LocationNameResolver.h

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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/>.
 *
 * @author     Niklas Arlt ( niklas dot arlt at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
#include <string>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
#include <RobotAPI/libraries/armem_objects/client/class/ClassReader.h>
 
#include <armarx/navigation/memory/client/graph/Reader.h>
 
namespace armarx::navigation::skills
{
 
    /// A location in the navigation memory, identified the way the memory identifies it.
    struct ResolvedLocation
    {
        std::string name;
        std::string provider;
    };
 
    /**
     * @brief Everything needed to turn a spoken place into a location.
     *
     * Bundled so that a skill can build it once from its own services and hand it around.
     */
    struct LocationNameResolverServices
    {
        memory::client::graph::Reader* locationReader = nullptr;
        objpose::ObjectPoseClient objectPoseClient;
        armarx::armem::obj::clazz::ClassReader* objectClassReader = nullptr;
    };
 
    /**
     * @brief Resolve a human-readable place onto a location, the way `NavigateToNamedLocation`
     *        does.
     *
     * Two stages, in this order:
     *
     *  1. Objects: if `useObjectLocations`, the name is compared (exactly, case-insensitively)
     *     against the recognized names of the classes of the objects currently in the object
     *     pose memory. A match is turned into the location `<ClassID>/inFrontOf`, or its
     *     `:<instance>` variant where one exists.
     *  2. Locations: otherwise the name is fuzzy-matched against every location's entity name
     *     and its `names.recognized`, accepting the best match at or above `minMatchRatio`.
     *
     * This lives on its own so that the skills which have to agree on what a place is --
     * `NavigateToNamedLocation` and `NavigateWithCart` -- cannot drift apart.
     *
     * @return The resolved location, or nullopt if neither stage matched.
     */
    std::optional<ResolvedLocation>
    resolveLocationName(const std::string& locationName,
                        const LocationNameResolverServices& services,
                        double minMatchRatio,
                        bool useObjectLocations);
 
} // namespace armarx::navigation::skills