armarx::armem Namespace Reference

Namespaces

 actions
 
 arondto
 
 articulated_object
 
 attachment
 
 base
 
 clazz
 
 client
 This file is part of ArmarX.
 
 data
 
 detail
 
 dto
 
 error
 
 exteroception
 
 grasping
 
 gui
 
 human
 
 id_graph
 
 index
 
 laser_scans
 
 locations
 
 marker
 
 mns
 
 motions
 
 obj
 
 objects
 
 prop
 
 query
 
 robot_state
 
 server
 
 vision
 
 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  LegacyRobotStateMemoryAdapter
 
class  MemoryID
 A memory ID. More...
 
class  MemoryNameSystem
 Brief description of class MemoryNameSystem. 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  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. More...
 
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. More...
 
template<typename AronClass >
std::vector< AronClass > allOfType (const std::map< std::string, wm::Entity > &entities)
 Returns all entities that can be cast to AronClass. More...
 
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 More...
 
bool compareTimestampDecreasing (const MemoryID &lhs, const MemoryID &rhs)
 lhs.timestamp > rhs.timstamp More...
 
bool contains (const MemoryID &general, const MemoryID &specific)
 Indicates whether general is "less specific" than, or equal to, specific, i.e. More...
 
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. More...
 
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. More...
 
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. More...
 
void from_aron (const aron::data::DictPtr &metadata, const aron::data::DictPtr &data, wm::EntityInstance &)
 convert from metadata and data aron instance More...
 
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::DictPtrgetAronData (const wm::EntitySnapshot &snapshot)
 
template<class ContainerT >
std::vector< MemoryIDgetEntityIDs (const ContainerT &container)
 
std::optional< MemoryIDgetMemoryIDParent (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. More...
 
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::MemoryresolveID (armarx::armem::client::MemoryNameSystem &mns, const armarx::armem::MemoryID &memoryID)
 resolve a single MemoryID with the given MemoryNameSystem. More...
 
Time timeFromStringMicroSeconds (const std::string &microSeconds)
 Get a Time from the microseconds as text. More...
 
void to_aron (aron::data::DictPtr &metadata, aron::data::DictPtr &data, const wm::EntityInstance &)
 convert to metadata and aron instance More...
 
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 timeas e.g. More...
 
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. More...
 
std::string toStringMilliSeconds (const Time &time, int decimals=3)
 Returns time as e.g. More...
 
template<typename AronClass >
auto transformAllOfType (const std::map< std::string, wm::Entity > &entities, auto pred) -> std::vector< decltype(pred(AronClass()))>
 filter + transform for entities. More...
 
template<typename AronClass >
std::optional< AronClass > tryCast (const wm::EntityInstance &item)
 Tries to cast a armem::EntityInstance to AronClass. More...
 

Variables

constexpr const char * DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE"
 
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

Definition at line 33 of file forward_declarations.h.

◆ ClientPluginUser

Definition at line 34 of file forward_declarations.h.

◆ ClientQueryBuilder

Definition at line 20 of file client.h.

◆ ClientQueryInput

Definition at line 18 of file client.h.

◆ ClientQueryResult

Definition at line 19 of file client.h.

◆ ClientReader

Definition at line 15 of file client.h.

◆ ClientWriter

Definition at line 16 of file client.h.

◆ Duration

Definition at line 14 of file forward_declarations.h.

◆ ListeningClientPluginUser

◆ ReadOnlyServerPluginUser

Definition at line 18 of file plugins.h.

◆ ReadWriteServerPluginUser

◆ ServerComponentPluginUser

using ServerComponentPluginUser = server::ComponentPluginUser

Definition at line 10 of file server.h.

◆ ServerPlugin

Definition at line 17 of file plugins.h.

◆ Time

Definition at line 13 of file forward_declarations.h.

Enumeration Type Documentation

◆ UpdateType

enum UpdateType
strong

The type of an update.

Enumerator
UpdatedExisting 
InsertedNew 

Definition at line 18 of file Commit.h.

Function Documentation

◆ accumulateEntriesContainingID() [1/2]

std::vector<ValueT> armarx::armem::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()

Definition at line 278 of file container_maps.h.

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◆ accumulateEntriesContainingID() [2/2]

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

Return all values of keys containing the given ID.

See also
detail::accumulateFromPrefixes()

Definition at line 265 of file container_maps.h.

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◆ allOfType()

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

Returns all entities that can be cast to AronClass.

Template Parameters
AronClassclass name. Needs to be derived from armarx::aron::cppcodegenerator::AronCppClass
Parameters
entitiescollection of entities
Returns
std::vector<AronClass>

Definition at line 82 of file util.h.

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◆ asBimanualGraspCandidate()

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

Definition at line 52 of file GraspCandidateReader.cpp.

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◆ asGraspCandidate()

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

Definition at line 38 of file GraspCandidateReader.cpp.

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◆ compareTimestamp()

bool compareTimestamp ( const MemoryID lhs,
const MemoryID rhs 
)

lhs.timestamp < rhs.timstamp

Definition at line 17 of file MemoryID_operators.cpp.

◆ compareTimestampDecreasing()

bool compareTimestampDecreasing ( const MemoryID lhs,
const MemoryID rhs 
)

lhs.timestamp > rhs.timstamp

Definition at line 23 of file MemoryID_operators.cpp.

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◆ 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
generalThe less specific memory ID
specificThe more specific memory ID
Returns
True if general is less specific than specific.

Definition at line 558 of file MemoryID.cpp.

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◆ 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
memorythe Memory to extract the data and type from
memoryIDthe MemoryID of the instance to extract
Returns
pair of data and type for the instance if available

Definition at line 35 of file util.cpp.

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◆ findFirstInstance()

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

Definition at line 41 of file operations.h.

◆ findMostSpecificEntryContainingID()

std::map<MemoryID, ValueT>::const_iterator armarx::armem::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()

Definition at line 235 of file container_maps.h.

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◆ findMostSpecificEntryContainingIDAnd()

std::map<MemoryID, ValueT>::const_iterator armarx::armem::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()

Definition at line 250 of file container_maps.h.

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◆ 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

Definition at line 16 of file aron_conversions.cpp.

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◆ from_json()

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

Definition at line 17 of file json_conversions.cpp.

◆ fromAron() [1/19]

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

Definition at line 121 of file aron_conversions.cpp.

◆ fromAron() [2/19]

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

Definition at line 152 of file aron_conversions.cpp.

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◆ fromAron() [3/19]

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

Definition at line 181 of file aron_conversions.cpp.

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◆ fromAron() [4/19]

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

Definition at line 133 of file aron_conversions.cpp.

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◆ fromAron() [5/19]

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

Definition at line 199 of file aron_conversions.cpp.

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◆ fromAron() [6/19]

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

◆ fromAron() [7/19]

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

◆ fromAron() [8/19]

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

◆ fromAron() [9/19]

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

Definition at line 36 of file aron_conversions.cpp.

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◆ fromAron() [10/19]

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

Definition at line 74 of file aron_conversions.cpp.

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◆ fromAron() [11/19]

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

Definition at line 52 of file aron_conversions.cpp.

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◆ fromAron() [12/19]

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

Definition at line 107 of file aron_conversions.cpp.

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◆ fromAron() [13/19]

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

Definition at line 8 of file aron_conversions.cpp.

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◆ fromAron() [14/19]

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

Definition at line 11 of file aron_conversions.cpp.

◆ fromAron() [15/19]

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

Definition at line 23 of file aron_conversions.cpp.

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◆ fromAron() [16/19]

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

Definition at line 9 of file aron_conversions.cpp.

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◆ fromAron() [17/19]

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

Definition at line 73 of file aron_conversions.cpp.

◆ fromAron() [18/19]

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

Definition at line 47 of file aron_conversions.cpp.

◆ fromAron() [19/19]

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

Definition at line 93 of file aron_conversions.cpp.

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◆ fromIce() [1/20]

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

Definition at line 37 of file ice_conversions_templates.h.

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◆ fromIce() [2/20]

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

Definition at line 102 of file ice_conversions_templates.h.

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◆ fromIce() [3/20]

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

Definition at line 143 of file ice_conversions.cpp.

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◆ fromIce() [4/20]

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

Definition at line 86 of file Prediction.cpp.

◆ fromIce() [5/20]

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

Definition at line 111 of file Prediction.cpp.

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◆ fromIce() [6/20]

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

Definition at line 134 of file Prediction.cpp.

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◆ fromIce() [7/20]

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

Definition at line 98 of file Prediction.cpp.

◆ fromIce() [8/20]

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

Definition at line 41 of file ice_conversions.cpp.

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◆ fromIce() [9/20]

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

Definition at line 127 of file ice_conversions.cpp.

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◆ fromIce() [10/20]

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

Definition at line 61 of file ice_conversions.cpp.

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◆ fromIce() [11/20]

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

Definition at line 81 of file ice_conversions.cpp.

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◆ fromIce() [12/20]

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

Definition at line 137 of file ice_conversions.cpp.

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◆ fromIce() [13/20]

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

Definition at line 111 of file ice_conversions.cpp.

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◆ fromIce() [14/20]

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

Definition at line 31 of file ice_conversions.cpp.

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◆ fromIce() [15/20]

CppT armarx::armem::fromIce ( const IceT &  ice)

Definition at line 57 of file ice_conversions_templates.h.

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◆ fromIce() [16/20]

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

Definition at line 77 of file ice_conversions_templates.h.

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◆ fromIce() [17/20]

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

Definition at line 24 of file ice_conversions_boost_templates.h.

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◆ fromIce() [18/20]

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

Definition at line 166 of file ice_conversions_templates.h.

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◆ fromIce() [19/20]

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

Definition at line 131 of file ice_conversions_templates.h.

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◆ fromIce() [20/20]

void armarx::armem::fromIce ( const T ice,
T cpp 
)

Definition at line 21 of file ice_conversions_templates.h.

◆ getAronData()

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

Definition at line 12 of file operations.cpp.

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◆ getEntityIDs()

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

Definition at line 54 of file operations.h.

◆ getMemoryIDParent()

std::optional<MemoryID> armarx::armem::getMemoryIDParent ( const MemoryID memID)
inline

Definition at line 216 of file container_maps.h.

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◆ getSnapshotsInRange()

SnapshotRangeInfo<DataType, LatestType> armarx::armem::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
segmentthe segment to get the snapshot data from
entityIDthe entity to get the data for
startTimethe beginning of the time range
endTimethe end of the time range. Timestamps are relative to this value
dictToDatathe conversion function from DictPtr to DataType
dictToLatestthe conversion function from DictPtr to LatestType
Returns
the corresponding LatestSnapshotInfo

Definition at line 72 of file prediction_helpers.h.

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◆ operator<<() [1/6]

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

Definition at line 34 of file Commit.cpp.

◆ operator<<() [2/6]

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

Definition at line 48 of file Commit.cpp.

◆ operator<<() [3/6]

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

Definition at line 13 of file Commit.cpp.

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◆ operator<<() [4/6]

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

Definition at line 23 of file Commit.cpp.

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◆ operator<<() [5/6]

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

Definition at line 552 of file MemoryID.cpp.

◆ operator<<() [6/6]

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

Definition at line 6 of file MemoryID_operators.cpp.

◆ print() [1/6]

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

Definition at line 77 of file operations.cpp.

◆ print() [2/6]

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

Definition at line 85 of file operations.cpp.

◆ print() [3/6]

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

Definition at line 94 of file operations.cpp.

◆ print() [4/6]

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

Definition at line 89 of file operations.cpp.

◆ print() [5/6]

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

Definition at line 73 of file operations.cpp.

◆ print() [6/6]

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

Definition at line 81 of file operations.cpp.

◆ 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
mnsthe MemoryNameSystem to use for the query
memoryIDthe MemoryID to query for
Returns
memory containing the object referenced by the MemoryID if available

Definition at line 10 of file util.cpp.

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◆ timeFromStringMicroSeconds()

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

Get a Time from the microseconds as text.

Definition at line 50 of file Time.cpp.

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◆ to_aron()

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

convert to metadata and aron instance

Definition at line 39 of file aron_conversions.cpp.

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◆ to_json()

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

Definition at line 6 of file json_conversions.cpp.

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◆ toAron() [1/19]

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

Definition at line 127 of file aron_conversions.cpp.

◆ toAron() [2/19]

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

Definition at line 165 of file aron_conversions.cpp.

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◆ toAron() [3/19]

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

Definition at line 190 of file aron_conversions.cpp.

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◆ toAron() [4/19]

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

Definition at line 141 of file aron_conversions.cpp.

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◆ toAron() [5/19]

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

Definition at line 219 of file aron_conversions.cpp.

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◆ toAron() [6/19]

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

◆ toAron() [7/19]

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

◆ toAron() [8/19]

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

◆ toAron() [9/19]

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

Definition at line 44 of file aron_conversions.cpp.

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◆ toAron() [10/19]

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

Definition at line 85 of file aron_conversions.cpp.

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◆ toAron() [11/19]

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

Definition at line 63 of file aron_conversions.cpp.

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◆ toAron() [12/19]

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

Definition at line 96 of file aron_conversions.cpp.

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◆ toAron() [13/19]

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

Definition at line 19 of file aron_conversions.cpp.

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◆ toAron() [14/19]

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

Definition at line 17 of file aron_conversions.cpp.

◆ toAron() [15/19]

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

Definition at line 29 of file aron_conversions.cpp.

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◆ toAron() [16/19]

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

Definition at line 37 of file aron_conversions.cpp.

◆ toAron() [17/19]

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

Definition at line 84 of file aron_conversions.cpp.

◆ toAron() [18/19]

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

Definition at line 60 of file aron_conversions.cpp.

◆ toAron() [19/19]

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

Definition at line 107 of file aron_conversions.cpp.

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◆ toCommit()

Commit armarx::armem::toCommit ( const ContainerT &  container)

Definition at line 27 of file operations.h.

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◆ toDateTimeMilliSeconds()

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

Returns timeas e.g.

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

Parameters
decimalsHow many sub-second decimals to include.

Definition at line 35 of file Time.cpp.

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◆ toEntityUpdate()

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

Definition at line 24 of file operations.cpp.

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◆ toIce() [1/20]

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

Definition at line 30 of file ice_conversions_templates.h.

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◆ toIce() [2/20]

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

Definition at line 88 of file ice_conversions_templates.h.

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◆ toIce() [3/20]

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

Definition at line 148 of file ice_conversions.cpp.

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◆ toIce() [4/20]

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

Definition at line 80 of file Prediction.cpp.

◆ toIce() [5/20]

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

Definition at line 104 of file Prediction.cpp.

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◆ toIce() [6/20]

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

Definition at line 118 of file Prediction.cpp.

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◆ toIce() [7/20]

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

Definition at line 92 of file Prediction.cpp.

◆ toIce() [8/20]

IceT armarx::armem::toIce ( const CppT &  cpp)

Definition at line 49 of file ice_conversions_templates.h.

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◆ toIce() [9/20]

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

Definition at line 178 of file ice_conversions_templates.h.

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◆ toIce() [10/20]

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

Definition at line 143 of file ice_conversions_templates.h.

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◆ toIce() [11/20]

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

Definition at line 51 of file ice_conversions.cpp.

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◆ toIce() [12/20]

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

Definition at line 71 of file ice_conversions.cpp.

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◆ toIce() [13/20]

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

Definition at line 96 of file ice_conversions.cpp.

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◆ toIce() [14/20]

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

Definition at line 119 of file ice_conversions.cpp.

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◆ toIce() [15/20]

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

Definition at line 21 of file ice_conversions.cpp.

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◆ toIce() [16/20]

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

Definition at line 68 of file ice_conversions_templates.h.

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◆ toIce() [17/20]

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

Definition at line 13 of file ice_conversions_boost_templates.h.

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◆ toIce() [18/20]

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

Definition at line 155 of file ice_conversions_templates.h.

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◆ toIce() [19/20]

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

Definition at line 120 of file ice_conversions_templates.h.

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◆ toIce() [20/20]

void armarx::armem::toIce ( T ice,
const T cpp 
)

Definition at line 15 of file ice_conversions_templates.h.

◆ toStringMicroSeconds()

std::string toStringMicroSeconds ( const Time time)

Returns time as e.g.

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

Definition at line 26 of file Time.cpp.

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◆ toStringMilliSeconds()

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

Returns time as e.g.

"123456789.012 ms".

Parameters
decimalsHow many sub-millisecond decimals to include.

Definition at line 11 of file Time.cpp.

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◆ transformAllOfType()

auto armarx::armem::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
AronClassclass name. Needs to be derived from armarx::aron::cppcodegenerator::AronCppClass
Parameters
entitiescollection of entities
predbinary predicate function, applied to all entity instances
Returns
vector of "pred"-transformed elements that can be cast to AronClass

Definition at line 124 of file util.h.

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◆ tryCast()

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

Tries to cast a armem::EntityInstance to AronClass.

Template Parameters
AronClassclass name. Needs to be derived from armarx::aron::cppcodegenerator::AronCppClass
Parameters
item
Returns
std::optional<AronClass>

Definition at line 45 of file util.h.

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Variable Documentation

◆ DATA_WRAPPER_CONFIDENCE_FIELD

constexpr const char* DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE"
constexpr

Definition at line 12 of file aron_conversions.cpp.

◆ DATA_WRAPPER_TIME_ARRIVED_FIELD

constexpr const char* DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED"
constexpr

Definition at line 11 of file aron_conversions.cpp.

◆ DATA_WRAPPER_TIME_REFERENCED_FIELD

constexpr const char* DATA_WRAPPER_TIME_REFERENCED_FIELD = "__ENTITY_METADATA__TIME_REFERENCED"
constexpr

Definition at line 9 of file aron_conversions.cpp.

◆ DATA_WRAPPER_TIME_SENT_FIELD

constexpr const char* DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT"
constexpr

Definition at line 10 of file aron_conversions.cpp.

◆ DATA_WRAPPER_TIME_STORED_FIELD

constexpr const char* DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED"
constexpr

Definition at line 8 of file aron_conversions.cpp.

◆ 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},
}

Definition at line 28 of file aron_conversions.cpp.

◆ 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},
}

Definition at line 9 of file aron_conversions.cpp.