utils.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::armem_objects
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "utils.h"
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem_objects/memory_ids.h>
 
 
namespace armarx::armem
{
 
    MemoryID
    objects::reconstructObjectInstanceID(const objpose::ObjectPose& objectPose)
    {
        armem::MemoryID id =
            armem::objects::instaceSegmentID.withProviderSegmentName(objectPose.providerName)
                .withEntityName(objectPose.objectID.str())
                .withTimestamp(objectPose.timestamp)
                .withInstanceIndex(0);
        return id;
    }
 
 
} // namespace armarx::armem