ObjectInstanceSegmentWrapper.h

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#pragma once
 
#include <map>
#include <string>
#include <vector>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/interface/core/RobotState.h>
 
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
#include <MemoryX/libraries/helpers/VirtualRobotHelpers/ObjectClassSegmentWrapper.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectInstance.h>
 
namespace memoryx
{
    struct ObjectInstanceWrapper
    {
        memoryx::ObjectInstancePtr instanceInMemory;
        VirtualRobot::ManipulationObjectPtr manipulationObject;
    };
 
    /**
     * @brief Allows access to the objects in the working memory in form of Simox SceneObjects.
     */
    class ObjectInstanceSegmentWrapper
    {
    public:
        void initFromProxies(memoryx::PriorKnowledgeInterfacePrx const& priorKnowledge,
                             memoryx::WorkingMemoryInterfacePrx const& workingMemory,
                             armarx::RobotStateComponentInterfacePrx const& robotStateComponent);
 
        std::vector<ObjectInstanceWrapper> queryObjects(std::set<std::string> const& ids = {});
 
        ObjectClassSegmentWrapper objectClassSegment;
 
    private:
        armarx::RobotStateComponentInterfacePrx robotStateComponent;
        armarx::SharedRobotInterfacePrx sharedRobot;
        VirtualRobot::RobotPtr localRobot;
        memoryx::ObjectInstanceMemorySegmentBasePrx objectInstancesSegment;
    };
 
} // namespace memoryx