Namespaces
namespace	actions

namespace	arondto

namespace	articulated_object

namespace	attachment

namespace	base

namespace	clazz

namespace	client
	This file is part of ArmarX.

namespace	data

namespace	detail

namespace	dto

namespace	error

namespace	exteroception

namespace	grasping

namespace	gui

namespace	human

namespace	id_graph

namespace	index

namespace	laser_scans

namespace	locations

namespace	marker

namespace	mns

namespace	motions

namespace	obj

namespace	objects

namespace	prop

namespace	query

namespace	robot_state

namespace	server

namespace	skills

namespace	task_outcome

namespace	tf_round_trip_live_test

namespace	vision

namespace	wm

Classes
struct	Commit
	A bundle of updates to be sent to the memory. More...

struct	CommitResult
	Result of a `Commit`. More...

struct	EntityUpdate
	An update of an entity for a specific point in time. More...

struct	EntityUpdateResult
	Result of an `EntityUpdate`. More...

class	GraspCandidateReader

class	GraspCandidateWriter

class	InstanceData
	The payload of one entity instance, in either ARON representation. More...

class	LegacyRobotStateMemoryAdapter

class	MemoryID
	A memory ID. More...

class	MemoryNameSystem
	Brief description of class MemoryNameSystem. More...

class	MemoryRemoteGui
	Utility for memory Remote Guis. More...

struct	ObjectInstance

struct	PredictionEngine

struct	PredictionRequest

struct	PredictionResult

struct	PredictionSettings

struct	SnapshotRangeInfo
	Holds info on snapshot data extracted from a time range. More...

Typedefs
using	ClientPlugin = client::plugins::Plugin

using	ClientPluginUser = client::plugins::PluginUser

using	ClientQueryBuilder = client::query::Builder

using	ClientQueryInput = client::QueryInput

using	ClientQueryResult = client::QueryResult

using	ClientReader = client::Reader

using	ClientWriter = client::Writer

using	Duration = armarx::core::time::Duration

using	ListeningClientPluginUser = client::plugins::ListeningPluginUser

using	ReadOnlyServerPluginUser = server::ReadOnlyPluginUser

using	ReadWriteServerPluginUser = server::ReadWritePluginUser

using	ServerComponentPluginUser = server::ComponentPluginUser

using	ServerPlugin = server::Plugin

using	Time = armarx::core::time::DateTime

Enumerations
enum class	UpdateType { UpdatedExisting , InsertedNew }
	The type of an update. More...

Functions
template<typename ValueT>
std::vector< ValueT >	accumulateEntriesContainingID (const std::map< MemoryID, std::vector< ValueT > > &idMap, const MemoryID &key)
	Return all values of keys containing the given ID in a flattened vector.

template<typename ValueT>
std::vector< ValueT >	accumulateEntriesContainingID (const std::map< MemoryID, ValueT > &idMap, const MemoryID &id)
	Return all values of keys containing the given ID.

template<typename AronClass>
std::vector< AronClass >	allOfType (const std::map< std::string, wm::Entity > &entities)
	Returns all entities that can be cast to AronClass.

armarx::grasping::BimanualGraspCandidate	asBimanualGraspCandidate (const armem::wm::EntityInstance &instance)

armarx::grasping::GraspCandidate	asGraspCandidate (const armem::wm::EntityInstance &instance)

bool	compareTimestamp (const MemoryID &lhs, const MemoryID &rhs)
	lhs.timestamp < rhs.timstamp

bool	compareTimestampDecreasing (const MemoryID &lhs, const MemoryID &rhs)
	lhs.timestamp > rhs.timstamp

bool	contains (const MemoryID &general, const MemoryID &specific)
	Indicates whether `general` is "less specific" than, or equal to, `specific`, i.e.

std::optional< std::pair< armarx::aron::data::DictPtr, armarx::aron::type::ObjectPtr > >	extractDataAndType (const armarx::armem::wm::Memory &memory, const armarx::armem::MemoryID &memoryID)
	get the data and type of the given MemoryID in the given Memory.

template<class ContainerT>
const ContainerT::EntityInstanceT *	findFirstInstance (const ContainerT &container)

template<typename ValueT>
std::map< MemoryID, ValueT >::const_iterator	findMostSpecificEntryContainingID (const std::map< MemoryID, ValueT > &idMap, const MemoryID &id)
	Find the entry with the most specific key that contains the given ID, or `idMap.end()` if no key contains the ID.

template<typename ValueT>
std::map< MemoryID, ValueT >::const_iterator	findMostSpecificEntryContainingIDAnd (const std::map< MemoryID, ValueT > &idMap, const MemoryID &id, const std::function< bool(const MemoryID &, const ValueT &)> &predicate)
	Find the entry with the most specific key that contains the given ID and satisfies the predicate, or `idMap.end()` if no key contains the ID and satisfies the predicate.

void	from_aron (const aron::data::DictPtr &metadata, const aron::data::DictPtr &data, wm::EntityInstance &)
	convert from metadata and data aron instance

void	from_json (const nlohmann::json &j, MemoryID &bo)

void	fromAron (const armarx::skills::arondto::ProviderID &dto, skills::ProviderID &bo)

void	fromAron (const armarx::skills::arondto::SkillDescription &dto, skills::SkillDescription &bo)

void	fromAron (const armarx::skills::arondto::SkillExecutionRequest &dto, skills::SkillExecutionRequest &bo)

void	fromAron (const armarx::skills::arondto::SkillID &dto, skills::SkillID &bo)

void	fromAron (const armarx::skills::arondto::SkillStatusUpdate &dto, skills::SkillStatusUpdate &bo)

void	fromAron (const armarx::skills::arondto::Statechart::ParameterMap &dto, armarx::StateParameterMap &bo)

void	fromAron (const armarx::skills::arondto::Statechart::StateType &dto, armarx::eStateType &bo)

void	fromAron (const armarx::skills::arondto::Statechart::Transition &dto, armarx::ProfilerStatechartTransitionWithParameters &bo)

void	fromAron (const arondto::attachment::AgentDescription &dto, attachment::AgentDescription &bo)

void	fromAron (const arondto::attachment::ArticulatedObjectAttachment &dto, attachment::ArticulatedObjectAttachment &bo)

void	fromAron (const arondto::attachment::ObjectAttachment &dto, attachment::ObjectAttachment &bo)

void	fromAron (const arondto::Marker &dto, marker::Marker &bo)

void	fromAron (const arondto::MemoryID &dto, MemoryID &bo)

void	fromAron (const arondto::ObjectInstance &dto, objpose::arondto::ObjectPose &bo)

void	fromAron (const arondto::ObjectInstance &dto, objpose::ObjectPose &bo)

void	fromAron (const arondto::Trajectory &dto, DMP::SampledTrajectoryV2 &bo, bool taskspace)

void	fromAron (const skills::arondto::Statechart::ParameterMap &dto, StateParameterMap &bo)

void	fromAron (const skills::arondto::Statechart::StateType &dto, eStateType &bo)

void	fromAron (const skills::arondto::Statechart::Transition &dto, ProfilerStatechartTransitionWithParameters &bo)

template<class IceT, class CppT>
void	fromIce (const ::IceInternal::Handle< IceT > &ice, CppT &cpp)

template<class IceT, class CppT>
void	fromIce (const ::IceInternal::Handle< IceT > &ice, std::unique_ptr< CppT > &cppPointer)

void	fromIce (const actions::data::MenuPtr &ice, actions::Menu &menu)

void	fromIce (const armem::prediction::data::PredictionEngine &ice, PredictionEngine &engine)

void	fromIce (const armem::prediction::data::PredictionRequest &ice, PredictionRequest &request)

void	fromIce (const armem::prediction::data::PredictionResult &ice, PredictionResult &result)

void	fromIce (const armem::prediction::data::PredictionSettings &ice, PredictionSettings &settings)

void	fromIce (const data::Commit &ice, Commit &commit)

void	fromIce (const data::Commit &ice, Commit &commit, Time timeArrived)

void	fromIce (const data::CommitResult &ice, CommitResult &result)

void	fromIce (const data::EntityUpdate &ice, EntityUpdate &update)

void	fromIce (const data::EntityUpdate &ice, EntityUpdate &update, Time timeArrived)

void	fromIce (const data::EntityUpdateResult &ice, EntityUpdateResult &result)

void	fromIce (const data::MemoryID &ice, MemoryID &id)

template<class CppT, class IceT>
CppT	fromIce (const IceT &ice)

template<class IceT, class CppT>
void	fromIce (const IceT &ice, std::unique_ptr< CppT > &cppPointer)

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
void	fromIce (const std::map< IceKeyT, IceValueT > &iceMap, boost::container::flat_map< CppKeyT, CppValueT > &cppMap)

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
void	fromIce (const std::map< IceKeyT, IceValueT > &iceMap, std::map< CppKeyT, CppValueT > &cppMap)

template<class IceT, class CppT>
void	fromIce (const std::vector< IceT > &ices, std::vector< CppT > &cpps)

template<class T>
void	fromIce (const T &ice, T &cpp)

std::vector< aron::data::DictPtr >	getAronData (const wm::EntitySnapshot &snapshot)

template<class ContainerT>
std::vector< MemoryID >	getEntityIDs (const ContainerT &container)

std::optional< MemoryID >	getMemoryIDParent (const MemoryID &memID)

template<typename SegmentType, typename DataType, typename LatestType>
SnapshotRangeInfo< DataType, LatestType >	getSnapshotsInRange (const SegmentType *segment, const MemoryID &entityID, const DateTime &startTime, const DateTime &endTime, std::function< DataType(const aron::data::DictPtr &)> dictToData, std::function< LatestType(const aron::data::DictPtr &)> dictToLatest)
	Get data points for the snapshots of an entity in a given time range.

std::ostream &	operator<< (std::ostream &os, const Commit &rhs)

std::ostream &	operator<< (std::ostream &os, const CommitResult &rhs)

std::ostream &	operator<< (std::ostream &os, const EntityUpdate &rhs)

std::ostream &	operator<< (std::ostream &os, const EntityUpdateResult &rhs)

std::ostream &	operator<< (std::ostream &os, const MemoryID id)

std::ostream &	operator<< (std::ostream &os, const std::vector< MemoryID > &rhs)

std::string	print (const wm::CoreSegment &data, int maxDepth=-1, int depth=0)

std::string	print (const wm::Entity &data, int maxDepth=-1, int depth=0)

std::string	print (const wm::EntityInstance &data, int maxDepth=-1, int depth=0)

std::string	print (const wm::EntitySnapshot &data, int maxDepth=-1, int depth=0)

std::string	print (const wm::Memory &data, int maxDepth=-1, int depth=0)

std::string	print (const wm::ProviderSegment &data, int maxDepth=-1, int depth=0)

std::optional< armarx::armem::wm::Memory >	resolveID (armarx::armem::client::MemoryNameSystem &mns, const armarx::armem::MemoryID &memoryID)
	resolve a single MemoryID with the given MemoryNameSystem.

pcl::PointCloud< pcl::PointXYZRGBA >	samplePointCloudFromTriMesh (const VirtualRobot::TriMeshModel &mesh, int sampleCount)

Time	timeFromStringMicroSeconds (const std::string &microSeconds)
	Get a `Time` from the microseconds as text.

void	to_aron (aron::data::DictPtr &metadata, aron::data::DictPtr &data, const wm::EntityInstance &)
	convert to metadata and aron instance

void	to_json (nlohmann::json &j, const MemoryID &bo)

void	toAron (armarx::skills::arondto::ProviderID &dto, const skills::ProviderID &bo)

void	toAron (armarx::skills::arondto::SkillDescription &dto, const skills::SkillDescription &bo)

void	toAron (armarx::skills::arondto::SkillExecutionRequest &dto, const skills::SkillExecutionRequest &bo)

void	toAron (armarx::skills::arondto::SkillID &dto, const skills::SkillID &bo)

void	toAron (armarx::skills::arondto::SkillStatusUpdate &dto, const skills::SkillStatusUpdate &bo)

void	toAron (armarx::skills::arondto::Statechart::ParameterMap &dto, const armarx::StateParameterMap &bo)

void	toAron (armarx::skills::arondto::Statechart::StateType &dto, const armarx::eStateType &bo)

void	toAron (armarx::skills::arondto::Statechart::Transition &dto, const armarx::ProfilerStatechartTransitionWithParameters &bo)

void	toAron (arondto::attachment::AgentDescription &dto, const attachment::AgentDescription &bo)

void	toAron (arondto::attachment::ArticulatedObjectAttachment &dto, const attachment::ArticulatedObjectAttachment &bo)

void	toAron (arondto::attachment::ObjectAttachment &dto, const attachment::ObjectAttachment &bo)

void	toAron (arondto::Marker &dto, const marker::Marker &bo)

void	toAron (arondto::MemoryID &dto, const MemoryID &bo)

void	toAron (arondto::ObjectInstance &dto, const objpose::arondto::ObjectPose &bo)

void	toAron (arondto::ObjectInstance &dto, const objpose::ObjectPose &bo)

void	toAron (arondto::Trajectory &dto, const DMP::SampledTrajectoryV2 &bo_taskspace, const DMP::SampledTrajectoryV2 &bo_jointspace, const std::string name)

void	toAron (skills::arondto::Statechart::ParameterMap &dto, const StateParameterMap &bo)

void	toAron (skills::arondto::Statechart::StateType &dto, const eStateType &bo)

void	toAron (skills::arondto::Statechart::Transition &dto, const ProfilerStatechartTransitionWithParameters &bo)

template<class ContainerT>
Commit	toCommit (const ContainerT &container)

std::string	toDateTimeMilliSeconds (const Time &time, int decimals=6)
	Returns `time`as e.g.

EntityUpdate	toEntityUpdate (const wm::EntitySnapshot &snapshot)

template<class IceT, class CppT>
void	toIce (::IceInternal::Handle< IceT > &ice, const CppT &cpp)

template<class IceT, class CppT>
void	toIce (::IceInternal::Handle< IceT > &ice, const std::unique_ptr< CppT > &cppPointer)

void	toIce (actions::data::MenuPtr &ice, const actions::Menu &menu)

void	toIce (armem::prediction::data::PredictionEngine &ice, const PredictionEngine &engine)

void	toIce (armem::prediction::data::PredictionRequest &ice, const PredictionRequest &request)

void	toIce (armem::prediction::data::PredictionResult &ice, const PredictionResult &result)

void	toIce (armem::prediction::data::PredictionSettings &ice, const PredictionSettings &settings)

template<class IceT, class CppT>
IceT	toIce (const CppT &cpp)

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
std::map< IceKeyT, IceValueT >	toIce (const std::map< CppKeyT, CppValueT > &cppMap)

template<class IceT, class CppT>
std::vector< IceT >	toIce (const std::vector< CppT > &cpps)

void	toIce (data::Commit &ice, const Commit &commit)

void	toIce (data::CommitResult &ice, const CommitResult &result)

void	toIce (data::EntityUpdate &ice, const EntityUpdate &update)

void	toIce (data::EntityUpdateResult &ice, const EntityUpdateResult &result)

void	toIce (data::MemoryID &ice, const MemoryID &id)

template<class IceT, class CppT>
void	toIce (IceT &ice, const std::unique_ptr< CppT > &cppPointer)

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
void	toIce (std::map< IceKeyT, IceValueT > &iceMap, const boost::container::flat_map< CppKeyT, CppValueT > &cppMap)

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
void	toIce (std::map< IceKeyT, IceValueT > &iceMap, const std::map< CppKeyT, CppValueT > &cppMap)

template<class IceT, class CppT>
void	toIce (std::vector< IceT > &ices, const std::vector< CppT > &cpps)

template<class T>
void	toIce (T &ice, const T &cpp)

std::string	toStringMicroSeconds (const Time &time)
	Returns `time` as e.g.

std::string	toStringMilliSeconds (const Time &time, int decimals=3)
	Returns `time` as e.g.

template<typename AronClass>
auto	transformAllOfType (const std::map< std::string, wm::Entity > &entities, auto pred) -> std::vector< decltype(pred(AronClass()))>
	filter + transform for entities.

template<typename AronClass>
std::optional< AronClass >	tryCast (const wm::EntityInstance &item)
	Tries to cast a armem::EntityInstance to AronClass.

Variables
constexpr const char *	DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE"

constexpr const char *	DATA_WRAPPER_ORIGIN_FIELD = "__ENTITY_METADATA__ORIGIN"

constexpr const char *	DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED"

constexpr const char *	DATA_WRAPPER_TIME_REFERENCED_FIELD = "__ENTITY_METADATA__TIME_REFERENCED"

constexpr const char *	DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT"

constexpr const char *	DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED"

std::map< armarx::skills::arondto::Statechart::StateType, armarx::eStateType >	fromAronStateTypeMap

std::map< armarx::eStateType, armarx::skills::arondto::Statechart::StateType >	toAronStateTypeMap

Typedef Documentation

◆ ClientPlugin

using ClientPlugin = client::plugins::Plugin

◆ ClientPluginUser

typedef client::PluginUser ClientPluginUser = client::plugins::PluginUser

◆ ClientQueryBuilder

using ClientQueryBuilder = client::query::Builder

◆ ClientQueryInput

using ClientQueryInput = client::QueryInput

◆ ClientQueryResult

using ClientQueryResult = client::QueryResult

◆ ClientReader

using ClientReader = client::Reader

◆ ClientWriter

using ClientWriter = client::Writer

◆ Duration

using Duration = armarx::core::time::Duration

◆ ListeningClientPluginUser

typedef client::ListeningPluginUser ListeningClientPluginUser = client::plugins::ListeningPluginUser

◆ ReadOnlyServerPluginUser

using ReadOnlyServerPluginUser = server::ReadOnlyPluginUser

◆ ReadWriteServerPluginUser

using ReadWriteServerPluginUser = server::ReadWritePluginUser

◆ ServerComponentPluginUser

using ServerComponentPluginUser = server::ComponentPluginUser

◆ ServerPlugin

using ServerPlugin = server::Plugin

◆ Time

using Time = armarx::core::time::DateTime

Enumeration Type Documentation

◆ UpdateType

enum class UpdateType

strong

The type of an update.

Enumerator
UpdatedExisting
InsertedNew

Function Documentation

◆ accumulateEntriesContainingID() [1/2]

template<typename ValueT>

std::vector< ValueT > accumulateEntriesContainingID	(	const std::map< MemoryID, std::vector< ValueT > > &	idMap,
		const MemoryID &	key )

Return all values of keys containing the given ID in a flattened vector.

See also: detail::accumulateFromPrefixes()

◆ accumulateEntriesContainingID() [2/2]

template<typename ValueT>

std::vector< ValueT > accumulateEntriesContainingID	(	const std::map< MemoryID, ValueT > &	idMap,
		const MemoryID &	id )

Return all values of keys containing the given ID.

See also: detail::accumulateFromPrefixes()

◆ allOfType()

template<typename AronClass>

std::vector< AronClass > allOfType ( const std::map< std::string, wm::Entity > & entities )

Returns all entities that can be cast to AronClass.

Template Parameters

AronClass class name. Needs to be derived from armarx::aron::cppcodegenerator::AronCppClass

Parameters

entities collection of entities

Returns: std::vector<AronClass>

◆ asBimanualGraspCandidate()

armarx::grasping::BimanualGraspCandidate asBimanualGraspCandidate ( const armem::wm::EntityInstance & instance )

◆ asGraspCandidate()

armarx::grasping::GraspCandidate asGraspCandidate ( const armem::wm::EntityInstance & instance )

◆ compareTimestamp()

bool compareTimestamp	(	const MemoryID &	lhs,
		const MemoryID &	rhs )

lhs.timestamp < rhs.timstamp

◆ compareTimestampDecreasing()

bool compareTimestampDecreasing	(	const MemoryID &	lhs,
		const MemoryID &	rhs )

lhs.timestamp > rhs.timstamp

◆ contains()

bool contains	(	const MemoryID &	general,
		const MemoryID &	specific )

Indicates whether general is "less specific" than, or equal to, specific, i.e.

general "contains" specific.

A memory ID A is said to be less specific than B, if B the same values as A for all levels specified in A, but potentially also specifies the lower levels.

Examples:

"" contains ""
"m" contains "m" and "m/c", but not "n" and "n/c"
"m/c" contains "m/c" and "m/c/p", but not "m/d" and "m/c/q"

If a memory ID has a gap (@see MemoryID::hasGap()), such as "m//p", the levels after the gap are ignored.

"m//p" contains "m", "m/c" and "m/c/p".

Parameters

general	The less specific memory ID
specific	The more specific memory ID

Returns: True if general is less specific than specific.

◆ extractDataAndType()

std::optional< std::pair< armarx::aron::data::DictPtr, armarx::aron::type::ObjectPtr > > extractDataAndType	(	const armarx::armem::wm::Memory &	memory,
		const armarx::armem::MemoryID &	memoryID )

get the data and type of the given MemoryID in the given Memory.

Returns the data and the type of the latest instance corresponding to the given MemoryID (whatever memory.findLatestInstance(memoryID) returns). If no such instance exists in the memory or no type for the instance is available, nothing is returned.

Parameters

memory	the Memory to extract the data and type from
memoryID	the MemoryID of the instance to extract

Returns: pair of data and type for the instance if available

◆ findFirstInstance()

template<class ContainerT>

const ContainerT::EntityInstanceT * findFirstInstance ( const ContainerT & container )

◆ findMostSpecificEntryContainingID()

template<typename ValueT>

std::map< MemoryID, ValueT >::const_iterator findMostSpecificEntryContainingID	(	const std::map< MemoryID, ValueT > &	idMap,
		const MemoryID &	id )

Find the entry with the most specific key that contains the given ID, or idMap.end() if no key contains the ID.

See also: detail::findEntryWithLongestPrefix()

◆ findMostSpecificEntryContainingIDAnd()

template<typename ValueT>

std::map< MemoryID, ValueT >::const_iterator findMostSpecificEntryContainingIDAnd	(	const std::map< MemoryID, ValueT > &	idMap,
		const MemoryID &	id,
		const std::function< bool(const MemoryID &, const ValueT &)> &	predicate )

Find the entry with the most specific key that contains the given ID and satisfies the predicate, or idMap.end() if no key contains the ID and satisfies the predicate.

See also: detail::findEntryWithLongestPrefixAnd()

◆ from_aron()

void from_aron	(	const aron::data::DictPtr &	metadata,
		const aron::data::DictPtr &	data,
		wm::EntityInstance &	e )

convert from metadata and data aron instance

◆ from_json()

void from_json	(	const nlohmann::json &	j,
		MemoryID &	bo )

◆ fromAron() [1/19]

void fromAron	(	const armarx::skills::arondto::ProviderID &	dto,
		skills::ProviderID &	bo )

◆ fromAron() [2/19]

void fromAron	(	const armarx::skills::arondto::SkillDescription &	dto,
		skills::SkillDescription &	bo )

◆ fromAron() [3/19]

void fromAron	(	const armarx::skills::arondto::SkillExecutionRequest &	dto,
		skills::SkillExecutionRequest &	bo )

◆ fromAron() [4/19]

void fromAron	(	const armarx::skills::arondto::SkillID &	dto,
		skills::SkillID &	bo )

◆ fromAron() [5/19]

void fromAron	(	const armarx::skills::arondto::SkillStatusUpdate &	dto,
		skills::SkillStatusUpdate &	bo )

◆ fromAron() [6/19]

void fromAron	(	const armarx::skills::arondto::Statechart::ParameterMap &	dto,
		armarx::StateParameterMap &	bo )

◆ fromAron() [7/19]

void fromAron	(	const armarx::skills::arondto::Statechart::StateType &	dto,
		armarx::eStateType &	bo )

◆ fromAron() [8/19]

void fromAron	(	const armarx::skills::arondto::Statechart::Transition &	dto,
		armarx::ProfilerStatechartTransitionWithParameters &	bo )

◆ fromAron() [9/19]

void fromAron	(	const arondto::attachment::AgentDescription &	dto,
		attachment::AgentDescription &	bo )

◆ fromAron() [10/19]

void fromAron	(	const arondto::attachment::ArticulatedObjectAttachment &	dto,
		attachment::ArticulatedObjectAttachment &	bo )

◆ fromAron() [11/19]

void fromAron	(	const arondto::attachment::ObjectAttachment &	dto,
		attachment::ObjectAttachment &	bo )

◆ fromAron() [12/19]

void fromAron	(	const arondto::Marker &	dto,
		marker::Marker &	bo )

◆ fromAron() [13/19]

void fromAron	(	const arondto::MemoryID &	dto,
		MemoryID &	bo )

◆ fromAron() [14/19]

void fromAron	(	const arondto::ObjectInstance &	dto,
		objpose::arondto::ObjectPose &	bo )

◆ fromAron() [15/19]

void fromAron	(	const arondto::ObjectInstance &	dto,
		objpose::ObjectPose &	bo )

◆ fromAron() [16/19]

void fromAron	(	const arondto::Trajectory &	dto,
		DMP::SampledTrajectoryV2 &	bo,
		bool	taskspace )

◆ fromAron() [17/19]

void fromAron	(	const skills::arondto::Statechart::ParameterMap &	dto,
		StateParameterMap &	bo )

◆ fromAron() [18/19]

void fromAron	(	const skills::arondto::Statechart::StateType &	dto,
		eStateType &	bo )

◆ fromAron() [19/19]

void fromAron	(	const skills::arondto::Statechart::Transition &	dto,
		ProfilerStatechartTransitionWithParameters &	bo )

◆ fromIce() [1/20]

template<class IceT, class CppT>

void fromIce	(	const ::IceInternal::Handle< IceT > &	ice,
		CppT &	cpp )

◆ fromIce() [2/20]

template<class IceT, class CppT>

void fromIce	(	const ::IceInternal::Handle< IceT > &	ice,
		std::unique_ptr< CppT > &	cppPointer )

◆ fromIce() [3/20]

void fromIce	(	const actions::data::MenuPtr &	ice,
		actions::Menu &	menu )

◆ fromIce() [4/20]

void fromIce	(	const armem::prediction::data::PredictionEngine &	ice,
		PredictionEngine &	engine )

◆ fromIce() [5/20]

void fromIce	(	const armem::prediction::data::PredictionRequest &	ice,
		PredictionRequest &	request )

◆ fromIce() [6/20]

void fromIce	(	const armem::prediction::data::PredictionResult &	ice,
		PredictionResult &	result )

◆ fromIce() [7/20]

void fromIce	(	const armem::prediction::data::PredictionSettings &	ice,
		PredictionSettings &	settings )

◆ fromIce() [8/20]

void fromIce	(	const data::Commit &	ice,
		Commit &	commit )

◆ fromIce() [9/20]

void fromIce	(	const data::Commit &	ice,
		Commit &	commit,
		Time	timeArrived )

◆ fromIce() [10/20]

void fromIce	(	const data::CommitResult &	ice,
		CommitResult &	result )

◆ fromIce() [11/20]

void fromIce	(	const data::EntityUpdate &	ice,
		EntityUpdate &	update )

◆ fromIce() [12/20]

void fromIce	(	const data::EntityUpdate &	ice,
		EntityUpdate &	update,
		Time	timeArrived )

◆ fromIce() [13/20]

void fromIce	(	const data::EntityUpdateResult &	ice,
		EntityUpdateResult &	result )

◆ fromIce() [14/20]

void fromIce	(	const data::MemoryID &	ice,
		MemoryID &	id )

◆ fromIce() [15/20]

template<class CppT, class IceT>

CppT fromIce ( const IceT & ice )

◆ fromIce() [16/20]

template<class IceT, class CppT>

void fromIce	(	const IceT &	ice,
		std::unique_ptr< CppT > &	cppPointer )

◆ fromIce() [17/20]

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>

void fromIce	(	const std::map< IceKeyT, IceValueT > &	iceMap,
		boost::container::flat_map< CppKeyT, CppValueT > &	cppMap )

◆ fromIce() [18/20]

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>

void fromIce	(	const std::map< IceKeyT, IceValueT > &	iceMap,
		std::map< CppKeyT, CppValueT > &	cppMap )

◆ fromIce() [19/20]

template<class IceT, class CppT>

void fromIce	(	const std::vector< IceT > &	ices,
		std::vector< CppT > &	cpps )

◆ fromIce() [20/20]

template<class T>

void fromIce	(	const T &	ice,
		T &	cpp )

◆ getAronData()

std::vector< aron::data::DictPtr > getAronData ( const wm::EntitySnapshot & snapshot )

◆ getEntityIDs()

template<class ContainerT>

std::vector< MemoryID > getEntityIDs ( const ContainerT & container )

◆ getMemoryIDParent()

std::optional< MemoryID > getMemoryIDParent ( const MemoryID & memID )

inline

◆ getSnapshotsInRange()

template<typename SegmentType, typename DataType, typename LatestType>

SnapshotRangeInfo< DataType, LatestType > getSnapshotsInRange	(	const SegmentType *	segment,
		const MemoryID &	entityID,
		const DateTime &	startTime,
		const DateTime &	endTime,
		std::function< DataType(const aron::data::DictPtr &)>	dictToData,
		std::function< LatestType(const aron::data::DictPtr &)>	dictToLatest )

Get data points for the snapshots of an entity in a given time range.

The resulting SnapshotRangeInfo is useful for performing predictions. Data from the individual snapshots is given to the conversion functions before being stored in the result. Timestamps in the timestampsSec vector are relative to the endTime parameter to this function. Data from a snapshot is always retrieved from the instance with index 0. If some data cannot be retrieved, success is set to false and the errorMessage in the return value is set accordingly.

Parameters

segment	the segment to get the snapshot data from
entityID	the entity to get the data for
startTime	the beginning of the time range
endTime	the end of the time range. Timestamps are relative to this value
dictToData	the conversion function from `DictPtr` to `DataType`
dictToLatest	the conversion function from `DictPtr` to `LatestType`

Returns: the corresponding LatestSnapshotInfo

◆ operator<<() [1/6]

std::ostream & operator<<	(	std::ostream &	os,
		const Commit &	rhs )

◆ operator<<() [2/6]

std::ostream & operator<<	(	std::ostream &	os,
		const CommitResult &	rhs )

◆ operator<<() [3/6]

std::ostream & operator<<	(	std::ostream &	os,
		const EntityUpdate &	rhs )

◆ operator<<() [4/6]

std::ostream & operator<<	(	std::ostream &	os,
		const EntityUpdateResult &	rhs )

◆ operator<<() [5/6]

std::ostream & operator<<	(	std::ostream &	os,
		const MemoryID	id )

◆ operator<<() [6/6]

std::ostream & operator<<	(	std::ostream &	os,
		const std::vector< MemoryID > &	rhs )

◆ print() [1/6]

std::string print	(	const wm::CoreSegment &	data,
		int	maxDepth = -1,
		int	depth = 0 )

◆ print() [2/6]

std::string print	(	const wm::Entity &	data,
		int	maxDepth = -1,
		int	depth = 0 )

◆ print() [3/6]

std::string print	(	const wm::EntityInstance &	data,
		int	maxDepth = -1,
		int	depth = 0 )

◆ print() [4/6]

std::string print	(	const wm::EntitySnapshot &	data,
		int	maxDepth = -1,
		int	depth = 0 )

◆ print() [5/6]

std::string print	(	const wm::Memory &	data,
		int	maxDepth = -1,
		int	depth = 0 )

◆ print() [6/6]

std::string print	(	const wm::ProviderSegment &	data,
		int	maxDepth = -1,
		int	depth = 0 )

◆ resolveID()

std::optional< armarx::armem::wm::Memory > resolveID	(	armarx::armem::client::MemoryNameSystem &	mns,
		const armarx::armem::MemoryID &	memoryID )

resolve a single MemoryID with the given MemoryNameSystem.

Returns a Memory containing only the desired segment / entity if it was successfully queried. If the query was unsuccessful (the MNS could not resolve the memory server, the MemoryID does not exist, etc.), nothing is returned.

Parameters

mns	the MemoryNameSystem to use for the query
memoryID	the MemoryID to query for

Returns: memory containing the object referenced by the MemoryID if available

◆ samplePointCloudFromTriMesh()

pcl::PointCloud< pcl::PointXYZRGBA > samplePointCloudFromTriMesh	(	const VirtualRobot::TriMeshModel &	mesh,
		int	sampleCount )

◆ timeFromStringMicroSeconds()

armem::Time timeFromStringMicroSeconds ( const std::string & microSeconds )

Get a Time from the microseconds as text.

◆ to_aron()

void to_aron	(	aron::data::DictPtr &	metadata,
		aron::data::DictPtr &	data,
		const wm::EntityInstance &	e )

convert to metadata and aron instance

◆ to_json()

void to_json	(	nlohmann::json &	j,
		const MemoryID &	bo )

◆ toAron() [1/19]

void toAron	(	armarx::skills::arondto::ProviderID &	dto,
		const skills::ProviderID &	bo )

◆ toAron() [2/19]

void toAron	(	armarx::skills::arondto::SkillDescription &	dto,
		const skills::SkillDescription &	bo )

◆ toAron() [3/19]

void toAron	(	armarx::skills::arondto::SkillExecutionRequest &	dto,
		const skills::SkillExecutionRequest &	bo )

◆ toAron() [4/19]

void toAron	(	armarx::skills::arondto::SkillID &	dto,
		const skills::SkillID &	bo )

◆ toAron() [5/19]

void toAron	(	armarx::skills::arondto::SkillStatusUpdate &	dto,
		const skills::SkillStatusUpdate &	bo )

◆ toAron() [6/19]

void toAron	(	armarx::skills::arondto::Statechart::ParameterMap &	dto,
		const armarx::StateParameterMap &	bo )

◆ toAron() [7/19]

void toAron	(	armarx::skills::arondto::Statechart::StateType &	dto,
		const armarx::eStateType &	bo )

◆ toAron() [8/19]

void toAron	(	armarx::skills::arondto::Statechart::Transition &	dto,
		const armarx::ProfilerStatechartTransitionWithParameters &	bo )

◆ toAron() [9/19]

void toAron	(	arondto::attachment::AgentDescription &	dto,
		const attachment::AgentDescription &	bo )

◆ toAron() [10/19]

void toAron	(	arondto::attachment::ArticulatedObjectAttachment &	dto,
		const attachment::ArticulatedObjectAttachment &	bo )

◆ toAron() [11/19]

void toAron	(	arondto::attachment::ObjectAttachment &	dto,
		const attachment::ObjectAttachment &	bo )

◆ toAron() [12/19]

void toAron	(	arondto::Marker &	dto,
		const marker::Marker &	bo )

◆ toAron() [13/19]

void toAron	(	arondto::MemoryID &	dto,
		const MemoryID &	bo )

◆ toAron() [14/19]

void toAron	(	arondto::ObjectInstance &	dto,
		const objpose::arondto::ObjectPose &	bo )

◆ toAron() [15/19]

void toAron	(	arondto::ObjectInstance &	dto,
		const objpose::ObjectPose &	bo )

◆ toAron() [16/19]

void toAron	(	arondto::Trajectory &	dto,
		const DMP::SampledTrajectoryV2 &	bo_taskspace,
		const DMP::SampledTrajectoryV2 &	bo_jointspace,
		const std::string	name )

◆ toAron() [17/19]

void toAron	(	skills::arondto::Statechart::ParameterMap &	dto,
		const StateParameterMap &	bo )

◆ toAron() [18/19]

void toAron	(	skills::arondto::Statechart::StateType &	dto,
		const eStateType &	bo )

◆ toAron() [19/19]

void toAron	(	skills::arondto::Statechart::Transition &	dto,
		const ProfilerStatechartTransitionWithParameters &	bo )

◆ toCommit()

template<class ContainerT>

Commit toCommit ( const ContainerT & container )

◆ toDateTimeMilliSeconds()

std::string toDateTimeMilliSeconds	(	const Time &	time,
		int	decimals = 6 )

Returns timeas e.g.

"2020-11-16 17:01:54.123456".

Parameters

decimals How many sub-second decimals to include.

◆ toEntityUpdate()

armem::EntityUpdate toEntityUpdate ( const wm::EntitySnapshot & snapshot )

◆ toIce() [1/20]

template<class IceT, class CppT>

void toIce	(	::IceInternal::Handle< IceT > &	ice,
		const CppT &	cpp )

◆ toIce() [2/20]

template<class IceT, class CppT>

void toIce	(	::IceInternal::Handle< IceT > &	ice,
		const std::unique_ptr< CppT > &	cppPointer )

◆ toIce() [3/20]

void toIce	(	actions::data::MenuPtr &	ice,
		const actions::Menu &	menu )

◆ toIce() [4/20]

void toIce	(	armem::prediction::data::PredictionEngine &	ice,
		const PredictionEngine &	engine )

◆ toIce() [5/20]

void toIce	(	armem::prediction::data::PredictionRequest &	ice,
		const PredictionRequest &	request )

◆ toIce() [6/20]

void toIce	(	armem::prediction::data::PredictionResult &	ice,
		const PredictionResult &	result )

◆ toIce() [7/20]

void toIce	(	armem::prediction::data::PredictionSettings &	ice,
		const PredictionSettings &	settings )

◆ toIce() [8/20]

template<class IceT, class CppT>

IceT toIce ( const CppT & cpp )

◆ toIce() [9/20]

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>

std::map< IceKeyT, IceValueT > toIce ( const std::map< CppKeyT, CppValueT > & cppMap )

◆ toIce() [10/20]

template<class IceT, class CppT>

std::vector< IceT > toIce ( const std::vector< CppT > & cpps )

◆ toIce() [11/20]

void toIce	(	data::Commit &	ice,
		const Commit &	commit )

◆ toIce() [12/20]

void toIce	(	data::CommitResult &	ice,
		const CommitResult &	result )

◆ toIce() [13/20]

void toIce	(	data::EntityUpdate &	ice,
		const EntityUpdate &	update )

◆ toIce() [14/20]

void toIce	(	data::EntityUpdateResult &	ice,
		const EntityUpdateResult &	result )

◆ toIce() [15/20]

void toIce	(	data::MemoryID &	ice,
		const MemoryID &	id )

◆ toIce() [16/20]

template<class IceT, class CppT>

void toIce	(	IceT &	ice,
		const std::unique_ptr< CppT > &	cppPointer )

◆ toIce() [17/20]

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>

void toIce	(	std::map< IceKeyT, IceValueT > &	iceMap,
		const boost::container::flat_map< CppKeyT, CppValueT > &	cppMap )

◆ toIce() [18/20]

template<class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>

void toIce	(	std::map< IceKeyT, IceValueT > &	iceMap,
		const std::map< CppKeyT, CppValueT > &	cppMap )

◆ toIce() [19/20]

template<class IceT, class CppT>

void toIce	(	std::vector< IceT > &	ices,
		const std::vector< CppT > &	cpps )

◆ toIce() [20/20]

template<class T>

void toIce	(	T &	ice,
		const T &	cpp )

◆ toStringMicroSeconds()

std::string toStringMicroSeconds ( const Time & time )

Returns time as e.g.

"123456789012 `mu`s". The output string contains the actual greek letter mu.

◆ toStringMilliSeconds()

std::string toStringMilliSeconds	(	const Time &	time,
		int	decimals = 3 )

Returns time as e.g.

"123456789.012 ms".

Parameters

decimals How many sub-millisecond decimals to include.

◆ transformAllOfType()

template<typename AronClass>

auto transformAllOfType	(	const std::map< std::string, wm::Entity > &	entities,
		auto	pred ) -> std::vector<decltype(pred(AronClass()))>

filter + transform for entities.

Can be used instead of

 std::vector<Bar> ret;

 const auto allOf = allOfType<Foo>(entities);
 std::transform(allOf.begin(), allOf.end(), std::back_inserter(ret), pred)

This function has the benefit that the transform function will be applied directly. No intermediate vector has to be created (e.g. "allOf" in the example above).

Template Parameters

AronClass class name. Needs to be derived from armarx::aron::cppcodegenerator::AronCppClass

Parameters

entities	collection of entities
pred	binary predicate function, applied to all entity instances

Returns: vector of "pred"-transformed elements that can be cast to AronClass

◆ tryCast()

template<typename AronClass>

std::optional< AronClass > tryCast ( const wm::EntityInstance & item )

Tries to cast a armem::EntityInstance to AronClass.

Template Parameters

AronClass class name. Needs to be derived from armarx::aron::cppcodegenerator::AronCppClass

Parameters

item

Returns: std::optional<AronClass>

Variable Documentation

◆ DATA_WRAPPER_CONFIDENCE_FIELD

const char* DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE"

constexpr

◆ DATA_WRAPPER_ORIGIN_FIELD

const char* DATA_WRAPPER_ORIGIN_FIELD = "__ENTITY_METADATA__ORIGIN"

constexpr

◆ DATA_WRAPPER_TIME_ARRIVED_FIELD

const char* DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED"

constexpr

◆ DATA_WRAPPER_TIME_REFERENCED_FIELD

const char* DATA_WRAPPER_TIME_REFERENCED_FIELD = "__ENTITY_METADATA__TIME_REFERENCED"

constexpr

◆ DATA_WRAPPER_TIME_SENT_FIELD

const char* DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT"

constexpr

◆ DATA_WRAPPER_TIME_STORED_FIELD

const char* DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED"

constexpr

◆ fromAronStateTypeMap

std::map<armarx::skills::arondto::Statechart::StateType, armarx::eStateType> fromAronStateTypeMap

Initial value:

= {
            {(armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::NORMAL,
             eNormalState},
            {(armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::FINAL,
             eFinalState},
            {(armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::REMOTE,
             eRemoteState},
            {(armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::DYNAMIC_REMOTE,
             eDynamicRemoteState},
            {(armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::UNDEFINED,
             eUndefined},
    }

◆ toAronStateTypeMap

std::map<armarx::eStateType, armarx::skills::arondto::Statechart::StateType> toAronStateTypeMap

Initial value:

= {
            {eNormalState,
             (armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::NORMAL},
            {eFinalState,
             (armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::FINAL},
            {eRemoteState,
             (armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::REMOTE},
            {eDynamicRemoteState,
             (armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::DYNAMIC_REMOTE},
            {eUndefined,
             (armarx::skills::arondto::Statechart::StateType)
                 armarx::skills::arondto::Statechart::StateType::UNDEFINED},
    }

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ClientPlugin

◆ ClientPluginUser

◆ ClientQueryBuilder

◆ ClientQueryInput

◆ ClientQueryResult

◆ ClientReader

◆ ClientWriter

◆ Duration

◆ ListeningClientPluginUser

◆ ReadOnlyServerPluginUser

◆ ReadWriteServerPluginUser

◆ ServerComponentPluginUser

◆ ServerPlugin

◆ Time

Enumeration Type Documentation

◆ UpdateType

Function Documentation

◆ accumulateEntriesContainingID() [1/2]

◆ accumulateEntriesContainingID() [2/2]

◆ allOfType()

◆ asBimanualGraspCandidate()

◆ asGraspCandidate()

◆ compareTimestamp()

◆ compareTimestampDecreasing()

◆ contains()

◆ extractDataAndType()

◆ findFirstInstance()

◆ findMostSpecificEntryContainingID()

◆ findMostSpecificEntryContainingIDAnd()

◆ from_aron()

◆ from_json()

◆ fromAron() [1/19]

◆ fromAron() [2/19]

◆ fromAron() [3/19]

◆ fromAron() [4/19]

◆ fromAron() [5/19]

◆ fromAron() [6/19]

◆ fromAron() [7/19]

◆ fromAron() [8/19]

◆ fromAron() [9/19]

◆ fromAron() [10/19]

◆ fromAron() [11/19]

◆ fromAron() [12/19]

◆ fromAron() [13/19]

◆ fromAron() [14/19]

◆ fromAron() [15/19]

◆ fromAron() [16/19]

◆ fromAron() [17/19]

◆ fromAron() [18/19]

◆ fromAron() [19/19]

◆ fromIce() [1/20]

◆ fromIce() [2/20]

◆ fromIce() [3/20]

◆ fromIce() [4/20]

◆ fromIce() [5/20]

◆ fromIce() [6/20]

◆ fromIce() [7/20]

◆ fromIce() [8/20]

◆ fromIce() [9/20]

◆ fromIce() [10/20]

◆ fromIce() [11/20]

◆ fromIce() [12/20]

◆ fromIce() [13/20]

◆ fromIce() [14/20]

◆ fromIce() [15/20]

◆ fromIce() [16/20]

◆ fromIce() [17/20]

◆ fromIce() [18/20]

◆ fromIce() [19/20]

◆ fromIce() [20/20]

◆ getAronData()

◆ getEntityIDs()

◆ getMemoryIDParent()