AffordanceLoader.cpp

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#include "AffordanceLoader.h"
 
#include <map>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include "RobotAPI/libraries/PriorKnowledge/util/AffordanceLoader/datatypes/Affordance.h"
 
#include <nlohmann/json.hpp>
 
namespace armarx::priorknowledge::util
{
    std::vector<StaticAffordance>
    AffordanceLoader::LoadAffordances(const std::string& source, const nlohmann::json& js)
    {
        std::vector<StaticAffordance> ret;
        if (not js.contains("affordances"))
        {
            ARMARX_WARNING << "The affordances file has the wrong structure. Missing key "
                              "'affordances'.";
            return ret;
        }
 
        for (const auto& affordance : js.at("affordances").get<std::vector<std::string>>())
        {
            StaticAffordance a{{.source = source, .name = affordance}};
            ret.push_back(a);
        }
        return ret;
    }
 
    std::vector<LocationAffordance>
    AffordanceLoader::LoadLocationAffordances(const std::string& source, const nlohmann::json& js)
    {
        std::vector<LocationAffordance> ret;
        if (not js.contains("location_affordances"))
        {
            ARMARX_WARNING << "The affordances file has the wrong structure. Missing key "
                              "'location_affordances'.";
            return ret;
        }
 
        for (const auto& [locationName, affordances] :
             js.at("location_affordances").get<std::map<std::string, std::vector<std::string>>>())
        {
            for (const auto& affordance : affordances)
            {
                LocationAffordance a{.id = {.source = source, .name = affordance},
                                     .locationName = locationName};
                ret.push_back(a);
            }
        }
        return ret;
    }
} // namespace armarx::priorknowledge::util