The Graph Memory Segment contains directed graphs. The graph consists of nodes with poses and edges between them. The poses in the nodes and the edges are used for platform navigation. Additionally, thee nodes are used for symbolic planning. One segment can contain multiple graphs. They distinguished by their scene-name. See Slice API documentation for GraphMemorySegmentBase. More...

#include <MemoryX/libraries/memorytypes/segment/GraphMemorySegment.h>

Inheritance diagram for GraphMemorySegment:

Public Member Functions
bool	addEdge (const std::string &fromId, const std::string &toId, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addNode (const memoryx::GraphNodeBasePtr &node, const Ice::Current &c=Ice::emptyCurrent) override

::memoryx::GraphNodeBaseList	aStar (const ::std::string &idFrom, const ::std::string &idTo, const ::Ice::Current &=Ice::emptyCurrent) override

void	clearScene (const std::string &sceneName, const Ice::Current &c=Ice::emptyCurrent) override

memoryx::GraphNodeBaseList	getAllNodes (const Ice::Current &c=Ice::emptyCurrent) override

memoryx::GraphNodeBasePtr	getNodeById (const std::string &entityId, const Ice::Current &c=Ice::emptyCurrent) override

memoryx::GraphNodeBasePtr	getNodeByName (const std::string &entityName, const Ice::Current &c=Ice::emptyCurrent) override

::memoryx::GraphNodeBasePtr	getNodeFromSceneByName (const ::std::string &sceneName, const ::std::string &nodeName, const ::Ice::Current &=Ice::emptyCurrent) override

memoryx::GraphNodeBaseList	getNodesByScene (const std::string &sceneName, const Ice::Current &c=Ice::emptyCurrent) override

Ice::StringSeq	getScenes (const Ice::Current &c=Ice::emptyCurrent) const override

	GraphMemorySegment (CollectionInterfacePrx entityCollection, Ice::CommunicatorPtr ic, bool useMongoIds=true)

bool	hasNodeWithName (const ::std::string &sceneName, const ::std::string &nodeName, const ::Ice::Current &=Ice::emptyCurrent) override

bool	hasScene (const ::std::string &sceneName, const ::Ice::Current &c=Ice::emptyCurrent) override

bool	removeEdge (const std::string &startNodeId, const std::string &endNodeId, const Ice::Current &) override

bool	removeNode (const std::string &, const Ice::Current &) override

	~GraphMemorySegment () override

Public Member Functions inherited from PersistentEntitySegment
std::string	addEntity (const EntityBasePtr &entity, const ::Ice::Current &c=Ice::emptyCurrent) override
	addEntity add new `entity` and return the newly generated entity ID More...

EntityIdList	addEntityList (const EntityBaseList &entityList, const Ice::Current &=Ice::emptyCurrent) override
	addEntityList adds all entities contained in \entityList to this segment and returns a list of created entity IDs More...

virtual EntityIdList	addEntityListThreadUnsafe (const EntityBaseList &entityList)

virtual std::string	addEntityThreadUnsafe (const EntityBasePtr &entity)

void	addReadCollection (const CollectionInterfacePrx &coll, const ::Ice::Current &=Ice::emptyCurrent) override

void	clear (const ::Ice::Current &=Ice::emptyCurrent) override
	clear removes all elements from the current memoryx::PersistentEntitySegment::writeCollection More...

void	clearReadCollections (const ::Ice::Current &=Ice::emptyCurrent) override

EntityRefList	findRefsByQuery (const std::string &query, const Ice::Current &c) override
	retrieves Entity Refs that match the query. More...

EntityBaseList	getAllEntities (const ::Ice::Current &=Ice::emptyCurrent) const override
	getAllEntities returns a list of all entities managed by this memory segment More...

EntityIdList	getAllEntityIds (const ::Ice::Current &=Ice::emptyCurrent) const override

virtual EntityIdList	getAllEntityIdsThreadUnsafe () const

EntityBaseList	getEntitiesByAttrValue (const ::std::string &attrName, const ::std::string &attrValue, const ::Ice::Current &=Ice::emptyCurrent) const override

EntityBaseList	getEntitiesByAttrValueList (const ::std::string &attrName, const NameList &attrValueList, const ::Ice::Current &=Ice::emptyCurrent) const override

EntityBasePtr	getEntityById (const ::std::string &entityId, const ::Ice::Current &=Ice::emptyCurrent) const override

virtual EntityBasePtr	getEntityByIdThreadUnsafe (const ::std::string &entityId) const

EntityBasePtr	getEntityByName (const ::std::string &name, const ::Ice::Current &=Ice::emptyCurrent) const override

virtual EntityBasePtr	getEntityByNameThreadUnsafe (const ::std::string &name) const

EntityRefBasePtr	getEntityRefById (const std::string &id, const Ice::Current &) const override

EntityRefBasePtr	getEntityRefByName (const std::string &name, const Ice::Current &c) const override

::Ice::Identity	getIceId (const ::Ice::Current &=Ice::emptyCurrent) const override

IdEntityMap	getIdEntityMap (const ::Ice::Current &=Ice::emptyCurrent) const override

std::string	getObjectTypeId (const ::Ice::Current &=Ice::emptyCurrent) const override

NameList	getReadCollectionsNS (const ::Ice::Current &=Ice::emptyCurrent) const override

std::string	getSegmentName (const ::Ice::Current &=Ice::emptyCurrent) const override

std::string	getWriteCollectionNS (const ::Ice::Current &=Ice::emptyCurrent) const override

bool	hasEntityById (const std::string &entityId, const Ice::Current &=Ice::emptyCurrent) const override

bool	hasEntityByIdThreadUnsafe (const std::string &entityId) const

bool	hasEntityByName (const std::string &entityName, const Ice::Current &=Ice::emptyCurrent) const override

bool	hasEntityByNameThreadUnsafe (const std::string &entityName) const

	PersistentEntitySegment (CollectionInterfacePrx entityCollection, Ice::CommunicatorPtr ic, bool useMongoIds=true)

void	print (const ::Ice::Current &=Ice::emptyCurrent) const override

void	removeAllEntities (const ::Ice::Current &c=Ice::emptyCurrent) override
	removeAllEntities collects all entities managed by this memory segment and removes them from the segment More...

void	removeEntity (const ::std::string &entityId, const ::Ice::Current &=Ice::emptyCurrent) override
	removeEntity removes an entity with the ID `entityId` More...

virtual void	removeEntityThreadUnsafe (const ::std::string &entityId)

void	setEntityAttribute (const std::string &entityId, const EntityAttributeBasePtr &attribute, const Ice::Current &) override

void	setEntityAttributes (const std::string &entityId, const EntityAttributeList &attributeMap, const Ice::Current &) override

void	setParentMemory (const MemoryInterfacePtr &memory, const Ice::Current &) override

void	setSingleRWCollection (const CollectionInterfacePrx &coll, const ::Ice::Current &=Ice::emptyCurrent) override

void	setWriteCollection (const CollectionInterfacePrx &coll, const ::Ice::Current &=Ice::emptyCurrent) override

Ice::Int	size (const ::Ice::Current &=Ice::emptyCurrent) const override
	size counts the number of memoryx::Entity instances contained available reachable throuhg memoryx::PersistentEntitySegment::readCollections. More...

void	updateEntity (const ::std::string &entityId, const EntityBasePtr &update, const ::Ice::Current &=Ice::emptyCurrent) override

virtual void	updateEntityThreadUnsafe (const ::std::string &entityId, const EntityBasePtr &update)

std::string	upsertEntity (const std::string &entityId, const EntityBasePtr &entity, const ::Ice::Current &=Ice::emptyCurrent) override

std::string	upsertEntityByName (const std::string &entityName, const EntityBasePtr &entity, const ::Ice::Current &=Ice::emptyCurrent) override

virtual std::string	upsertEntityByNameThreadUnsafe (const std::string &entityName, const EntityBasePtr &entity)

EntityIdList	upsertEntityList (const EntityBaseList &entityList, const Ice::Current &=Ice::emptyCurrent) override

virtual EntityIdList	upsertEntityListThreadUnsafe (const EntityBaseList &entityList)

virtual std::string	upsertEntityThreadUnsafe (const std::string &entityId, const EntityBasePtr &entity)

	~PersistentEntitySegment () override

Public Member Functions inherited from SegmentUtilImplementations
EntityBaseList	getEntityWithChildrenById (const std::string &id, bool includeMetaEntities, const Ice::Current &c=Ice::emptyCurrent) const override

EntityBaseList	getEntityWithChildrenByName (const std::string &, bool includeMetaEntities, const Ice::Current &c=Ice::emptyCurrent) const override

std::string	getJSONEntityById (const std::string &id, const Ice::Current &) const override

ScopedSharedLockPtr	getReadLock (const Ice::Current &c) const

ScopedUniqueLockPtr	getWriteLock (const Ice::Current &c) const

bool	keepLockAlive (const std::string &token, const Ice::Current &) override

SegmentLockBasePtr	lockSegment (const Ice::Current &c) override

	SegmentUtilImplementations ()

bool	unlockSegment (const SegmentLockBasePtr &lock, const Ice::Current &c) override

bool	unlockSegmentWithToken (const std::string &token, const Ice::Current &c) override

Additional Inherited Members
Public Types inherited from SegmentUtilImplementations
using	ScopedSharedLock = std::unique_lock< std::shared_mutex >

using	ScopedSharedLockPtr = std::unique_ptr< ScopedSharedLock >

using	ScopedUniqueLock = std::unique_lock< std::shared_mutex >

using	ScopedUniqueLockPtr = std::unique_ptr< ScopedSharedLock >

Protected Member Functions inherited from PersistentEntitySegment
EntityBasePtr	deserializeEntity (const DBStorableData &dbEntity) const

void	setSegmentName (const std::string &segmentName, const ::Ice::Current &=Ice::emptyCurrent) override

Protected Member Functions inherited from SegmentUtilImplementations
void	keepAliveCheck ()

Protected Attributes inherited from PersistentEntitySegment
MongoSerializerPtr	dbSerializer

std::recursive_mutex	dbSerializerMutex

MemoryInterfacePtr	parentMemory

CollectionPrxList	readCollections

std::string	segmentName

bool	useMongoIds

CollectionInterfacePrx	writeCollection

Protected Attributes inherited from SegmentUtilImplementations
armarx::PeriodicTask< SegmentUtilImplementations >::pointer_type	keepAliveCheckTask

IceUtil::Time	keepAliveTimestamp

std::mutex	keepAliveTimestampMutex

std::string	lockToken

std::mutex	mutex

ScopedSharedLockPtr	readLock

std::shared_mutex	segmentMutex

EntityMemorySegmentInterfacePrx	selfProxy

std::mutex	tokenMutex

ScopedUniqueLockPtr	writeLock

Detailed Description

The Graph Memory Segment contains directed graphs. The graph consists of nodes with poses and edges between them. The poses in the nodes and the edges are used for platform navigation. Additionally, thee nodes are used for symbolic planning. One segment can contain multiple graphs. They distinguished by their scene-name. See Slice API documentation for GraphMemorySegmentBase.

Definition at line 44 of file GraphMemorySegment.h.

Constructor & Destructor Documentation

◆ GraphMemorySegment()

GraphMemorySegment	(	CollectionInterfacePrx	entityCollection,
		Ice::CommunicatorPtr	ic,
		bool	useMongoIds = `true`
	)

Definition at line 33 of file GraphMemorySegment.cpp.

◆ ~GraphMemorySegment()

~GraphMemorySegment ( )

override

Definition at line 39 of file GraphMemorySegment.cpp.

Member Function Documentation

◆ addEdge()

bool addEdge	(	const std::string &	fromId,
		const std::string &	toId,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 164 of file GraphMemorySegment.cpp.

◆ addNode()

std::string addNode	(	const memoryx::GraphNodeBasePtr &	node,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 158 of file GraphMemorySegment.cpp.

◆ aStar()

memoryx::GraphNodeBaseList aStar	(	const ::std::string &	idFrom,
		const ::std::string &	idTo,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

TODO add some mutex

Definition at line 267 of file GraphMemorySegment.cpp.

Here is the call graph for this function:

◆ clearScene()

void clearScene	(	const std::string &	sceneName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 112 of file GraphMemorySegment.cpp.

◆ getAllNodes()

memoryx::GraphNodeBaseList getAllNodes ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 94 of file GraphMemorySegment.cpp.

◆ getNodeById()

memoryx::GraphNodeBasePtr getNodeById	(	const std::string &	entityId,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 79 of file GraphMemorySegment.cpp.

◆ getNodeByName()

memoryx::GraphNodeBasePtr getNodeByName	(	const std::string &	entityName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 89 of file GraphMemorySegment.cpp.

◆ getNodeFromSceneByName()

memoryx::GraphNodeBasePtr getNodeFromSceneByName	(	const ::std::string &	sceneName,
		const ::std::string &	nodeName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 211 of file GraphMemorySegment.cpp.

◆ getNodesByScene()

memoryx::GraphNodeBaseList getNodesByScene	(	const std::string &	sceneName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 61 of file GraphMemorySegment.cpp.

◆ getScenes()

Ice::StringSeq getScenes ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 43 of file GraphMemorySegment.cpp.

◆ hasNodeWithName()

bool hasNodeWithName	(	const ::std::string &	sceneName,
		const ::std::string &	nodeName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 196 of file GraphMemorySegment.cpp.

◆ hasScene()

bool hasScene	(	const ::std::string &	sceneName,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 191 of file GraphMemorySegment.cpp.

◆ removeEdge()

bool removeEdge	(	const std::string &	startNodeId,
		const std::string &	endNodeId,
		const Ice::Current &
	)

override

Definition at line 144 of file GraphMemorySegment.cpp.

◆ removeNode()

bool removeNode	(	const std::string &	nodeId,
		const Ice::Current &
	)

override

Definition at line 125 of file GraphMemorySegment.cpp.

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

MemoryX/libraries/memorytypes/segment/GraphMemorySegment.h
MemoryX/libraries/memorytypes/segment/GraphMemorySegment.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GraphMemorySegment()

◆ ~GraphMemorySegment()

Member Function Documentation

◆ addEdge()

◆ addNode()

◆ aStar()

◆ clearScene()

◆ getAllNodes()

◆ getNodeById()

◆ getNodeByName()

◆ getNodeFromSceneByName()

◆ getNodesByScene()

◆ getScenes()

◆ hasNodeWithName()

◆ hasScene()

◆ removeEdge()

◆ removeNode()