KnownGraspCandidateReader.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     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
#include <optional>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.aron.generated.h>
 
namespace armarx::armem::grasping::known_grasps
{
    class Reader
    {
    public:
        Reader() = default;
        virtual ~Reader() = default;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        std::optional<armem::grasping::arondto::KnownGraspInfo>
        queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
        std::optional<armem::grasping::arondto::KnownGraspInfo>
        queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
 
    private:
        struct Properties
        {
            std::string memoryName = "Grasp";
            std::string coreSegmentName = "KnownGraspCandidate";
        } properties;
 
        const std::string propertyPrefix = "mem.grasping.knowngrasps.";
 
        armem::client::Reader memoryReader;
    };
 
 
} // namespace armarx::armem::grasping::known_grasps