From 212d0e116d72b062ec448c83f76729daa046fd24 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 5 Aug 2021 08:41:48 +0200
Subject: [PATCH] Add getFirstSnapshot()
---
.../libraries/armem/core/base/EntityBase.h | 32 ++++++++++++++++++-
1 file changed, 31 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index f28f12b7b..57dd4dad2 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -178,12 +178,25 @@ namespace armarx::armem::base
{
return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getLatestSnapshot());
}
-
const EntitySnapshotT& getLatestSnapshot() const
{
return getLatestItem().second;
}
+ /**
+ * @brief Return the snapshot with the most recent timestamp.
+ * @return The latest snapshot.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ EntitySnapshotT& getFirstSnapshot()
+ {
+ return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getFirstSnapshot());
+ }
+ const EntitySnapshotT& getFirstSnapshot() const
+ {
+ return getFirstItem().second;
+ }
+
/**
* @brief Return the lastest snapshot before time.
@@ -541,6 +554,23 @@ namespace armarx::armem::base
return *this->_container.rbegin();
}
+ /**
+ * @brief Return the snapshot with the least recent timestamp.
+ * @return The first snapshot.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ virtual
+ const typename ContainerT::value_type&
+ getFirstItem() const
+ {
+ if (this->_container.empty())
+ {
+ throw armem::error::EntityHistoryEmpty(name(), "when getting the first snapshot.");
+ }
+ return *this->_container.begin();
+ }
+
+
};
}
--
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