EnvironmentalPrimitiveSegment.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    MemoryX::WorkingMemory
* @author     Peter Kaiser (peter dot kaiser at kit dot edu)
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <MemoryX/interface/core/EntityBase.h>
#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
#include <MemoryX/libraries/memorytypes/entity/EnvironmentalPrimitive.h>
#include <MemoryX/libraries/workingmemory/WorkingMemoryEntitySegment.h>
 
namespace memoryx
{
    class ARMARXCOMPONENT_IMPORT_EXPORT EnvironmentalPrimitiveSegment :
        virtual public WorkingMemoryEntitySegment<EnvironmentalPrimitive>,
        virtual public EnvironmentalPrimitiveSegmentBase
    {
    public:
        EnvironmentalPrimitiveSegment();
 
        EnvironmentalPrimitiveBaseList
        getEnvironmentalPrimitives(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        PlanePrimitiveBaseList
        getPlanes(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        SpherePrimitiveBaseList
        getSpheres(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        CylinderPrimitiveBaseList
        getCylinders(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        BoxPrimitiveBaseList getBoxes(const ::Ice::Current& c = Ice::emptyCurrent) const override;
 
        EnvironmentalPrimitiveBasePtr
        getEnvironmentalPrimitiveById(const std::string& id,
                                      const ::Ice::Current& c = Ice::emptyCurrent) const override;
        PlanePrimitiveBasePtr
        getPlaneById(const std::string& id,
                     const ::Ice::Current& c = Ice::emptyCurrent) const override;
        SpherePrimitiveBasePtr
        getSphereById(const std::string& id,
                      const ::Ice::Current& c = Ice::emptyCurrent) const override;
        CylinderPrimitiveBasePtr
        getCylinderById(const std::string& id,
                        const ::Ice::Current& c = Ice::emptyCurrent) const override;
        BoxPrimitiveBasePtr getBoxById(const std::string& id,
                                       const ::Ice::Current& c = Ice::emptyCurrent) const override;
 
        EnvironmentalPrimitiveBaseList getEnvironmentalPrimitivesByTimestamp(
            const armarx::TimestampBasePtr& timestamp,
            const ::Ice::Current& c = Ice::emptyCurrent) const override;
        PlanePrimitiveBaseList
        getPlanesByTimestamp(const armarx::TimestampBasePtr& timestamp,
                             const ::Ice::Current& c = Ice::emptyCurrent) const override;
        SpherePrimitiveBaseList
        getSpheresByTimestamp(const armarx::TimestampBasePtr& timestamp,
                              const ::Ice::Current& c = Ice::emptyCurrent) const override;
        CylinderPrimitiveBaseList
        getCylindersByTimestamp(const armarx::TimestampBasePtr& timestamp,
                                const ::Ice::Current& c = Ice::emptyCurrent) const override;
        BoxPrimitiveBaseList
        getBoxesByTimestamp(const armarx::TimestampBasePtr& timestamp,
                            const ::Ice::Current& c = Ice::emptyCurrent) const override;
 
        EnvironmentalPrimitiveBaseList getMostRecentEnvironmentalPrimitives(
            const ::Ice::Current& c = Ice::emptyCurrent) const override;
        PlanePrimitiveBaseList
        getMostRecentPlanes(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        SpherePrimitiveBaseList
        getMostRecentSpheres(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        CylinderPrimitiveBaseList
        getMostRecentCylinders(const ::Ice::Current& c = Ice::emptyCurrent) const override;
        BoxPrimitiveBaseList
        getMostRecentBoxes(const ::Ice::Current& c = Ice::emptyCurrent) const override;
 
        void removePrimitivesByTimestamp(const armarx::TimestampBasePtr& timestamp,
                                         const ::Ice::Current& c = Ice::emptyCurrent) override;
        void removeOlderPrimitives(const armarx::TimestampBasePtr& olderThan,
                                   const ::Ice::Current& c = Ice::emptyCurrent) override;
 
    protected:
        template <typename EntityPtrType>
        Ice::Long
        getMostRecentTimestamp(const std::vector<EntityPtrType>& primitives,
                               const ::Ice::Current& c = Ice::emptyCurrent) const
        {
            Ice::Long mostRecentTimestamp = 0;
 
            for (auto& p : primitives)
            {
                Ice::Long t = p->getTime(c)->timestamp;
                if (t > mostRecentTimestamp)
                {
                    mostRecentTimestamp = t;
                }
            }
 
            return mostRecentTimestamp;
        }
    };
 
    using EnvironmentalPrimitiveSegmentPtr = IceInternal::Handle<EnvironmentalPrimitiveSegment>;
} // namespace memoryx