Writer.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/>.
 *
 * @package    RobotAPI::ArmarXObjects::
 * @author     Niklas Arlt ( niklas dot arlt at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
#include <string>
 
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
 
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
 
namespace armarx::navigation::memory::client::costmap3d
{
    class Writer : virtual public armarx::armem::client::util::SimpleWriterBase
    {
    public:
        using armarx::armem::client::util::SimpleWriterBase::SimpleWriterBase;
        ~Writer() override;
 
        bool store(const algorithms::orientation_aware::Costmap3D& grid,
                   const std::string& name,
                   const std::string& providerName,
                   const armem::Time& timestamp);
 
    protected:
        std::string propertyPrefix() const override;
        Properties defaultProperties() const override;
 
    private:
        std::mutex writeMutex;
    };
 
 
} // namespace armarx::navigation::memory::client::costmap3d