GraphMemorySegment.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    MemoryX::Core
* @author     Raphael Grimm <raphael dot grimm at kit dot edu>
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <MemoryX/core/memory/PersistentEntitySegment.h>
#include <MemoryX/interface/components/PriorKnowledgeInterface.h>
#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
 
namespace memoryx
{
 
    /**
     * @class GraphMemorySegment
     *
     * @brief The Graph Memory Segment contains directed graphs. The graph consists of nodes with poses and edges between them.
     * The poses in the nodes and the edges are used for platform navigation. Additionally, thee nodes are used for symbolic planning.
     * One segment can contain multiple graphs. They distinguished by their *scene*-name.
     * See Slice API documentation for GraphMemorySegmentBase.
     */
    class ARMARXCOMPONENT_IMPORT_EXPORT GraphMemorySegment :
        virtual public PersistentEntitySegment,
        virtual public GraphMemorySegmentBase
    {
    public:
        GraphMemorySegment(CollectionInterfacePrx entityCollection,
                           Ice::CommunicatorPtr ic,
                           bool useMongoIds = true);
 
        ~GraphMemorySegment() override;
 
        Ice::StringSeq getScenes(const Ice::Current& c = Ice::emptyCurrent) const override;
 
        memoryx::GraphNodeBaseList
        getNodesByScene(const std::string& sceneName,
                        const Ice::Current& c = Ice::emptyCurrent) override;
        memoryx::GraphNodeBasePtr getNodeById(const std::string& entityId,
                                              const Ice::Current& c = Ice::emptyCurrent) override;
        memoryx::GraphNodeBasePtr getNodeByName(const std::string& entityName,
                                                const Ice::Current& c = Ice::emptyCurrent) override;
        memoryx::GraphNodeBaseList getAllNodes(const Ice::Current& c = Ice::emptyCurrent) override;
 
        void clearScene(const std::string& sceneName,
                        const Ice::Current& c = Ice::emptyCurrent) override;
 
        bool removeNode(const std::string&, const Ice::Current&) override;
        bool removeEdge(const std::string& startNodeId,
                        const std::string& endNodeId,
                        const Ice::Current&) override;
 
        std::string addNode(const memoryx::GraphNodeBasePtr& node,
                            const Ice::Current& c = Ice::emptyCurrent) override;
        bool addEdge(const std::string& fromId,
                     const std::string& toId,
                     const Ice::Current& c = Ice::emptyCurrent) override;
 
        bool hasScene(const ::std::string& sceneName,
                      const ::Ice::Current& c = Ice::emptyCurrent) override;
        bool hasNodeWithName(const ::std::string& sceneName,
                             const ::std::string& nodeName,
                             const ::Ice::Current& = Ice::emptyCurrent) override;
 
        ::memoryx::GraphNodeBasePtr
        getNodeFromSceneByName(const ::std::string& sceneName,
                               const ::std::string& nodeName,
                               const ::Ice::Current& = Ice::emptyCurrent) override;
        //        virtual std::string getIdOfNearestNode(const ::std::string& sceneName, ::Ice::Float x, ::Ice::Float y, const ::Ice::Current& = Ice::emptyCurrent);
 
        ::memoryx::GraphNodeBaseList aStar(const ::std::string& idFrom,
                                           const ::std::string& idTo,
                                           const ::Ice::Current& = Ice::emptyCurrent) override;
 
    private:
        memoryx::GraphNodeBasePtr getNodeById(const std::string& entityId,
                                              const Ice::Current& c = Ice::emptyCurrent) const;
    };
 
    using GraphMemorySegmentPtr = IceInternal::Handle<GraphMemorySegment>;
} // namespace memoryx