ObjectInstanceMemorySegment.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::WorkingMemory
* @author     Kai Welke ( welke at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <MemoryX/interface/core/EntityBase.h>
#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectClass.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectInstance.h>
#include <MemoryX/libraries/motionmodels/MotionModelObjectFactories.h>
#include <MemoryX/libraries/workingmemory/WorkingMemoryEntitySegment.h>
 
namespace memoryx
{
    /*!
      The ObjectInstanceMemorySegment is a specialization of the WorkingMemoryEntitySegment template.
        \see WorkingMemoryEntitySegment
      */
    class ARMARXCOMPONENT_IMPORT_EXPORT ObjectInstanceMemorySegment :
        virtual public WorkingMemoryEntitySegment<ObjectInstance>,
        virtual public ObjectInstanceMemorySegmentBase
    {
    public:
        ObjectInstanceMemorySegment(float matchThreshold, bool matchByClass);
 
 
        ObjectInstanceBasePtr
        getObjectInstanceById(const ::std::string& id,
                              const ::Ice::Current& = Ice::emptyCurrent) const override;
 
 
        ObjectInstanceBasePtr
        getObjectInstanceByName(const ::std::string& name,
                                const ::Ice::Current& = Ice::emptyCurrent) const override;
 
 
        ObjectInstanceList
        getObjectInstancesByClass(const ::std::string& className,
                                  const ::Ice::Current& c = Ice::emptyCurrent) const override;
 
 
        ObjectInstanceList
        getObjectInstancesByClassList(const NameList& classList,
                                      const ::Ice::Current& = Ice::emptyCurrent) const override;
 
 
        ObjectInstanceBasePtr
        getCorrespondingObjectInstance(const ObjectInstanceBasePtr& objectInstance,
                                       const ::Ice::Current& = Ice::emptyCurrent) const override;
 
 
        void setNewMotionModel(const ::std::string& entityId,
                               const ::memoryx::MotionModelInterfacePtr& newMotionModel,
                               const ::Ice::Current& = Ice::emptyCurrent) override;
 
 
        void setObjectPose(const std::string& entityId,
                           const armarx::LinkedPoseBasePtr& objectPose,
                           const ::Ice::Current& = Ice::emptyCurrent) override;
        void setObjectPoseWithoutMotionModel(const std::string& entityId,
                                             const armarx::FramedPoseBasePtr& objectPose,
                                             const ::Ice::Current& = Ice::emptyCurrent) override;
 
 
        std::string addObjectInstance(const std::string& instanceName,
                                      const std::string& className,
                                      const armarx::LinkedPoseBasePtr& objectPose,
                                      const ::memoryx::MotionModelInterfacePtr& motionModel,
                                      const ::Ice::Current& = Ice::emptyCurrent) override;
 
 
        void updateEntity(const std::string& entityId,
                          const EntityBasePtr& update,
                          const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void
        updateEntityInternal(const std::string& entityId,
                             const EntityBasePtr& update,
                             const ::Ice::Current& c = Ice::emptyCurrent)
        {
            WorkingMemoryEntitySegment::updateEntity(entityId, update, c);
        }
 
        void
        updateEntityInternal(const std::string& entityId,
                             const EntityBasePtr& update,
                             const Ice::StringSeq& deactivatedFusionMethods)
        {
            WorkingMemoryEntitySegment::updateEntity(entityId, update, deactivatedFusionMethods);
        }
 
 
    private:
        double matchThreshold;
        bool matchByClass;
    };
 
    using ObjectInstanceMemorySegmentPtr = IceInternal::Handle<ObjectInstanceMemorySegment>;
 
} // namespace memoryx