#include <MemoryX/core/entity/Entity.h>

Inheritance diagram for Entity:

Public Member Functions
void	__decRef () override

template<typename T >
IceInternal::Handle< T >	addWrapper (T *wrapper)
	Add EntityWrapper to entity. More...

EntityPtr	clone (const Ice::Current &c=Ice::emptyCurrent) const

void	deserialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
	Subclasses should use serializable attributes and consider these methods final. More...

bool	equals (const EntityBasePtr &otherEntity, const ::Ice::Current &=Ice::emptyCurrent) const override
	equals computes if two Entity instances are equal. More...

bool	equalsAttributes (const EntityBasePtr &otherEntity, const ::Ice::Current &=Ice::emptyCurrent) const override
	equalsAttributes computes if two Entity instances are equal. More...

virtual EntityRefBaseList	getAllParentRefs (bool includeMetaEntities=true) const
	Retrieve all parents by traversing the whole hierarchy. More...

virtual std::vector< std::string >	getAllParentsAsStringList () const

EntityAttributeBasePtr	getAttribute (const ::std::string &attrName, const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve attribute from entity. More...

memoryx::NameList	getAttributeNames (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve list of all attribute names. More...

virtual armarx::VariantPtr	getAttributeValue (const ::std::string &attrName) const
	Retrieve value of an attribute from entity. More...

virtual EntityRefBaseList	getDirectParentRefs () const
	Retrieve parent entity references. More...

::std::string	getId (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve id of this entity which is an integer in string representation. More...

::std::string	getName (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve name of this entity. More...

template<typename T >
IceInternal::Handle< T >	getWrapper ()
	Retrieve EntityWrapper that has previously been added with Entity::addWrapper(). More...

bool	hasAttribute (const ::std::string &attrName, const ::Ice::Current &=Ice::emptyCurrent) const override
	Check whether this entity has an attribute with the given name. More...

Ice::ObjectPtr	ice_clone () const override

bool	isMetaEntity (const ::Ice::Current &=Ice::emptyCurrent) const override
	Indicates whether this entity only contains meta information. More...

void	putAttribute (const ::memoryx::EntityAttributeBasePtr &attr, const ::Ice::Current &=Ice::emptyCurrent) override
	Store attribute in entity. More...

template<typename T >
void	putAttribute (const std::string &attrName, T attrValue, ProbabilityMeasureBasePtr uncertainty=ProbabilityMeasureBasePtr())
	Create and store attribute from name, value, and optionally uncertainty measure. More...

void	removeAttribute (const ::std::string &attrName, const ::Ice::Current &=Ice::emptyCurrent) override
	Remove attribute with given name from entity. More...

void	serialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override
	Subclasses should use serializable attributes and consider these methods final. More...

virtual void	setDirectParentRefs (const EntityRefBaseList &entityRefs)
	Replace parent entity references. More...

void	setId (const ::std::string &id, const ::Ice::Current &=Ice::emptyCurrent) override
	Set id of this entity. More...

void	setMetaEntity (bool isMetaEntity, const ::Ice::Current &=Ice::emptyCurrent) override
	Mark this entity as meta (i.e. More...

void	setName (const ::std::string &name, const ::Ice::Current &=Ice::emptyCurrent) override
	Set name of this entity. More...

Static Public Member Functions
static EntityPtr	CreateGenericEntity ()
	Creates an entity without any convenience getter/setter functions. More...

Protected Member Functions
	Entity ()

	Entity (const Entity &source)

void	ice_postUnmarshal () override

void	ice_preMarshal () override

void	output (std::ostream &stream) const

	~Entity () override

Protected Attributes
std::mutex	attributesMutex

std::shared_mutex	entityMutex

AbstractEntityWrapperBaseList	wrappers

std::recursive_mutex	wrappersMutex

Friends
template<class BaseClass , class VariantClass >
class	armarx::GenericFactory

std::ostream &	operator<< (std::ostream &stream, const Entity &rhs)

std::ostream &	operator<< (std::ostream &stream, const EntityBasePtr &rhs)

std::ostream &	operator<< (std::ostream &stream, const EntityPtr &rhs)

Detailed Description

Entity is the superclass for all MemoryX memory chunks.

An entity can be stored within different memory types (WorkingMemory, LTM, ...) and can be serialized to a database for persistence. Each entity is identified with an id, which is unique within a scope define by the memory processes (so it depends on the memory type and entity type). Further, each entity has a friendly name identifying its content.

Entities contain an arbitrary set of attributes (see memoryx::EntityAttribute). This mechanism allows to add new attributes on the fly, without changing the declaration of the entity. Further, all subclasses of entities use this attribute mechanism to store their properties.

Convenient access to the attributes can be realized by implementing a subclass off memory::AbstractAttributeWrapper. Wrappers map the attributes to c++ functions. Further extended functionality such as grid file attachement to attributes can be implemented in the wrapper. Wrappers are registered to the entity with the addWrapper() method. Only one wrapper of a specific type can be added.

Definition at line 246 of file Entity.h.

Constructor & Destructor Documentation

◆ Entity() [1/2]

Entity ( const Entity & source )

protected

Definition at line 34 of file Entity.cpp.

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◆ Entity() [2/2]

Entity ( )

inlineprotected

Definition at line 498 of file Entity.h.

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◆ ~Entity()

~Entity ( )

overrideprotected

Definition at line 142 of file Entity.cpp.

Member Function Documentation

◆ __decRef()

void __decRef ( )

override

Definition at line 91 of file Entity.cpp.

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◆ addWrapper()

IceInternal::Handle<T> addWrapper ( T * wrapper )

inline

Add EntityWrapper to entity.

EntityWrapper provide a specific view on the entity and allow convenient c++ style access to the attributes of the entity. They can also handle associated files. See e.g. EntityWrappers::SimoxObjectWrapper

Example:

SimoxObjectWrapperPtr simoxWrapper = entity->addWrapper(new SimoxObjectWrapper(...)); ManipulationObjectPtr mo = simoxWrapper->getManipulationObject();

Parameters

pointer to wrapper

Definition at line 408 of file Entity.h.

◆ clone()

EntityPtr clone ( const Ice::Current & c = Ice::emptyCurrent ) const

Definition at line 402 of file Entity.cpp.

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◆ CreateGenericEntity()

EntityPtr CreateGenericEntity ( )

static

Creates an entity without any convenience getter/setter functions.

This should only be used with GenericSegments (

See also: memoryx::MemoryInterface::addGenericSegment()).

Definition at line 42 of file Entity.cpp.

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◆ deserialize()

void deserialize	(	const armarx::ObjectSerializerBasePtr &	serializer,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Subclasses should use serializable attributes and consider these methods final.

Exemplary JSON deserialization:

EntityPtr entity = new EntityPtr;
armarx::JSONObjectPtr jsonSerializer = new armarx::JSONObject(getIceManager()->getCommunicator());
jsonSerializer->fromString(json);
entity->deserialize(jsonSerializer);

Definition at line 470 of file Entity.cpp.

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◆ equals()

bool equals	(	const EntityBasePtr &	otherEntity,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

equals computes if two Entity instances are equal.

Attributes of both Entities in the order Id, name, and attributes have to match in order to be considered equal.

See also: Entity::equalsAttributes

Parameters

otherEntity the Entity to compare with

Returns: true if both entities are equal, false otherise

Definition at line 360 of file Entity.cpp.

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◆ equalsAttributes()

bool equalsAttributes	(	const EntityBasePtr &	otherEntity,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

equalsAttributes computes if two Entity instances are equal.

Attributes of both Entities in the order name and attributes have to match in order to be considered equal.

See also: Entity::equals

Parameters

otherEntity the Entity to compare with

Returns: true if both entities are equal, false otherise

Definition at line 369 of file Entity.cpp.

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◆ getAllParentRefs()

EntityRefBaseList getAllParentRefs ( bool includeMetaEntities = true ) const

virtual

Retrieve all parents by traversing the whole hierarchy.

Returns: all parents

Definition at line 227 of file Entity.cpp.

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◆ getAllParentsAsStringList()

std::vector< std::string > getAllParentsAsStringList ( ) const

virtual

Definition at line 264 of file Entity.cpp.

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◆ getAttribute()

EntityAttributeBasePtr getAttribute	(	const ::std::string &	attrName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Retrieve attribute from entity.

If attribute is not present, a new attribute is returned. See Entity::hasAttribute()

Parameters

attrName name of the attribute

Returns: shared pointer to attribute

Definition at line 293 of file Entity.cpp.

◆ getAttributeNames()

memoryx::NameList getAttributeNames ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Retrieve list of all attribute names.

Returns: list of names

Definition at line 346 of file Entity.cpp.

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◆ getAttributeValue()

armarx::VariantPtr getAttributeValue ( const ::std::string & attrName ) const

virtual

Retrieve value of an attribute from entity.

If attribute is not present, a new variant is returned. See Entity::hasAttribute()

Parameters

attrName name of the attribute

Returns: shared pointer to variant containing the value

Definition at line 308 of file Entity.cpp.

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◆ getDirectParentRefs()

EntityRefBaseList getDirectParentRefs ( ) const

virtual

Retrieve parent entity references.

Returns: parent entity references

Definition at line 208 of file Entity.cpp.

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◆ getId()

std::string getId ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Retrieve id of this entity which is an integer in string representation.

Id is unique within one memory segment and is returned by e.g. WorkingMemorySegment::addEntity()

Returns: id as string

Definition at line 161 of file Entity.cpp.

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◆ getName()

std::string getName ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Retrieve name of this entity.

Returns: name

Definition at line 173 of file Entity.cpp.

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◆ getWrapper()

IceInternal::Handle<T> getWrapper ( )

inline

Retrieve EntityWrapper that has previously been added with Entity::addWrapper().

See also: addWrapper

Returns: NULL if no wrapper of type T

Definition at line 437 of file Entity.h.

◆ hasAttribute()

bool hasAttribute	(	const ::std::string &	attrName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Check whether this entity has an attribute with the given name.

Parameters

attrName name of the attribute

Returns: attribute available

Definition at line 339 of file Entity.cpp.

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◆ ice_clone()

Ice::ObjectPtr ice_clone ( ) const

override

Definition at line 397 of file Entity.cpp.

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◆ ice_postUnmarshal()

void ice_postUnmarshal ( )

overrideprotected

Definition at line 433 of file Entity.cpp.

◆ ice_preMarshal()

void ice_preMarshal ( )

overrideprotected

Definition at line 421 of file Entity.cpp.

◆ isMetaEntity()

bool isMetaEntity ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Indicates whether this entity only contains meta information.

Returns: isMetaEntity

Definition at line 185 of file Entity.cpp.

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◆ output()

void output ( std::ostream & stream ) const

protected

Definition at line 409 of file Entity.cpp.

◆ putAttribute() [1/2]

void putAttribute	(	const ::memoryx::EntityAttributeBasePtr &	attr,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Store attribute in entity.

Name is taken from attribute member. Overwrites attribute with the same name if present.

Parameters

attr	pointer to attribute

Definition at line 327 of file Entity.cpp.

◆ putAttribute() [2/2]

void putAttribute	(	const std::string &	attrName,
		T	attrValue,
		ProbabilityMeasureBasePtr	uncertainty = `ProbabilityMeasureBasePtr()`
	)

inline

Create and store attribute from name, value, and optionally uncertainty measure.

Overwrites attribute with the same name if present.

Parameters

attrName	name of the attribute
attrValue	value of the attribute
uncertainty	probability measure

Definition at line 350 of file Entity.h.

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◆ removeAttribute()

void removeAttribute	(	const ::std::string &	attrName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Remove attribute with given name from entity.

Parameters

attrName name of the attribute

Definition at line 333 of file Entity.cpp.

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◆ serialize()

void serialize	(	const armarx::ObjectSerializerBasePtr &	serializer,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)		const

override

Subclasses should use serializable attributes and consider these methods final.

Exemplary JSON serialization:

EntityPtr entity = new Entity;
armarx::JSONObjectPtr jsonSerializer = new armarx::JSONObject;
entity->serialize(jsonSerializer);
ARMARX_ERROR << "Entity: " << jsonSerializer->asString(true);

Definition at line 441 of file Entity.cpp.

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◆ setDirectParentRefs()

void setDirectParentRefs ( const EntityRefBaseList & entityRefs )

virtual

Replace parent entity references.

Parameters

entityRefs new parent entity references

Definition at line 276 of file Entity.cpp.

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◆ setId()

void setId	(	const ::std::string &	id,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Set id of this entity.

Id is usually set by adding the entity to a memory segment.

Parameters

id as string

Definition at line 167 of file Entity.cpp.

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◆ setMetaEntity()

void setMetaEntity	(	bool	isMetaEntity,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Mark this entity as meta (i.e.

it only contains meta information)

Parameters

isMetaEntity

Definition at line 196 of file Entity.cpp.

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◆ setName()

void setName	(	const ::std::string &	name,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Set name of this entity.

Parameters

name

Definition at line 179 of file Entity.cpp.

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Friends And Related Function Documentation

◆ armarx::GenericFactory

friend class armarx::GenericFactory

friend

Definition at line 496 of file Entity.h.

◆ operator<< [1/3]

std::ostream& operator<<	(	std::ostream &	stream,
		const Entity &	rhs
	)

friend

Definition at line 517 of file Entity.h.

◆ operator<< [2/3]

std::ostream& operator<<	(	std::ostream &	stream,
		const EntityBasePtr &	rhs
	)

friend

Definition at line 529 of file Entity.h.

◆ operator<< [3/3]

std::ostream& operator<<	(	std::ostream &	stream,
		const EntityPtr &	rhs
	)

friend

Definition at line 523 of file Entity.h.

Member Data Documentation

◆ attributesMutex

std::mutex attributesMutex

mutableprotected

Definition at line 504 of file Entity.h.

◆ entityMutex

std::shared_mutex entityMutex

mutableprotected

Definition at line 505 of file Entity.h.

◆ wrappers

AbstractEntityWrapperBaseList wrappers

protected

Definition at line 502 of file Entity.h.

◆ wrappersMutex

std::recursive_mutex wrappersMutex

mutableprotected

Definition at line 506 of file Entity.h.

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

MemoryX/core/entity/Entity.h
MemoryX/core/entity/Entity.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Entity() [1/2]

◆ Entity() [2/2]

◆ ~Entity()

Member Function Documentation

◆ __decRef()

◆ addWrapper()

◆ clone()

◆ CreateGenericEntity()

◆ deserialize()

◆ equals()

◆ equalsAttributes()

◆ getAllParentRefs()

◆ getAllParentsAsStringList()

◆ getAttribute()

◆ getAttributeNames()

◆ getAttributeValue()

◆ getDirectParentRefs()

◆ getId()

◆ getName()

◆ getWrapper()

◆ hasAttribute()

◆ ice_clone()

◆ ice_postUnmarshal()

◆ ice_preMarshal()

◆ isMetaEntity()

◆ output()

◆ putAttribute() [1/2]

◆ putAttribute() [2/2]

◆ removeAttribute()

◆ serialize()

◆ setDirectParentRefs()

◆ setId()

◆ setMetaEntity()

◆ setName()

Friends And Related Function Documentation

◆ armarx::GenericFactory

◆ operator<< [1/3]

◆ operator<< [2/3]

◆ operator<< [3/3]

Member Data Documentation

◆ attributesMutex

◆ entityMutex

◆ wrappers

◆ wrappersMutex