Decay.h

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#pragma once
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/core/time/forward_declarations.h>
 
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 
namespace armarx::armem::server::obj::familiar_object_instance
{
 
    /**
     * @brief Models decay of object localizations by decreasing the confidence
     * the longer the object was not localized.
     */
    class Decay : public armarx::Logging
    {
    public:
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "decay.");
 
        void updateConfidence(objpose::ObjectPose& pose, const DateTime& now) const;
        void updateConfidences(objpose::ObjectPoseSeq& objectPoses, const DateTime& now) const;
 
    private:
        float calculateConfidence(const DateTime& localization, const DateTime& now) const;
 
 
    public:
        bool enabled = false;
 
        /// Duration after latest localization before decay starts.
        float delaySeconds = 5.0;
        /// How long to reach minConfidence.
        float durationSeconds = 20.0;
 
        float maxConfidence = 1.0;
        float minConfidence = 0.0f;
 
        float removeObjectsBelowConfidence = 0.1f;
 
        struct RemoteGui
        {
            armarx::RemoteGui::Client::GroupBox group;
 
            armarx::RemoteGui::Client::CheckBox enabled;
 
            armarx::RemoteGui::Client::FloatSpinBox delaySeconds;
            armarx::RemoteGui::Client::FloatSpinBox durationSeconds;
            armarx::RemoteGui::Client::FloatSlider maxConfidence;
            armarx::RemoteGui::Client::FloatSlider minConfidence;
 
            armarx::RemoteGui::Client::FloatSlider removeObjectsBelowConfidence;
 
            void setup(const Decay& decay);
            void update(Decay& decay);
        };
    };
 
} // namespace armarx::armem::server::obj::familiar_object_instance