#include <MemoryX/libraries/memorytypes/entity/ObjectInstance.h>

Inheritance diagram for ObjectInstance:

Public Member Functions
void	addClass (const std::string &className, float probability, const Ice::Current &=Ice::emptyCurrent) override
	Adds new class membership to the class attribute.

void	clearClasses (const Ice::Current &=Ice::emptyCurrent) override
	Clear class membership.

ObjectInstancePtr	clone (const Ice::Current &c=Ice::emptyCurrent) const

ClassProbabilityMap	getClasses (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve classes and associated class membership probability for this instance.

float	getClassProbability (const ::std::string &className, const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve membership probability for a given class.

float	getExistenceCertainty (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve existence certainty for this instance.

int	getLocalizationPriority (const ::Ice::Current &=Ice::emptyCurrent) const override

IceUtil::Time	getLocalizationTimestamp () const

::std::string	getMostProbableClass (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve the class with highest membership probability.

AbstractMotionModelPtr	getMotionModel () const

armarx::FramedOrientationPtr	getOrientation () const
	Retrieve orientation of the instance.

EntityAttributeBasePtr	getOrientationAttribute () const
	Retrieve attribute which holds instance position.

armarx::FramedPosePtr	getPose () const
	Convenience function to get position and orientation attributes at once.

armarx::FramedPositionPtr	getPosition () const
	Retrieve position of the instance.

EntityAttributeBasePtr	getPositionAttribute () const
	Retrieve attribute which holds instance position.

MultivariateNormalDistributionBasePtr	getPositionUncertainty (const ::Ice::Current &=Ice::emptyCurrent) const override
	Get uncertainty of position estimate.

bool	hasLocalizationTimestamp () const

Ice::ObjectPtr	ice_clone () const override

	ObjectInstance (const ObjectInstance &source)

	ObjectInstance (const std::string &name, const std::string &id="")
	Constructs a new ObjectInstance WorkingMemory entity.

void	setClass (const std::string &className, float probability, const Ice::Current &=Ice::emptyCurrent) override
	Set the class attribute of the ObjectInstance.

void	setExistenceCertainty (float existenceCertainty, const ::Ice::Current &=Ice::emptyCurrent) override
	Set existence certainty for this instance.

void	setLocalizationPriority (Ice::Int priority, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLocalizationTimestamp (const armarx::TimestampBasePtr &timestamp)

void	setLocalizationTimestamp (const IceUtil::Time &timestamp)

void	setMotionModel (AbstractMotionModelPtr motionModel)
	Set the motion model for this object.

void	setOrientation (const armarx::FramedOrientationBasePtr &orientation, const ::Ice::Current &=Ice::emptyCurrent) override
	Set orientation of the instance.

void	setPose (const armarx::FramedPoseBasePtr &newPose)
	Convenience function to set position and orientation attributes at once.

void	setPosition (const armarx::FramedPositionBasePtr &position, const ::Ice::Current &=Ice::emptyCurrent) override
	Set position of the instance.

void	setPositionUncertainty (const MultivariateNormalDistributionBasePtr &uncertainty, const ::Ice::Current &=Ice::emptyCurrent) override
	Set uncertainty of position estimate.

Public Member Functions inherited from Entity
void	__decRef () override

template<typename T>
IceInternal::Handle< T >	addWrapper (T *wrapper)
	Add EntityWrapper to entity.

EntityPtr	clone (const Ice::Current &c=Ice::emptyCurrent) const

void	deserialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
	Subclasses should use serializable attributes and consider these methods final.

bool	equals (const EntityBasePtr &otherEntity, const ::Ice::Current &=Ice::emptyCurrent) const override
	equals computes if two Entity instances are equal.

bool	equalsAttributes (const EntityBasePtr &otherEntity, const ::Ice::Current &=Ice::emptyCurrent) const override
	equalsAttributes computes if two Entity instances are equal.

virtual EntityRefBaseList	getAllParentRefs (bool includeMetaEntities=true) const
	Retrieve all parents by traversing the whole hierarchy.

virtual std::vector< std::string >	getAllParentsAsStringList () const

EntityAttributeBasePtr	getAttribute (const ::std::string &attrName, const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve attribute from entity.

memoryx::NameList	getAttributeNames (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve list of all attribute names.

virtual armarx::VariantPtr	getAttributeValue (const ::std::string &attrName) const
	Retrieve value of an attribute from entity.

virtual EntityRefBaseList	getDirectParentRefs () const
	Retrieve parent entity references.

::std::string	getId (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve id of this entity which is an integer in string representation.

::std::string	getName (const ::Ice::Current &=Ice::emptyCurrent) const override
	Retrieve name of this entity.

template<typename T>
IceInternal::Handle< T >	getWrapper ()
	Retrieve EntityWrapper that has previously been added with Entity::addWrapper().

bool	hasAttribute (const ::std::string &attrName, const ::Ice::Current &=Ice::emptyCurrent) const override
	Check whether this entity has an attribute with the given name.

Ice::ObjectPtr	ice_clone () const override

bool	isMetaEntity (const ::Ice::Current &=Ice::emptyCurrent) const override
	Indicates whether this entity only contains meta information.

void	putAttribute (const ::memoryx::EntityAttributeBasePtr &attr, const ::Ice::Current &=Ice::emptyCurrent) override
	Store attribute in entity.

template<typename T>
void	putAttribute (const std::string &attrName, T attrValue, ProbabilityMeasureBasePtr uncertainty=ProbabilityMeasureBasePtr())
	Create and store attribute from name, value, and optionally uncertainty measure.

void	removeAttribute (const ::std::string &attrName, const ::Ice::Current &=Ice::emptyCurrent) override
	Remove attribute with given name from entity.

void	serialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override
	Subclasses should use serializable attributes and consider these methods final.

virtual void	setDirectParentRefs (const EntityRefBaseList &entityRefs)
	Replace parent entity references.

void	setId (const ::std::string &id, const ::Ice::Current &=Ice::emptyCurrent) override
	Set id of this entity.

void	setMetaEntity (bool isMetaEntity, const ::Ice::Current &=Ice::emptyCurrent) override
	Mark this entity as meta (i.e.

void	setName (const ::std::string &name, const ::Ice::Current &=Ice::emptyCurrent) override
	Set name of this entity.

Protected Member Functions
armarx::FramedOrientationBasePtr	getOrientationBase (const ::Ice::Current &=Ice::emptyCurrent) const override

armarx::FramedPositionBasePtr	getPositionBase (const ::Ice::Current &=Ice::emptyCurrent) const override

Protected Member Functions inherited from Entity
	Entity ()

	Entity (const Entity &source)

void	ice_postUnmarshal () override

void	ice_preMarshal () override

void	output (std::ostream &stream) const

	~Entity () override

Protected Attributes
AbstractMotionModelPtr	motionModel

Protected Attributes inherited from Entity
std::mutex	attributesMutex

std::shared_mutex	entityMutex

AbstractEntityWrapperBaseList	wrappers

std::recursive_mutex	wrappersMutex

Friends
template<class IceBaseClass, class DerivedClass>
class	armarx::GenericFactory

std::ostream &	operator<< (std::ostream &stream, const ObjectInstance &rhs)

std::ostream &	operator<< (std::ostream &stream, const ObjectInstanceBasePtr &rhs)

std::ostream &	operator<< (std::ostream &stream, const ObjectInstancePtr &rhs)

Additional Inherited Members
Static Public Member Functions inherited from Entity
static EntityPtr	CreateGenericEntity ()
	Creates an entity without any convenience getter/setter functions.

Constructor & Destructor Documentation

◆ ObjectInstance() [1/2]

ObjectInstance	(	const std::string &	name,
		const std::string &	id = "" )

Constructs a new ObjectInstance WorkingMemory entity.

A name needs to be assigned. The id is optional.

Parameters

name	friendly name of the instance
id	optional id of the instance

◆ ObjectInstance() [2/2]

ObjectInstance ( const ObjectInstance & source )

Member Function Documentation

◆ addClass()

void addClass	(	const std::string &	className,
		float	probability,
		const Ice::Current &	= Ice::emptyCurrent )

override

Adds new class membership to the class attribute.

Parameters

className	name of the class
probability	probability of class membership

◆ clearClasses()

void clearClasses ( const Ice::Current & = Ice::emptyCurrent )

override

Clear class membership.

◆ clone()

ObjectInstancePtr clone ( const Ice::Current & c = Ice::emptyCurrent ) const

◆ getClasses()

ClassProbabilityMap getClasses ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Retrieve classes and associated class membership probability for this instance.

Returns: map of class names and probabilities

◆ getClassProbability()

float getClassProbability	(	const ::std::string &	className,
		const ::Ice::Current &	= Ice::emptyCurrent ) const

override

Retrieve membership probability for a given class.

Parameters

className

◆ getExistenceCertainty()

float getExistenceCertainty ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Retrieve existence certainty for this instance.

The existence certainty encodes how likely the scene containes this instance at the given position and orientation. The existence certainty represents the current believe for the instance's existance in the dynamic inference process. Values lie in the interval [0:1], where 1 means perfect knowledge.

Returns: existance certainty as probability

◆ getLocalizationPriority()

int getLocalizationPriority ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

◆ getLocalizationTimestamp()

IceUtil::Time getLocalizationTimestamp ( ) const

◆ getMostProbableClass()

std::string getMostProbableClass ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Retrieve the class with highest membership probability.

Returns: className

◆ getMotionModel()

AbstractMotionModelPtr getMotionModel ( ) const

◆ getOrientation()

armarx::FramedOrientationPtr getOrientation ( ) const

Retrieve orientation of the instance.

Returns: orientation linked to a named coordinate frame

◆ getOrientationAttribute()

EntityAttributeBasePtr getOrientationAttribute ( ) const

Retrieve attribute which holds instance position.

Returns: attribute holding mean value of position as well as probability distribution

◆ getOrientationBase()

armarx::FramedOrientationBasePtr getOrientationBase ( const ::Ice::Current & = Ice::emptyCurrent ) const

overrideprotected

◆ getPose()

armarx::FramedPosePtr getPose ( ) const

Convenience function to get position and orientation attributes at once.

Returns: current pose

◆ getPosition()

armarx::FramedPositionPtr getPosition ( ) const

Retrieve position of the instance.

Returns: position linked to a named coordinate frame

◆ getPositionAttribute()

EntityAttributeBasePtr getPositionAttribute ( ) const

Retrieve attribute which holds instance position.

Returns: attribute holding mean value of position as well as probability distribution

◆ getPositionBase()

armarx::FramedPositionBasePtr getPositionBase ( const ::Ice::Current & = Ice::emptyCurrent ) const

overrideprotected

◆ getPositionUncertainty()

MultivariateNormalDistributionBasePtr getPositionUncertainty ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Get uncertainty of position estimate.

Returns: 3 dimensional multivariate normal distribution with mean at the position

◆ hasLocalizationTimestamp()

bool hasLocalizationTimestamp ( ) const

◆ ice_clone()

Ice::ObjectPtr ice_clone ( ) const

override

◆ setClass()

void setClass	(	const std::string &	className,
		float	probability,
		const Ice::Current &	= Ice::emptyCurrent )

override

Set the class attribute of the ObjectInstance.

Corresponds to calling clearClasses() and addClass(...).

Parameters

className	name of the class
probability	probability of class membership

◆ setExistenceCertainty()

void setExistenceCertainty	(	float	existenceCertainty,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

Set existence certainty for this instance.

The existence certainty encodes how likely the scene containes this instance at the given position and orientation. The existence certainty represents the current believe for the instance's existance in the dynamic inference process. Values lie in the interval [0:1], where 1 means perfect knowledge.

Parameters

existanceCertainty existance certainty as probability

◆ setLocalizationPriority()

void setLocalizationPriority	(	Ice::Int	priority,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

◆ setLocalizationTimestamp() [1/2]

void setLocalizationTimestamp ( const armarx::TimestampBasePtr & timestamp )

◆ setLocalizationTimestamp() [2/2]

void setLocalizationTimestamp ( const IceUtil::Time & timestamp )

◆ setMotionModel()

void setMotionModel ( AbstractMotionModelPtr motionModel )

Set the motion model for this object.

Parameters

motionModel The motion model

◆ setOrientation()

void setOrientation	(	const armarx::FramedOrientationBasePtr &	orientation,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

Set orientation of the instance.

Parameters

orientation orientation linked to a named coordinate frame

◆ setPose()

void setPose ( const armarx::FramedPoseBasePtr & newPose )

Convenience function to set position and orientation attributes at once.

Parameters

newPose New Pose to set

◆ setPosition()

void setPosition	(	const armarx::FramedPositionBasePtr &	position,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

Set position of the instance.

Parameters

orientation position linked to a named coordinate frame

◆ setPositionUncertainty()

void setPositionUncertainty	(	const MultivariateNormalDistributionBasePtr &	uncertainty,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

Set uncertainty of position estimate.

Parameters

uncertainty 3 dimensional multivariate normal distribution with mean at the position

Friends And Related Symbol Documentation

◆ armarx::GenericFactory

template<class IceBaseClass, class DerivedClass>

friend class armarx::GenericFactory

friend

◆ operator<< [1/3]

std::ostream & operator<<	(	std::ostream &	stream,
		const ObjectInstance &	rhs )

friend

◆ operator<< [2/3]

std::ostream & operator<<	(	std::ostream &	stream,
		const ObjectInstanceBasePtr &	rhs )

friend

◆ operator<< [3/3]

std::ostream & operator<<	(	std::ostream &	stream,
		const ObjectInstancePtr &	rhs )

friend

Member Data Documentation

◆ motionModel

AbstractMotionModelPtr motionModel

protected

The documentation for this class was generated from the following files:

MemoryX/libraries/memorytypes/entity/ObjectInstance.h
MemoryX/libraries/memorytypes/entity/ObjectInstance.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ObjectInstance() [1/2]

◆ ObjectInstance() [2/2]

Member Function Documentation

◆ addClass()

◆ clearClasses()

◆ clone()

◆ getClasses()

◆ getClassProbability()

◆ getExistenceCertainty()

◆ getLocalizationPriority()

◆ getLocalizationTimestamp()

◆ getMostProbableClass()

◆ getMotionModel()

◆ getOrientation()

◆ getOrientationAttribute()

◆ getOrientationBase()

◆ getPose()

◆ getPosition()

◆ getPositionAttribute()

◆ getPositionBase()

◆ getPositionUncertainty()

◆ hasLocalizationTimestamp()

◆ ice_clone()

◆ setClass()

◆ setExistenceCertainty()

◆ setLocalizationPriority()

◆ setLocalizationTimestamp() [1/2]

◆ setLocalizationTimestamp() [2/2]

◆ setMotionModel()

◆ setOrientation()

◆ setPose()

◆ setPosition()

◆ setPositionUncertainty()

Friends And Related Symbol Documentation

◆ armarx::GenericFactory

◆ operator<< [1/3]

◆ operator<< [2/3]

◆ operator<< [3/3]

Member Data Documentation

◆ motionModel