ViewSelection.h

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#pragma once
 
#include <optional>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/error/mns.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <armarx/view_selection/gaze_targets.h>
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
 
namespace armarx::view_selection::client
{
    class ViewSelection
    {
    public:
        ViewSelection(armarx::armem::client::MemoryNameSystem& mns,
                      std::string providerSegmentName);
        ~ViewSelection();
 
        void connect();
 
        std::optional<gaze_targets::GazeTarget> readGazeTarget(const std::string& name);
 
        void commitGazeTarget(const gaze_targets::GazeTarget& target);
        void commitGazeTargets(const std::vector<gaze_targets::GazeTarget>& targets);
 
    protected:
    private:
        // Private member variables go here.
        armarx::armem::client::MemoryNameSystem& memoryNameSystem;
        std::string providerSegmentName;
        const armarx::armem::MemoryID coreSegmentID;
        armarx::armem::client::Writer memoryWriter;
        armarx::armem::client::Reader memoryReader;
    };
 
} // namespace armarx::view_selection::client