PointCloudCoreSegment.h

Go to the documentation of this file.

#pragma once
 
// Base class
#include <RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h>
 
// PC types
#include <VisionX/libraries/armem/vision/pointcloud/core/concepts.h>
 
// Constants
#include <VisionX/libraries/armem/vision/pointcloud/server/constants.h>
 
namespace visionx::armem::pointcloud::server::segment
{
    namespace detail
    {
        template <class AronT>
            requires visionx::armem::pointcloud::isAronDTOPointCloud<AronT>
        class PointCloudCoreSegment : public armarx::armem::server::segment::SpecializedCoreSegment
        {
        public:
            PointCloudCoreSegment(armarx::armem::server::MemoryToIceAdapter& iceMemory,
                                  const std::string& coreSegmentName,
                                  int defaultMaxHistorySize = 20) :
                armarx::armem::server::segment::SpecializedCoreSegment(iceMemory,
                                                                       coreSegmentName,
                                                                       AronT::ToAronType(),
                                                                       defaultMaxHistorySize)
            {
            }
        };
    } // namespace detail
 
    class PointCloudXYZCoreSegment :
        public detail::PointCloudCoreSegment<visionx::arondto::PointCloudXYZ>
    {
    public:
        PointCloudXYZCoreSegment(armarx::armem::server::MemoryToIceAdapter& iceMemory,
                                 int defaultMaxHistorySize = 20);
    };
 
    class PointCloudXYZLCoreSegment :
        public detail::PointCloudCoreSegment<visionx::arondto::PointCloudXYZL>
    {
    public:
        PointCloudXYZLCoreSegment(armarx::armem::server::MemoryToIceAdapter& iceMemory,
                                  int defaultMaxHistorySize = 20);
    };
 
    class PointCloudXYZRGBACoreSegment :
        public detail::PointCloudCoreSegment<visionx::arondto::PointCloudXYZRGBA>
    {
    public:
        PointCloudXYZRGBACoreSegment(armarx::armem::server::MemoryToIceAdapter& iceMemory,
                                     int defaultMaxHistorySize = 20);
    };
 
    class PointCloudXYZRGBLCoreSegment :
        public detail::PointCloudCoreSegment<visionx::arondto::PointCloudXYZRGBL>
    {
    public:
        PointCloudXYZRGBLCoreSegment(armarx::armem::server::MemoryToIceAdapter& iceMemory,
                                     int defaultMaxHistorySize = 20);
    };
} // namespace visionx::armem::pointcloud::server::segment