VirtualRobot headers. More...

Namespaces
namespace	EarlyVisionConverters

namespace	EntityWrappers

namespace	KBM

namespace	ObjectFactories

namespace	Relations

namespace	VariantType

Classes
class	AbstractLongtermMemory

class	AbstractLongtermMemoryPropertyDefinitions

class	AbstractMotionModel

class	AbstractWorkingMemory

class	AbstractWorkingMemoryPropertyDefinitions

class	ActiveOac

class	ActiveOacMemorySegment

class	Affordance

class	AffordanceSegment

class	AgentAtPredicateProvider

class	AgentAtPredicateProviderPropertyDefinitions

class	AgentInstance

class	AgentInstancesSegment

class	ArmarXObjectsImporter
	Brief description of class ArmarXObjectsImporter. More...

class	ArmarXObjectsToMemory

class	AttributeReplacementFusion

class	BodySchemaMemorySegment

struct	Box

class	BoxPrimitive

class	Collection

class	CollectionCreateDialog

class	CommonPlacesLearner

class	CommonPlacesLearnerPropertyDefinitions

class	CommonPlacesTester

class	CommonPlacesTesterPropertyDefinitions

class	CommonStorage
	The CommonStorage class provides an interface to MongoDB. More...

class	CommonStorageExample

class	CommonStoragePropertyDefinitions

class	ConePrimitive

struct	Config

class	CylinderPrimitive

class	Database
	The Database class provides an interface to a database. More...

class	DiscreteProbability
	The DiscreteProbability class. More...

class	DMPEntity

class	Entity
	Entity is the superclass for all MemoryX memory chunks. More...

class	EntityAttribute
	Attribute of MemoryX entities. More...

class	EntityAttributesEditTab
	The entity edit dialog is a superclass for all edit dialogs used to set attributes of entites. More...

class	EntityDrawerComponent
	The EntityDrawerComponent class implements a component that listens to layered / debug drawer commands and creates internal representations of the visualization which can be conveniently used by gui components to visualize the content. Basically it is a armarx::DebugDrawerComponent with additional memroy features. In addition to all debug drawer fucntions it is capable of showing memory entities, e.g. objects. More...

class	EntityDrawerPropertyDefinitions

class	EntityEditDialog
	The entity edit dialog is a superclass for all edit dialogs used to set attributes of entites. More...

class	EntityFusionMethod
	Interface for fusion methods used for entities in working memory. More...

class	EntityRef
	The EntityRef class is used to store references to Entities as values in other Entity instances. More...

class	EnvironmentalPrimitive

class	EnvironmentalPrimitiveSegment

class	GaussianMixtureAssociationMethod

class	GaussianMixtureDistribution
	The GaussianMixtureDistribution class. More...

class	GaussianMixturePositionFusion

class	GMMDistance

class	GMMReducer

class	GraphMemorySegment
	The Graph Memory Segment contains directed graphs. More...

class	GraphNode
	Implementation of the ice interface GraphNodeBase. More...

class	GraphNodePoseResolver
	A brief description. More...

class	GraphNodePoseResolverPropertyDefinitions

class	GraphVisualizerConfigDialog

class	GraphVisualizerGraphicsEllipseItem
	Required to override the double click event. More...

class	GraphVisualizerGraphicsLineItem
	Required to override the double click event. More...

class	GraphVisualizerGuiPlugin
	This plugin provides a widget used to visualize an undirected graph and draw it to a debug layer. More...

class	GraphVisualizerWidget
	The GraphVisualizerWidget class. More...

class	GraspablePredicateProvider

class	GraspablePredicateProviderPropertyDefinitions

class	GraspEditorDialog

class	GridFileManager
	GridFileManager provides utility functions for working with files in Mongo GridFS and links to them stored in entity attributes (s. More...

class	GridFileWrapper

class	HandPredicateProvider

class	HandPredicateProviderPropertyDefinitions

class	HigherSemanticStructure

class	ISDDistance

class	IsotropicNormalDistribution
	The IsotropicNormalDistribution class. More...

class	KalmanFilterFusion

class	KBMData

class	KBMSegment

class	LocalizationJob
	The LocalizationJob class is the description of the basic workload executed by ObjectLocalizationMemoryUpdater. More...

class	LocalizationJobContainer
	The LocalizationJobContainer class is used by ObjectLocalizationMemoryUpdater to create and execute segmentation specific groups of localization jobs. More...

class	LocalizationQuery
	The LocalizationQuery class is used to create LocalizationJob instances and provide an interface to query if the jobs have finished running. More...

class	LocalizationStrategyOnce

class	LocalizationStrategyRepeated

class	LongtermMemory
	The LongtermMemory class provides persistent data that has been learned or copied as a snapshot from working memory. More...

class	LongtermMemoryPropertyDefinitions

class	MahalanobisDistance

class	ManipulationAttributesEditTab
	This tab allows to change the simox attributes of an objectclass entity. More...

struct	MemorySegmentEntry

struct	MemoryUpdaterEntry

class	MemoryXApplication
	Base Class for all ArmarX applications. More...

class	MissingAttributeFusion
	Copies attributes that are missing in the new entity from the old entity into the new entity. More...

class	MongoDBRef
	Represents a cross-database reference to a document in MongoDB. More...

class	MongoSerializer

class	MotionAttributesEditTab
	This tab allows to change the motion model attributes of an objectclass entity. More...

class	MotionModelAttachedToOtherObject

class	MotionModelBodySchema

class	MotionModelKBM

class	MotionModelRestoreFusion

class	MotionModelRobotHand

class	MotionModelStaticObject

class	MouseEventProcessor

class	MultivariateNormalDistribution
	The MultivariateNormalDistribution class. More...

class	NormalDistribution

class	Oac

class	OacMemorySegment

class	OacParameterList

class	OacPredictionFunction

class	OacStatisticalMeasure

class	ObjectAtPredicateProvider

class	ObjectAtPredicateProviderPropertyDefinitions

class	ObjectClass

class	ObjectClassEditDialog

class	ObjectClassMemorySegment
	The object class segment is a specialized segment of the SegmentedMemory. More...

class	ObjectClassSegmentWrapper

struct	ObjectClassWrapper

class	ObjectInstance

class	ObjectInstanceMemorySegment

class	ObjectInstanceSegmentWrapper
	Allows access to the objects in the working memory in form of Simox SceneObjects. More...

class	ObjectInstancesToArViz
	This class can be used to visualize object instances from working memory to ArViz. More...

class	ObjectInstanceToRobotNodeAttachments
	This class can be used to visualize object instances from working memory to ArViz. More...

struct	ObjectInstanceWrapper

class	ObjectLocalizationMemoryUpdater
	The ObjectLocalizationMemoryUpdater triggers the localization of object classes based on the content of the object classes working memory segment and generates object instances in the object instances if objects have been localized. More...

struct	ObjectLocalizationMemoryUpdaterProperties

class	ObjectMemoryObserver
	VisionX ObjectMemoryObserver. More...

class	ObjectMemoryObserverPropertyDefinitions

class	OnTablePredicateProvider

class	OnTopPredicateProvider

class	PersistentAgentInstancesSegment

class	PersistentDMPDataSegment

class	PersistentEntitySegment
	The PersistentEntitySegment class is the base class for all memory segments containing memoryx::Entity instances to be stored permanently in MongoDB. More...

class	PersistentObjectClassSegment
	The persistent object class segment is a specialized segment of the SegmentedMemory. More...

class	PersistentObjectInstanceSegment

class	PersistentPredictionDataSegment

class	PersistentProfilerDataSegment

class	PersistentRelationSegment

class	PersistentResourceProfileSegment

class	PersistentWorldStateSegment

class	PlanePrimitive

class	PlatformKalmanFilter
	This class is a convenience class for a holonomic platform using a Kalman filter. More...

class	PredictionEntity

class	PredictionTaskEntity

class	PriorAttributeEnrichmentFusion

class	PriorEditorConfigDialog

class	PriorEditorController
	This widget allows to view and edit data entries in the prior memory. More...

class	PriorKnowledge
	The PriorKnowledge class provides a database with common sense and/or prior knowldge. More...

class	PriorKnowledgeImporter
	The PriorKnowledgeImporter class is used to add object descriptions to the PriorKnowledge database. More...

class	PriorKnowledgeImporterPropertyDefinitions

class	PriorKnowledgePropertyDefinitions

class	PriorMemoryEditorPlugin
	The PriorMemoryEditorPlugin provides a widget that allows to view and edit data entries in the prior memory. More...

class	ProfilerEntity

class	ProfilerEvent

class	ProfilerMemorySnapshot

class	ProfilerMemoryUsage

class	ProfilerProcess

class	ProfilerStorage
	A brief description. More...

class	ProfilerStoragePropertyDefinitions

class	ProfilerTransition

class	PutAwayLocationPredicateProvider

class	PutAwayLocationPredicateProviderPropertyDefinitions

class	RecognitionAttributesEditTab
	This tab allows to change the recognition attributes of an objectclass entity. More...

class	Relation
	Relation class represents a directed relation between entities. More...

class	RelationMemorySegment

class	ResourceProfileEntity

class	RunnallsGMMReducer

class	RunnallsKLDistance

class	SECKeyFrame

class	SECObjectRelations

class	SECRelation

class	SegmentedMemory
	The SegmentedMemory class provides an interface for organizing memories with segmented data structures. More...

class	SegmentLock

class	SegmentUtilImplementations

class	SemanticEventChainSegment

class	SimoxSceneImporter
	The SimoxSceneImporter class generates a LongtermMemory snapshot of a scene specified in the Simox Scene format. More...

class	SimoxSceneImporterPropertyDefinitions
	The SimoxSceneImporterPropertyDefinitions class defines the command line properties of the SimoxSceneImporter. More...

class	SimpleEntity
	Simple untyped entity class which allows adding arbitrary attributes. More...

class	SimpleEpisodicMemory

class	SimpleEpisodicMemoryConnector

class	SimpleEpisodicMemoryWorkingMemoryConnector

class	SpherePrimitive

class	StatisticMeasures

class	UnivariateNormalDistribution
	The UnivariateNormalDistribution class. More...

class	WestGMMReducer

class	WilliamsGMMReducer

class	WorkingMemory
	The WorkingMemory class provides methods for storing runtime information. The data is stored in segments. More...

class	WorkingMemoryConfigDialog

class	WorkingMemoryController
	This widget allows you to inspect the current state of the working memory. More...

class	WorkingMemoryEntitySegment

class	WorkingMemoryExample

class	WorkingMemoryExamplePropertyDefinitions

class	WorkingMemoryGuiPlugin
	The WorkingMemoryGuiPlugin provides a widget that allows you to inspect the current state of the working memory. More...

class	WorkingMemoryObjectPoseProvider
	Brief description of class WorkingMemoryObjectPoseProvider. More...

class	WorkingMemoryPropertyDefinitions

class	WorkingMemorySnapshot
	The WorkingMemorySnapshot class handles snapshot IO methods. More...

class	WorkingMemorySnapshotListSegment

class	WorkingMemoryUpdater
	Base class for all working memory updater processes. More...

struct	WorkingMemoryUpdaterProperties

class	WorldStateObserver
	The WorldStateObserver class. More...

class	WorldStateObserverApp

class	WorldStateObserverPropertyDefinitions

class	WorldStateSegment

class	WorldStateUpdaterBase

class	WorldStateUpdaterPropertyDefinitions

class	XMLSceneImporter
	The XMLSceneImporter class reads scene specification files and creates a snapshot with the specified name. More...

class	XMLSceneImporterPropertyDefinitions

Typedefs
using	AbstractLongtermMemoryPtr = IceUtil::Handle<AbstractLongtermMemory>

using	AbstractMotionModelPtr = IceInternal::Handle<AbstractMotionModel>

using	AbstractWorkingMemoryPtr = IceUtil::Handle<AbstractWorkingMemory>

using	ActiveOacMemorySegmentPtr = IceInternal::Handle<ActiveOacMemorySegment>

using	ActiveOacPtr = IceInternal::Handle<ActiveOac>

using	AffordancePtr = IceInternal::Handle<Affordance>

using	AffordanceSegmentPtr = IceInternal::Handle<AffordanceSegment>

using	AgentInstancePtr = IceInternal::Handle<AgentInstance>
	Typedef of AgentEntityPtr as IceInternal::Handle<AgentEntity> for convenience.

using	AgentInstancesSegmentPtr = IceInternal::Handle<AgentInstancesSegment>

using	BoxPrimitivePtr = IceInternal::Handle<BoxPrimitive>

using	CollectionPtr = IceUtil::Handle<Collection>

using	CommonPlacesLearnerPtr = IceUtil::Handle<CommonPlacesLearner>

using	CommonStoragePtr = IceUtil::Handle<CommonStorage>

using	ConePrimitivePtr = IceInternal::Handle<ConePrimitive>

using	ConstManipulationObjectPtr = VirtualRobot::ManipulationObjectPtr

using	CylinderPrimitivePtr = IceInternal::Handle<CylinderPrimitive>

using	DatabasePtr = IceUtil::Handle<Database>

using	DMPEntityPtr = IceInternal::Handle<DMPEntity>

using	EntityAttributePtr = IceInternal::Handle<EntityAttribute>
	Typedef of EntityAttributePtr as IceInternal::Handle<EntityAttribute> for convenience.

using	EntityDrawerComponentPtr = IceInternal::Handle<EntityDrawerComponent>

using	EntityFusionMethodPtr = IceInternal::Handle<EntityFusionMethod>

using	EntityMap = std::map<std::string, EntityBasePtr>

using	EntityPtr = IceInternal::Handle<Entity>
	Typedef of EntityPtr as IceInternal::Handle<Entity> for convenience.

using	EntityRefPtr = IceInternal::Handle<EntityRef>

using	EnvironmentalPrimitivePtr = IceInternal::Handle<EnvironmentalPrimitive>

using	EnvironmentalPrimitiveSegmentPtr = IceInternal::Handle<EnvironmentalPrimitiveSegment>

using	GaussianMixtureAssociationMethodPtr

using	GaussianMixtureDistributionPtr = IceInternal::Handle<GaussianMixtureDistribution>

using	GaussianMixturePositionFusionPtr = IceInternal::Handle<GaussianMixturePositionFusion>

using	GMMCompPairDistance = std::pair<int, float>

using	GMMCompPairDistanceVector = std::vector<GMMCompPairDistance>

using	GMMDistancePtr = std::shared_ptr<GMMDistance>

using	GMMReducerPtr = std::shared_ptr<GMMReducer>

using	GraphMemorySegmentPtr = IceInternal::Handle<GraphMemorySegment>

using	GraphNodePoseResolverPtr = IceInternal::Handle<GraphNodePoseResolver>

using	GraphNodePtr = IceInternal::Handle<GraphNode>

using	GraphVisualizerGuiPluginPtr = std::shared_ptr<GraphVisualizerWidget>
	Boost shared pointer to a GraphVisualizerWidget.

using	GridFileManagerPtr = std::shared_ptr<GridFileManager>

using	GridFilePtr = std::shared_ptr<mongo::GridFile>

using	GridFileWrapperPtr = IceInternal::Handle<GridFileWrapper>

using	GridFSPtr = std::shared_ptr<mongo::GridFS>

using	HigherSemanticStructurePtr = IceInternal::Handle<HigherSemanticStructure>

using	ISDDistancePtr = std::shared_ptr<ISDDistance>

using	IsotropicNormalDistributionPtr = IceInternal::Handle<IsotropicNormalDistribution>

using	KBMDataPtr = IceInternal::Handle<KBMData>

using	LocalizationJobContainerPtr = IceUtil::Handle<LocalizationJobContainer>

using	LocalizationJobList = std::vector<LocalizationJobPtr>

using	LocalizationJobPtr = IceUtil::Handle<LocalizationJob>

using	LocalizationQueryPtr = IceInternal::Handle<LocalizationQuery>

using	LocalizationStrategyOncePtr = IceUtil::Handle<LocalizationStrategyOnce>

using	LocalizationStrategyRepeatedPtr = IceUtil::Handle<LocalizationStrategyRepeated>

using	LongtermMemoryPtr = IceUtil::Handle<LongtermMemory>

using	MemorySegmentMap = std::map<std::string, MemorySegmentEntry>

using	MemoryUpdaterMap = std::map<std::string, MemoryUpdaterEntry>

using	MongoDBRefPtr = IceInternal::Handle<MongoDBRef>

using	MongoSerializerPtr = IceUtil::Handle<MongoSerializer>

using	MotionModelAttachedToOtherObjectPtr

using	MotionModelBodySchemaPtr = IceInternal::Handle<MotionModelBodySchema>

using	MotionModelKBMPtr = IceInternal::Handle<MotionModelKBM>

using	MotionModelRobotHandPtr = IceInternal::Handle<MotionModelRobotHand>

using	MotionModelStaticObjectPtr = IceInternal::Handle<MotionModelStaticObject>

using	MultivariateNormalDistributionPtr = IceInternal::Handle<MultivariateNormalDistribution>

using	NormalDistributionPtr = IceInternal::Handle<NormalDistribution>

using	OacMemorySegmentPtr = IceInternal::Handle<OacMemorySegment>

using	OacParameterListPtr = IceInternal::Handle<OacParameterList>

using	OacPredictionFunctionPtr = IceInternal::Handle<OacPredictionFunction>

using	OacPtr = IceInternal::Handle<Oac>

using	OacStatisticalMeasurePtr = IceInternal::Handle<OacStatisticalMeasure>

using	ObjectClassMemorySegmentPtr = IceInternal::Handle<ObjectClassMemorySegment>

using	ObjectClassPtr = IceInternal::Handle<ObjectClass>

using	ObjectInstanceMemorySegmentPtr = IceInternal::Handle<ObjectInstanceMemorySegment>

using	ObjectInstancePtr = IceInternal::Handle<ObjectInstance>

using	ObjectLocalizationMemoryUpdaterPtr = IceInternal::Handle<ObjectLocalizationMemoryUpdater>

using	PersistentAgentInstancesSegmentPtr = IceInternal::Handle<PersistentAgentInstancesSegment>

using	PersistentDMPDataSegmentPtr = IceInternal::Handle<PersistentDMPDataSegment>

using	PersistentEntitySegmentPtr = IceUtil::Handle<PersistentEntitySegment>

using	PersistentObjectClassSegmentPtr = IceInternal::Handle<PersistentObjectClassSegment>

using	PersistentObjectInstanceSegmentPtr = IceInternal::Handle<PersistentObjectInstanceSegment>

using	PersistentPredictionDataSegmentPtr = IceInternal::Handle<PersistentPredictionDataSegment>

using	PersistentProfilerDataSegmentPtr = IceInternal::Handle<PersistentProfilerDataSegment>

using	PersistentRelationSegmentPtr = IceInternal::Handle<PersistentRelationSegment>

using	PersistentResourceProfileSegmentPtr

using	PersistentWorldStateSegmentPtr = IceInternal::Handle<PersistentWorldStateSegment>

using	PlanePrimitivePtr = IceInternal::Handle<PlanePrimitive>

using	PlatformKalmanFilterPtr = std::shared_ptr<PlatformKalmanFilter>

using	PredictionEntityPtr = IceInternal::Handle<PredictionEntity>

using	PredictionTaskEntityPtr = IceInternal::Handle<PredictionTaskEntity>

using	PriorEditorControllerPtr = std::shared_ptr<PriorEditorController>

using	PriorKnowledgePtr = IceUtil::Handle<PriorKnowledge>

using	ProfilerEntityPtr = IceInternal::Handle<ProfilerEntity>

using	ProfilerEventPtr = IceInternal::Handle<ProfilerEvent>

using	ProfilerMemorySnapshotPtr = IceInternal::Handle<ProfilerMemorySnapshot>

using	ProfilerMemoryUsagePtr = IceInternal::Handle<ProfilerMemoryUsage>

using	ProfilerProcessPtr = IceInternal::Handle<ProfilerProcess>

using	ProfilerTransitionPtr = IceInternal::Handle<ProfilerTransition>

using	RelationMemorySegmentPtr = IceInternal::Handle<RelationMemorySegment>

using	RelationPtr = IceInternal::Handle<Relation>

using	ResourceProfileEntityPtr = IceInternal::Handle<ResourceProfileEntity>

using	SECKeyFramePtr = IceInternal::Handle<SECKeyFrame>

using	SECObjectRelationsPtr = IceInternal::Handle<SECObjectRelations>

using	SECRelationPtr = IceInternal::Handle<SECRelation>

using	SegmentedMemoryPtr = IceInternal::Handle<SegmentedMemory>

using	SegmentMap = std::map<std::string, std::string>

using	SimpleEntityPtr = IceInternal::Handle<SimpleEntity>

using	SnapshotMap = std::map<Ice::Identity, WorkingMemorySnapshotInterfacePtr>

using	SpherePrimitivePtr = IceInternal::Handle<SpherePrimitive>

using	StatisticMeasuresPtr = IceInternal::Handle<StatisticMeasures>

using	UnivariateNormalDistributionPtr = IceInternal::Handle<UnivariateNormalDistribution>

using	WorkingMemoryGuiPluginPtr = std::shared_ptr<WorkingMemoryController>

using	WorkingMemoryPtr = IceInternal::Handle<WorkingMemory>

using	WorkingMemorySnapshotListSegmentPtr = IceUtil::Handle<WorkingMemorySnapshotListSegment>

using	WorkingMemorySnapshotPtr = IceUtil::Handle<WorkingMemorySnapshot>

using	WorkingMemoryUpdaterPtr = IceInternal::Handle<WorkingMemoryUpdater>

using	WorldStateSegmentPtr = IceInternal::Handle<WorldStateSegment>

Enumerations
enum	DeviationMeasure { eAABB , eOrientedBBox , eEqualSphere }

enum	LengthUnit { eMETER , eCENTIMETER , eMILLIMETER }

Functions
void	from_json (const nlohmann::json &j, Config &config)

std::ostream &	operator<< (std::ostream &str, SECKeyFrameBasePtr keyframe)

void	to_json (nlohmann::json &j, const Config &config)

Variables
const std::string	ACTIVE_OAC_SEGMENT_NAME = "activeOac"

const std::string	AFFORDANCE_SEGMENT_NAME = "affordances"

const std::string	AGENT_INSTANCES_SEGMENT_NAME = "agentInstances"

const std::string	DMP_SEGMENT_NAME = "dmpEntity"

const std::string	ENVIRONMENTAL_PRIMITIVE_SEGMENT_NAME = "environmentalPrimitives"

const char	MONGO_ID_FIELD [] = "_id"

const std::string	OBJ_CLASSES_SEGMENT_NAME = "objectClasses"

const std::string	OBJ_INSTANCES_SEGMENT_NAME = "objectInstances"

const std::string	OBJ_LOCALIZATION_UPDATER_NAME = "objectLocalization"

const std::string	OBJ_RELATIONS_SEGMENT_NAME = "objectRelations"

const std::string	SNAPSHOT_NAME_FIELD = "name"

const std::string	WORLD_STATE_SEGMENT_NAME = "worldState"