An entity over a period of time. More...

#include <RobotAPI/libraries/armem/core/base/EntityBase.h>

Inheritance diagram for EntityBase< _EntitySnapshotT, _Derived >:

Classes
struct	UpdateResult

Public Types
using	ChildT = EntitySnapshotT

using	EntityInstanceT = typename EntitySnapshotT::EntityInstanceT

using	EntitySnapshotT = _EntitySnapshotT

Public Types inherited from MemoryContainerBase< std::map< Time, _EntitySnapshotT >, _Derived >
using	ContainerT = std::map< Time, _EntitySnapshotT >

using	DerivedT = _Derived

Public Member Functions
EntitySnapshotT &	addSnapshot (const EntitySnapshotT &snapshot)
	Copy and insert a snapshot. More...

EntitySnapshotT &	addSnapshot (const Time &timestamp)
	Add a snapshot at the given time. More...

template<class... Args>
EntitySnapshotT &	addSnapshot (const Time &timestamp, Args... args)
	Insert a snapshot in-place. More...

EntitySnapshotT &	addSnapshot (EntitySnapshotT &&snapshot)
	Move and insert a snapshot. More...

template<class OtherDerivedT >
void	append (const OtherDerivedT &other)

	EntityBase ()

	EntityBase (const EntityBase &other)=default

	EntityBase (const MemoryID &id)

	EntityBase (const std::string &name, const MemoryID &parentID={})

	EntityBase (EntityBase &&other)=default

bool	equalsDeep (const DerivedT &other) const

EntitySnapshotT *	findFirstSnapshot ()
	Return the snapshot with the least recent timestamp. More...

const EntitySnapshotT *	findFirstSnapshot () const

const EntitySnapshotT *	findFirstSnapshotAfter (const Time &time) const
	Return first snapshot after time. More...

const EntitySnapshotT *	findFirstSnapshotAfterOrAt (const Time &time) const
	Return first snapshot after or at time. More...

auto *	findLatestInstance (int instanceIndex=0)

const auto *	findLatestInstance (int instanceIndex=0) const

EntitySnapshotT *	findLatestSnapshot ()
	Return the snapshot with the most recent timestamp. More...

const EntitySnapshotT *	findLatestSnapshot () const

const EntitySnapshotT *	findLatestSnapshotBefore (const Time &time) const
	Return the lastest snapshot before time. More...

const EntitySnapshotT *	findLatestSnapshotBeforeOrAt (const Time &time) const
	Return the latest snapshot before or at time. More...

EntitySnapshotT *	findSnapshot (const MemoryID &snapshotID)

const EntitySnapshotT *	findSnapshot (const MemoryID &snapshotID) const

EntitySnapshotT *	findSnapshot (const Time &timestamp)

const EntitySnapshotT *	findSnapshot (const Time &timestamp) const

template<class InstanceFunctionT >
bool	forEachInstanceIn (const MemoryID &id, InstanceFunctionT &&func)

template<class InstanceFunctionT >
bool	forEachInstanceIn (const MemoryID &id, InstanceFunctionT &&func) const

template<class SnapshotFunctionT >
bool	forEachSnapshot (SnapshotFunctionT &&func)

template<class SnapshotFunctionT >
bool	forEachSnapshot (SnapshotFunctionT &&func) const

template<class FunctionT >
void	forEachSnapshotBefore (const Time &time, FunctionT &&func) const
	Return all snapshots before (excluding) time. More...

template<class FunctionT >
void	forEachSnapshotBeforeOrAt (const Time &time, FunctionT &&func) const
	Return all snapshots before or at time. More...

template<class SnapshotFunctionT >
bool	forEachSnapshotIn (const MemoryID &id, SnapshotFunctionT &&func)

template<class SnapshotFunctionT >
bool	forEachSnapshotIn (const MemoryID &id, SnapshotFunctionT &&func) const

template<class FunctionT >
void	forEachSnapshotInIndexRange (long first, long last, FunctionT &&func) const
	Return all snapshots from first to last index. More...

template<class FunctionT >
void	forEachSnapshotInTimeRange (const Time &min, const Time &max, FunctionT &&func) const
	Return all snapshots between, including, min and max. More...

EntitySnapshotT &	getFirstSnapshot ()
	Return the snapshot with the least recent timestamp. More...

const EntitySnapshotT &	getFirstSnapshot () const

Time	getFirstTimestamp () const
	Get the oldest timestamp. More...

std::string	getKeyString () const

Time	getLatestTimestamp () const
	Get the latest timestamp. More...

EntitySnapshotT &	getSnapshot (const MemoryID &snapshotID)

const EntitySnapshotT &	getSnapshot (const MemoryID &snapshotID) const

EntitySnapshotT &	getSnapshot (const Time &time)
	Get a snapshot. More...

const EntitySnapshotT &	getSnapshot (const Time &time) const

std::vector< Time >	getTimestamps () const
	Get all timestamps in the history. More...

bool	hasSnapshot (const MemoryID &snapshotID) const
	Indicate whether a snapshot with the given ID exists. More...

bool	hasSnapshot (const Time &time) const
	Indicate whether a snapshot at the given time exists. More...

bool	hasSnapshots () const
	Indicate whether the entity has any snapshots. More...

std::string &	name ()

const std::string &	name () const

EntityBase &	operator= (const EntityBase &other)=default

EntityBase &	operator= (EntityBase &&other)=default

UpdateResult	update (const EntityUpdate &update)
	Add the given update to this entity's history. More...

Public Member Functions inherited from MemoryContainerBase< std::map< Time, _EntitySnapshotT >, _Derived >
ContainerT::iterator	begin ()

ContainerT::const_iterator	begin () const

void	clear ()

bool	empty () const

ContainerT::iterator	end ()

ContainerT::const_iterator	end () const

bool	forEachChild (ChildFunctionT &&func)

bool	forEachChild (ChildFunctionT &&func) const

	MemoryContainerBase ()

	MemoryContainerBase (const MemoryContainerBase &other)=default

	MemoryContainerBase (const MemoryID &id)

	MemoryContainerBase (MemoryContainerBase &&other)=default

MemoryContainerBase &	operator= (const MemoryContainerBase &other)=default

MemoryContainerBase &	operator= (MemoryContainerBase &&other)=default

std::size_t	size () const

Public Member Functions inherited from MemoryItem
MemoryID &	id ()

const MemoryID &	id () const

	MemoryItem ()

	MemoryItem (const MemoryID &id)

	MemoryItem (const MemoryItem &other)=default

	MemoryItem (MemoryItem &&other)=default

MemoryItem &	operator= (const MemoryItem &other)=default

MemoryItem &	operator= (MemoryItem &&other)=default

Public Member Functions inherited from ForEachEntityInstanceMixin< _Derived >
bool	forEachInstance (InstanceFunctionT &&func)

bool	forEachInstance (InstanceFunctionT &&func) const

bool	forEachInstanceAs (AronDtoFunctionT &&func) const
	Call `func` on the data of each instance converted to Aron DTO class. More...

bool	forEachInstanceWithDataAs (EntityInstanceBaseAronDtoFunctionT &&func) const
	Call `func` on each instance with its data converted to Aron DTO class. More...

Public Member Functions inherited from GetFindInstanceMixin< _Derived >
auto *	findInstance (const MemoryID &instanceID)
	Find an entity instance. More...

const auto *	findInstance (const MemoryID &instanceID) const

auto &	getInstance (const MemoryID &instanceID)
	Retrieve an entity instance. More...

const auto &	getInstance (const MemoryID &instanceID) const

bool	hasInstance (const MemoryID &instanceID) const
	Indicate whether this container has an instance with the given ID. More...

bool	hasInstances () const
	Indicate whether this container contains at least one entity instance. More...

Public Member Functions inherited from GetLatestInstanceMixin< _Derived >
auto &	getLatestInstance (int instanceIndex=0)
	Retrieve the latest entity instance. More...

const auto &	getLatestInstance (int instanceIndex=0) const

Public Member Functions inherited from GetLatestSnapshotMixin< _Derived >
auto &	getLatestSnapshot (int snapshotIndex=0)
	Retrieve the latest entity snapshot. More...

const auto &	getLatestSnapshot (int snapshotIndex=0) const

Static Public Member Functions
static std::string	getLevelName ()

Additional Inherited Members
Protected Member Functions inherited from MemoryContainerBase< std::map< Time, _EntitySnapshotT >, _Derived >
ChildT &	_addChild (const KeyT &key, ChildArgs... childArgs)

void	_checkContainerName (const std::string &gottenName, const std::string &actualName, bool emptyOk=true) const

DerivedT &	_derived ()

const DerivedT &	_derived () const

ContainerT &	container ()

const ContainerT &	container () const

Protected Member Functions inherited from MemoryItem
	~MemoryItem ()

Protected Attributes inherited from MemoryContainerBase< std::map< Time, _EntitySnapshotT >, _Derived >
ContainerT	_container

Protected Attributes inherited from MemoryItem
MemoryID	_id

Detailed Description

template<class _EntitySnapshotT, class _Derived>
class armarx::armem::base::EntityBase< _EntitySnapshotT, _Derived >

An entity over a period of time.

An entity should be a physical thing or abstract concept existing (and potentially evolving) over time.

Examples are:

objects (the green box)
agents (robot, human)
locations (frige, sink)
grasp affordances (general, or for a specific object)
images
point clouds
other sensory values

At each point in time (EntitySnapshot), the entity can have a (potentially variable) number of instances (EntityInstance), each containing a single AronData object of a specific AronType.

Definition at line 43 of file EntityBase.h.

Member Typedef Documentation

◆ ChildT

using ChildT = EntitySnapshotT

Definition at line 59 of file EntityBase.h.

◆ EntityInstanceT

using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT

Definition at line 57 of file EntityBase.h.

◆ EntitySnapshotT

using EntitySnapshotT = _EntitySnapshotT

Definition at line 56 of file EntityBase.h.

Constructor & Destructor Documentation

◆ EntityBase() [1/5]

EntityBase ( )

inline

Definition at line 71 of file EntityBase.h.

◆ EntityBase() [2/5]

EntityBase	(	const std::string &	name,
		const MemoryID &	parentID = `{}`
	)

inlineexplicit

Definition at line 75 of file EntityBase.h.

◆ EntityBase() [3/5]

EntityBase ( const MemoryID & id )

inlineexplicit

Definition at line 80 of file EntityBase.h.

◆ EntityBase() [4/5]

EntityBase ( const EntityBase< _EntitySnapshotT, _Derived > & other )

default

◆ EntityBase() [5/5]

EntityBase ( EntityBase< _EntitySnapshotT, _Derived > && other )

default

Member Function Documentation

◆ addSnapshot() [1/4]

EntitySnapshotT& addSnapshot ( const EntitySnapshotT & snapshot )

inline

Copy and insert a snapshot.

Definition at line 636 of file EntityBase.h.

◆ addSnapshot() [2/4]

EntitySnapshotT& addSnapshot ( const Time & timestamp )

inline

Add a snapshot at the given time.

Definition at line 629 of file EntityBase.h.

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◆ addSnapshot() [3/4]

EntitySnapshotT& addSnapshot	(	const Time &	timestamp,
		Args...	args
	)

inline

Insert a snapshot in-place.

Definition at line 652 of file EntityBase.h.

◆ addSnapshot() [4/4]

EntitySnapshotT& addSnapshot ( EntitySnapshotT && snapshot )

inline

Move and insert a snapshot.

Definition at line 643 of file EntityBase.h.

◆ append()

void append ( const OtherDerivedT & other )

inline

Definition at line 608 of file EntityBase.h.

◆ equalsDeep()

bool equalsDeep ( const DerivedT & other ) const

inline

Definition at line 662 of file EntityBase.h.

◆ findFirstSnapshot() [1/2]

EntitySnapshotT* findFirstSnapshot ( )

inline

Return the snapshot with the least recent timestamp.

Returns: The first snapshot or nullptr if the entity is empty.

Definition at line 244 of file EntityBase.h.

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◆ findFirstSnapshot() [2/2]

const EntitySnapshotT* findFirstSnapshot ( ) const

inline

Definition at line 250 of file EntityBase.h.

◆ findFirstSnapshotAfter()

const EntitySnapshotT* findFirstSnapshotAfter ( const Time & time ) const

inline

Return first snapshot after time.

Parameters

time The time.

Returns: The first snapshot >= time or nullptr if none was found.

Definition at line 349 of file EntityBase.h.

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◆ findFirstSnapshotAfterOrAt()

const EntitySnapshotT* findFirstSnapshotAfterOrAt ( const Time & time ) const

inline

Return first snapshot after or at time.

Parameters

time The time.

Returns: The first snapshot >= time or nullptr if none was found.

Definition at line 330 of file EntityBase.h.

◆ findLatestInstance() [1/2]

auto* findLatestInstance ( int instanceIndex = 0 )

inline

Definition at line 355 of file EntityBase.h.

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◆ findLatestInstance() [2/2]

const auto* findLatestInstance ( int instanceIndex = 0 ) const

inline

Definition at line 362 of file EntityBase.h.

◆ findLatestSnapshot() [1/2]

EntitySnapshotT* findLatestSnapshot ( )

inline

Return the snapshot with the most recent timestamp.

Returns: The latest snapshot or nullptr if the entity is empty.

Definition at line 228 of file EntityBase.h.

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◆ findLatestSnapshot() [2/2]

const EntitySnapshotT* findLatestSnapshot ( ) const

inline

Definition at line 234 of file EntityBase.h.

◆ findLatestSnapshotBefore()

const EntitySnapshotT* findLatestSnapshotBefore ( const Time & time ) const

inline

Return the lastest snapshot before time.

Parameters

time The time.

Returns: The latest snapshot < time or nullptr if none was found.

Definition at line 286 of file EntityBase.h.

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◆ findLatestSnapshotBeforeOrAt()

const EntitySnapshotT* findLatestSnapshotBeforeOrAt ( const Time & time ) const

inline

Return the latest snapshot before or at time.

Parameters

time The time.

Returns: The latest snapshot <= time or nullptr if none was found.

Definition at line 319 of file EntityBase.h.

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◆ findSnapshot() [1/4]

EntitySnapshotT* findSnapshot ( const MemoryID & snapshotID )

inline

Definition at line 170 of file EntityBase.h.

◆ findSnapshot() [2/4]

const EntitySnapshotT* findSnapshot ( const MemoryID & snapshotID ) const

inline

Definition at line 177 of file EntityBase.h.

◆ findSnapshot() [3/4]

EntitySnapshotT* findSnapshot ( const Time & timestamp )

inline

Definition at line 129 of file EntityBase.h.

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◆ findSnapshot() [4/4]

const EntitySnapshotT* findSnapshot ( const Time & timestamp ) const

inline

Definition at line 135 of file EntityBase.h.

◆ forEachInstanceIn() [1/2]

bool forEachInstanceIn	(	const MemoryID &	id,
		InstanceFunctionT &&	func
	)

inline

Parameters

func	Function like void process(EntityInstanceT& instance)>

Definition at line 538 of file EntityBase.h.

◆ forEachInstanceIn() [2/2]

bool forEachInstanceIn	(	const MemoryID &	id,
		InstanceFunctionT &&	func
	)		const

inline

Parameters

func	Function like void process(EntityInstanceT& instance)>

Definition at line 553 of file EntityBase.h.

◆ forEachSnapshot() [1/2]

bool forEachSnapshot ( SnapshotFunctionT && func )

inline

Parameters

func	Function like: bool process(EntitySnapshotT& snapshot)

Definition at line 390 of file EntityBase.h.

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◆ forEachSnapshot() [2/2]

bool forEachSnapshot ( SnapshotFunctionT && func ) const

inline

Parameters

func	Function like void process(const EntitySnapshotT& snapshot)

Definition at line 400 of file EntityBase.h.

◆ forEachSnapshotBefore()

void forEachSnapshotBefore	(	const Time &	time,
		FunctionT &&	func
	)		const

inline

Return all snapshots before (excluding) time.

Parameters

time The time.

Returns: The latest snapshots.

Definition at line 442 of file EntityBase.h.

◆ forEachSnapshotBeforeOrAt()

void forEachSnapshotBeforeOrAt	(	const Time &	time,
		FunctionT &&	func
	)		const

inline

Return all snapshots before or at time.

Parameters

time The time.

Returns: The latest snapshots.

Definition at line 464 of file EntityBase.h.

◆ forEachSnapshotIn() [1/2]

bool forEachSnapshotIn	(	const MemoryID &	id,
		SnapshotFunctionT &&	func
	)

inline

Parameters

func	Function like: bool process(EntitySnapshotT& snapshot)

Definition at line 410 of file EntityBase.h.

◆ forEachSnapshotIn() [2/2]

bool forEachSnapshotIn	(	const MemoryID &	id,
		SnapshotFunctionT &&	func
	)		const

inline

Parameters

func	Function like void process(const EntitySnapshotT& snapshot)

Definition at line 420 of file EntityBase.h.

◆ forEachSnapshotInIndexRange()

void forEachSnapshotInIndexRange	(	long	first,
		long	last,
		FunctionT &&	func
	)		const

inline

Return all snapshots from first to last index.

Negative index are counted from the end, e.g. last == -1 results in getting all queries until the end.

Parameters

first	The first index to include.
first	The last index to include.

Returns: The snapshots in [first, last].

Definition at line 507 of file EntityBase.h.

◆ forEachSnapshotInTimeRange()

void forEachSnapshotInTimeRange	(	const Time &	min,
		const Time &	max,
		FunctionT &&	func
	)		const

inline

Return all snapshots between, including, min and max.

Parameters

min	The lowest time to include.
min	The highest time to include.

Returns: The snapshots in [min, max].

Definition at line 477 of file EntityBase.h.

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◆ getFirstSnapshot() [1/2]

EntitySnapshotT& getFirstSnapshot ( )

inline

Return the snapshot with the least recent timestamp.

Returns: The first snapshot.

Exceptions

<tt>armem::error::EntityHistoryEmpty</tt> If the history is empty.

Definition at line 261 of file EntityBase.h.

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◆ getFirstSnapshot() [2/2]

const EntitySnapshotT& getFirstSnapshot ( ) const

inline

Definition at line 268 of file EntityBase.h.

◆ getFirstTimestamp()

Time getFirstTimestamp ( ) const

inline

Get the oldest timestamp.

Exceptions

<tt>armem::error::EntityHistoryEmpty</tt> If the history is empty.

Definition at line 218 of file EntityBase.h.

◆ getKeyString()

std::string getKeyString ( ) const

inline

Definition at line 684 of file EntityBase.h.

◆ getLatestTimestamp()

Time getLatestTimestamp ( ) const

inline

Get the latest timestamp.

Exceptions

<tt>armem::error::EntityHistoryEmpty</tt> If the history is empty.

Definition at line 208 of file EntityBase.h.

◆ getLevelName()

static std::string getLevelName ( )

inlinestatic

Definition at line 690 of file EntityBase.h.

◆ getSnapshot() [1/4]

EntitySnapshotT& getSnapshot ( const MemoryID & snapshotID )

inline

Definition at line 185 of file EntityBase.h.

◆ getSnapshot() [2/4]

const EntitySnapshotT& getSnapshot ( const MemoryID & snapshotID ) const

inline

Definition at line 192 of file EntityBase.h.

◆ getSnapshot() [3/4]

EntitySnapshotT& getSnapshot ( const Time & time )

inline

Get a snapshot.

Parameters

time The time.

Returns: The snapshot, if it exists.

Exceptions

<tt>armem::error::MissingEntry</tt> If there is no such entry.

Definition at line 149 of file EntityBase.h.

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◆ getSnapshot() [4/4]

const EntitySnapshotT& getSnapshot ( const Time & time ) const

inline

Definition at line 159 of file EntityBase.h.

◆ getTimestamps()

std::vector<Time> getTimestamps ( ) const

inline

Get all timestamps in the history.

Definition at line 566 of file EntityBase.h.

◆ hasSnapshot() [1/2]

bool hasSnapshot ( const MemoryID & snapshotID ) const

inline

Indicate whether a snapshot with the given ID exists.

Definition at line 122 of file EntityBase.h.

◆ hasSnapshot() [2/2]

bool hasSnapshot ( const Time & time ) const

inline

Indicate whether a snapshot at the given time exists.

Definition at line 114 of file EntityBase.h.

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◆ hasSnapshots()

bool hasSnapshots ( ) const

inline

Indicate whether the entity has any snapshots.

Definition at line 106 of file EntityBase.h.

◆ name() [1/2]

std::string& name ( )

inline

Definition at line 93 of file EntityBase.h.

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◆ name() [2/2]

const std::string& name ( ) const

inline

Definition at line 99 of file EntityBase.h.

◆ operator=() [1/2]

EntityBase& operator= ( const EntityBase< _EntitySnapshotT, _Derived > & other )

default

◆ operator=() [2/2]

EntityBase& operator= ( EntityBase< _EntitySnapshotT, _Derived > && other )

default

◆ update()

UpdateResult update ( const EntityUpdate & update )

inline

Add the given update to this entity's history.

Parameters

update The update.

Returns: The snapshot ID of the update.

Definition at line 579 of file EntityBase.h.

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

RobotAPI/libraries/armem/core/base/EntityBase.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<class _EntitySnapshotT, class _Derived> class armarx::armem::base::EntityBase< _EntitySnapshotT, _Derived >

Member Typedef Documentation

◆ ChildT

◆ EntityInstanceT

◆ EntitySnapshotT

Constructor & Destructor Documentation

◆ EntityBase() [1/5]

◆ EntityBase() [2/5]

◆ EntityBase() [3/5]

◆ EntityBase() [4/5]

◆ EntityBase() [5/5]

Member Function Documentation

◆ addSnapshot() [1/4]

◆ addSnapshot() [2/4]

◆ addSnapshot() [3/4]

◆ addSnapshot() [4/4]

◆ append()

◆ equalsDeep()

◆ findFirstSnapshot() [1/2]

◆ findFirstSnapshot() [2/2]

◆ findFirstSnapshotAfter()

◆ findFirstSnapshotAfterOrAt()

◆ findLatestInstance() [1/2]

◆ findLatestInstance() [2/2]

◆ findLatestSnapshot() [1/2]

◆ findLatestSnapshot() [2/2]

◆ findLatestSnapshotBefore()

◆ findLatestSnapshotBeforeOrAt()

◆ findSnapshot() [1/4]

◆ findSnapshot() [2/4]

◆ findSnapshot() [3/4]

◆ findSnapshot() [4/4]

◆ forEachInstanceIn() [1/2]

◆ forEachInstanceIn() [2/2]

◆ forEachSnapshot() [1/2]

◆ forEachSnapshot() [2/2]

◆ forEachSnapshotBefore()

◆ forEachSnapshotBeforeOrAt()

◆ forEachSnapshotIn() [1/2]

◆ forEachSnapshotIn() [2/2]

◆ forEachSnapshotInIndexRange()

◆ forEachSnapshotInTimeRange()

◆ getFirstSnapshot() [1/2]

◆ getFirstSnapshot() [2/2]

◆ getFirstTimestamp()

◆ getKeyString()

◆ getLatestTimestamp()

◆ getLevelName()

◆ getSnapshot() [1/4]

◆ getSnapshot() [2/4]

◆ getSnapshot() [3/4]

◆ getSnapshot() [4/4]

◆ getTimestamps()

◆ hasSnapshot() [1/2]

◆ hasSnapshot() [2/2]

◆ hasSnapshots()

◆ name() [1/2]

◆ name() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ update()

template<class _EntitySnapshotT, class _Derived>
class armarx::armem::base::EntityBase< _EntitySnapshotT, _Derived >