fixing build

source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp

@@ -3,29 +3,25 @@
 #include <mutex>
 #include <optional>
 
-#include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem/util/util.h>
-#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions.h>
 
-
 namespace armarx::armem::grasping::known_grasps
 {
-    Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem) :
-        memoryNameSystem(memoryNameSystem)
-    {}
-
-    void Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+    void
+    Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
     {
         ARMARX_DEBUG << "Reader: registerPropertyDefinitions";
 
@@ -38,8 +34,8 @@ namespace armarx::armem::grasping::known_grasps
                       "Name of the memory core segment to use for object instances.");
     }
 
-
-    void Reader::connect()
+    void
+    Reader::connect(armem::client::MemoryNameSystem& memoryNameSystem)
     {
         // Wait for the memory to become available and add it as dependency.
         ARMARX_IMPORTANT << "Reader: Waiting for memory '" << properties.memoryName << "' ...";
@@ -55,7 +51,8 @@ namespace armarx::armem::grasping::known_grasps
         }
     }
 
-    std::optional<armem::grasping::arondto::KnownGraspInfo> Reader::queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&)
+    std::optional<armem::grasping::arondto::KnownGraspInfo>
+    Reader::queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&)
     {
         // clang-format off
         const armem::wm::CoreSegment& s = memory
@@ -63,8 +60,7 @@ namespace armarx::armem::grasping::known_grasps
         // clang-format on
 
         const armem::wm::EntityInstance* instance = nullptr;
-        s.forEachInstance([&instance](const wm::EntityInstance& i)
-                                        { instance = &i; });
+        s.forEachInstance([&instance](const wm::EntityInstance& i) { instance = &i; });
         if (instance == nullptr)
         {
             ARMARX_VERBOSE << "No entity snapshots found";
@@ -73,7 +69,9 @@ namespace armarx::armem::grasping::known_grasps
         return armem::grasping::arondto::KnownGraspInfo::FromAron(instance->data());
     }
 
-    std::optional<armarx::armem::grasping::arondto::KnownGraspInfo> Reader::queryKnownGraspInfoByEntityName(const std::string& entityName, const armem::Time& timestamp)
+    std::optional<armarx::armem::grasping::arondto::KnownGraspInfo>
+    Reader::queryKnownGraspInfoByEntityName(const std::string& entityName,
+                                            const armem::Time& timestamp)
     {
         // Query all entities from all provider.
         armem::client::query::Builder qb;
@@ -103,7 +101,8 @@ namespace armarx::armem::grasping::known_grasps
             auto split = simox::alg::split(entityName, "/");
             if (split.size() > 2) // there is more than just dataset/class
             {
-                ARMARX_INFO << "No grasp found for object entity " << entityName << ". Search for grasp without the index";
+                ARMARX_INFO << "No grasp found for object entity " << entityName
+                            << ". Search for grasp without the index";
                 return queryKnownGraspInfoByEntityName(split[0] + "/" + split[1], timestamp);
             }
         }
@@ -111,4 +110,4 @@ namespace armarx::armem::grasping::known_grasps
         return ret;
     }
 
-}  // namespace armarx::armem::attachment
+} // namespace armarx::armem::grasping::known_grasps

source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h

@@ -28,38 +28,36 @@
 
 #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
 #include <RobotAPI/libraries/armem/client/Reader.h>
-
 #include <RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.aron.generated.h>
 
-
 namespace armarx::armem::grasping::known_grasps
 {
     class Reader
     {
     public:
-        Reader(armem::client::MemoryNameSystem& memoryNameSystem);
+        Reader() = default;
         virtual ~Reader() = default;
 
         void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
-        void connect();
+        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
-        std::optional<armem::grasping::arondto::KnownGraspInfo> queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
-        std::optional<armem::grasping::arondto::KnownGraspInfo> queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
+        std::optional<armem::grasping::arondto::KnownGraspInfo>
+        queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
+        std::optional<armem::grasping::arondto::KnownGraspInfo>
+        queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
 
     private:
-
         struct Properties
         {
-            std::string memoryName                  = "Grasp";
-            std::string coreSegmentName             = "KnownGraspCandidate";
+            std::string memoryName = "Grasp";
+            std::string coreSegmentName = "KnownGraspCandidate";
         } properties;
 
         const std::string propertyPrefix = "mem.grasping.knowngrasps.";
 
-        armem::client::MemoryNameSystem& memoryNameSystem;
         armem::client::Reader memoryReader;
         mutable std::mutex memoryWriterMutex;
     };
 
 
-}  // namespace armarx::armem::attachment
+} // namespace armarx::armem::grasping::known_grasps