name.
camera_pose	camera pose, can be list/ndarray, 7D or 4x4.
tcp_pose	optionally used. Robot tcp pose [x, y, z, qw, qx, qy, qz]
tcp_force	optionally used. Robot tcp force & wrench. [x, y, z, wx, wy, wx]

Returns: success or not of detection request.

◆ detect_with_image()

bool flexiv::ai::AIDKClient::detect_with_image	(	const std::string	obj_name,
		const std::string	camera_id,
		const int	coordinate_id = `1`,
		const std::vector< double > &	camera_pose = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	camera_intrinsic = `{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	tcp_pose = `{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0}`,
		const std::vector< double > &	tcp_force = `{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}`,
		const std::vector< u_char > &	rgb_input = `std::vector< u_char >()`,
		const std::vector< u_char > &	depth_input = `std::vector< u_char >()`,
		const std::string	custom = `""`
	)

Detect request with image input.

Parameters

obj_name	object name.
camera_id	camera id to use.
coordinate_id	result coordinate space id, 0 for world space, 1 for camera space.
camera_pose	camera pose, can be list/ndarray, 7D or 4x4.
camera_intrinsic	camera intrinsic, vector of width, height, ppx, ppy, fx, fy.
tcp_pose	optionally used. Robot tcp pose [x, y, z, qw, qx, qy, qz]
tcp_force	optionally used. Robot tcp force & wrench. [x, y, z, wx, wy, wx]
rgb_input	vector of uchar of encoded rgb image.
depth_input	vector of uchar of encoded depth image.
custom	custom command.

Returns: success or not of detection request.

◆ get_camera_intrinsic()

std::vector<float> flexiv::ai::AIDKClient::get_camera_intrinsic ( ) const

noexcept

Function to get camera intrinsic.

Returns: vector of fx,fy,cx,cy,depth_scale.

◆ get_current_state()

AIStatus flexiv::ai::AIDKClient::get_current_state ( ) const

noexcept

Get current AI edge state code.

Returns: AIStatus struct.

◆ get_detected_obj_names()

std::vector<std::string> flexiv::ai::AIDKClient::get_detected_obj_names ( ) const

noexcept

Function to get all current detect object names.

Returns: vector of object names.

◆ get_detected_obj_num()

int flexiv::ai::AIDKClient::get_detected_obj_num ( const std::string & obj_name ) const

noexcept

Function to get detected object number based of object name.

Parameters

obj_name string of object name.

Returns: num.

◆ get_detected_obj_nums()

std::vector<int> flexiv::ai::AIDKClient::get_detected_obj_nums ( ) const

noexcept

Function to get all current detect object nums.

Returns: vector of object nums.

◆ get_detected_time()

uint64_t flexiv::ai::AIDKClient::get_detected_time ( ) const

noexcept

Get timestamp of detect request.

Returns: timestamp in seconds.

◆ get_direct_setting_variables()

std::unordered_map<std::string, value_variant> flexiv::ai::AIDKClient::get_direct_setting_variables ( )

Get settable variables.

Returns: map of variable name and value.

◆ get_file_info()

std::tuple<uint64_t, uint32_t> flexiv::ai::AIDKClient::get_file_info ( const std::string remote_file_path ) const

Function to get remote file info.

Parameters

remote_file_path string of remote file path.

Returns: tuple of file modification time and file size.

◆ get_runtime_info()

std::tuple<std::string, std::string, std::vector<std::string> > flexiv::ai::AIDKClient::get_runtime_info ( ) const

noexcept

Function to get runtime info.

Returns: string of working directory, string of binary path, vector of string of supported paths..

◆ is_ready()

bool flexiv::ai::AIDKClient::is_ready ( ) const

noexcept

Check if AI edge is ready.

Returns: true/false.

◆ list_remote_files()

std::tuple<std::vector<std::string>, std::vector<std::string> > flexiv::ai::AIDKClient::list_remote_files ( const std::string remote_dir ) const

noexcept

List file and dir list under remote directory.

Parameters

remote_dir path string of remote dir.

Returns: tuple of string list of file names and string list of folder names.

◆ make_remote_directory()

bool flexiv::ai::AIDKClient::make_remote_directory ( const std::string remote_dir ) const

noexcept

Make directory in remote.

Parameters

remote_dir path string of remote dir

Returns: bool.

◆ parse_result()

bool flexiv::ai::AIDKClient::parse_result	(	const std::string &	obj_name,
		const std::string &	key,
		int	index,
		std::vector< Result > &	result
	)

noexcept

Function to parse detection result.

Parameters

obj_name	string of object name.
key	string of result key, one of SUPPORTED_KEYS.
index	indexed data or all data, -1 means get all data.
result	vector of struct Result

Returns: true/false.

◆ receive_file()

bool flexiv::ai::AIDKClient::receive_file	(	const std::string	remote_file_path,
		const std::string	local_file_path
	)		const

noexcept

Receive remote file to local file path.

Parameters

remote_file_path	file path string of remote file path.
local_file_path	string of local file path.

Returns: bool.

◆ receive_folder()

void flexiv::ai::AIDKClient::receive_folder	(	const std::string	remote_dir,
		const std::string	local_dir
	)		const

noexcept

Copy remote folder to local folder.

Parameters

local_dir	string of local directory
remote_dir	string of remote directory

◆ reload_configs()

bool flexiv::ai::AIDKClient::reload_configs ( const std::string name ) const

noexcept

Reload project config.

Parameters

name	project name.

Returns: status.

◆ remove_path()

bool flexiv::ai::AIDKClient::remove_path ( const std::string remote_file_path ) const

noexcept

Remove remote files or folders.

Parameters

remote_file_path path string of remote file or directory

Returns: bool.

◆ save_configs()

bool flexiv::ai::AIDKClient::save_configs ( ) const

noexcept

Save current project config.

Returns: status.

◆ send_file()

bool flexiv::ai::AIDKClient::send_file	(	const std::string	local_file_path,
		const std::string	remote_file_path
	)		const

Function to send local file to remote file path.

Parameters

local_file_path	string of local file path.
remote_file_path	string, must be absolute/relative path rather than single file.

Returns: bool.

◆ send_folder()

void flexiv::ai::AIDKClient::send_folder	(	const std::string	local_dir,
		const std::string	remote_dir
	)		const

Copy local folder to remote folder.

Parameters

local_dir	string of local directory.
remote_dir	string of remote directory.

◆ set_direct_setting_variables()

Response flexiv::ai::AIDKClient::set_direct_setting_variables ( std::unordered_map< std::string, value_variant > & vars )

Set variable.

Parameters

vars	map of variable name and value

Returns: struct of error code and message.

◆ warmup()

bool flexiv::ai::AIDKClient::warmup ( ) const

noexcept

Warmup current project, if configured on NoemaEdge.

Returns: status.

The documentation for this class was generated from the following file:

include/flexiv/ai/aidk.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AIDKClient()

◆ ~AIDKClient()

Member Function Documentation

◆ all_direct_command()

◆ detect()

◆ detect_v1x()

◆ detect_with_image()

◆ get_camera_intrinsic()

◆ get_current_state()

◆ get_detected_obj_names()

◆ get_detected_obj_num()

◆ get_detected_obj_nums()

◆ get_detected_time()

◆ get_direct_setting_variables()

◆ get_file_info()

◆ get_runtime_info()

◆ is_ready()

◆ list_remote_files()

◆ make_remote_directory()

◆ parse_result()

◆ receive_file()

◆ receive_folder()

◆ reload_configs()

◆ remove_path()

◆ save_configs()

◆ send_file()

◆ send_folder()

◆ set_direct_setting_variables()

◆ warmup()