CommonPlacesTester.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::CommonPlacesTester
* @author     Alexey Kozlov (kozlov at kit dot edu)
* @date       2013
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <MemoryX/interface/components/CommonPlacesLearnerInterface.h>
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
 
namespace memoryx
{
 
    class CommonPlacesTesterPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        CommonPlacesTesterPropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "TestToRun",
                "LearnFromSnapshot",
                "Name of test that should be executed (LearnFromSnapshot, LoadLTM)");
            defineOptionalProperty<std::string>(
                "SnapshotToLoad", "", "Name of snapshot to be loaded into WM on startup");
            defineOptionalProperty<std::string>(
                "SnapshotsToLearnFrom",
                "",
                "Comma-separated list of snapshot to be processed by CommonPlacesLearner");
            defineOptionalProperty<bool>(
                "LoadToWM",
                false,
                "Load LTM contents to WM after each learned snapshot (e.g. for visualization)");
 
            defineOptionalProperty<int>(
                "InitialDelay", 0, "Timeout before starting the learning process (in ms)");
            defineOptionalProperty<int>(
                "DelayBetweenSnapshots", 0, "Timeout after each learned snapshot (in ms)");
            defineOptionalProperty<std::string>(
                "ObjectToLoad", "", "Name of object to load from LTM ");
            defineOptionalProperty<std::string>(
                "LTMSegment",
                "objects",
                "Name of segment in LTM to store learned CommonPlaces / to run queries on");
            defineOptionalProperty<std::string>(
                "ClusterDeviationType",
                "AABB",
                "Type of deviation: AABB, OrientedBBox or EqualSphere");
            defineOptionalProperty<float>(
                "ClusterMaxDeviation",
                100.,
                "Max. intra-cluster deviation (meanings depends of ClusterDeviationType)");
 
            defineOptionalProperty<int>("SampleSize", 10, "");
            defineOptionalProperty<int>("IterationCount", 1, "");
        }
    };
 
    class ARMARXCOMPONENT_IMPORT_EXPORT CommonPlacesTester : virtual public armarx::Component
    {
    public:
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            return armarx::PropertyDefinitionsPtr(
                new CommonPlacesTesterPropertyDefinitions(getConfigIdentifier()));
        }
 
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return "CommonPlacesTester";
        }
 
        void onInitComponent() override;
        void onConnectComponent() override;
 
    private:
        WorkingMemoryInterfacePrx memoryPrx;
        LongtermMemoryInterfacePrx longtermMemoryPrx;
        CommonPlacesLearnerInterfacePrx cpLearnerPrx;
        std::string testToRun;
        std::string objectToLoad;
        std::string ltmSegmentName;
 
        void testLearnFromSnapshot();
        void testLearnFromSingleSnapshot();
        void testLoadLTM();
        void testClustering();
 
        void testMerging();
        void testClusteringBatch();
        void testAging();
        void testAging2();
        void testGetClusterLocations();
 
        void getRandomIds(std::vector<std::string>& allIds,
                          std::vector<std::string>& ids,
                          int sampleSize);
 
        DeviationType getDeviationTypeFromString(const std::string& devTypeStr);
 
        struct SimpleTimer
        {
            struct timeval tv1, tv2, dtv;
            struct timezone tz;
 
            void
            time_start()
            {
                gettimeofday(&tv1, &tz);
            }
 
            long
            time_stop()
            {
                gettimeofday(&tv2, &tz);
                dtv.tv_sec = tv2.tv_sec - tv1.tv_sec;
                dtv.tv_usec = tv2.tv_usec - tv1.tv_usec;
 
                if (dtv.tv_usec < 0)
                {
                    dtv.tv_sec--;
                    dtv.tv_usec += 1000000;
                }
 
                return dtv.tv_sec * 1000 + dtv.tv_usec / 1000;
            }
        };
 
        SimpleTimer mstimer;
    };
} // namespace memoryx