SimilarityFilter.h

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#pragma once
 
#include <deque>
#include <map>
#include <unordered_map>
#include <vector>
 
// Base Class
#include "../Filter.h"
 
#include <chrono>
 
namespace armarx::armem::server::ltm::processor::filter
{
    class SnapshotSimilarityFilter : public SnapshotFilter
    {
    public:
        static const constexpr char* NAME = "SnapshotSimilarityFilter";
        static const constexpr char* PARAM_THRESHOLD = "Threshold";
        static const constexpr char* PARAM_NUM_SNAPSHOTS = "NumberOfSnapshotsToCompare";
 
        SnapshotSimilarityFilter() = default;
 
        virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion) override;
        void configure(const nlohmann::json& json) override;
 
        FilterStatistics getFilterStatistics() override;
        std::string getName() override;
 
    private:
        struct SimilarityResult
        {
            float similarity = 1.0f;
            float importance = 1.0f;
        };
 
        float calculateSnapshotSimilarity(
            const armem::wm::EntitySnapshot& oldSnapshot, 
            const armem::wm::EntitySnapshot& newSnapshot);
        SimilarityResult calculateInstanceSimilarity(
            const aron::data::VariantPtr& oldData, 
            const aron::data::VariantPtr& newData,
            float parentImportance);
 
    private:
        std::map<MemoryID, long> timestampLastCommitInMs;
        float threshold = 1.0f;
        std::size_t numSnapshots = 1;
        FilterStatistics stats;
        std::unordered_map<std::string, std::deque<armem::wm::EntitySnapshot>> lastAcceptedSnapshots;
    };
} // namespace armarx::armem::server::ltm::processor::filter