Segment.h

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#pragma once
 
// STD/STL
#include <mutex>
#include <string>
 
// BaseClass
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
 
// ArmarX
#include <RobotAPI/libraries/aron/common/aron/trajectory.aron.generated.h>
 
namespace armarx::armem::server::motions::mps::segment
{
    class MPSegment : public armem::server::segment::SpecializedProviderSegment
    {
        using Base = armem::server::segment::SpecializedProviderSegment;
 
    public:
        MPSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
        virtual void init() override;
        virtual void onConnect();
 
    private:
        int loadByMotionFinder(const std::string&);
        void loadSingleMotionFinder(const std::string&, const std::string &entityName, bool taskspace);
 
    private:
        struct Properties
        {
            std::string motionsPackage = "PriorKnowledgeData";
            bool loadFromMotionsPackage = true;
        };
        Properties properties;
    };
}