From 2f88ed24f64c4a9a64569061a398064c14527a4b Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Tue, 24 May 2022 20:48:53 +0200
Subject: [PATCH] Replace PredictionEngineSeq in Memory impl
---
.../libraries/armem/core/base/CoreSegmentBase.h | 6 +++---
.../libraries/armem/core/base/MemoryBase.h | 4 ++--
.../armem/core/base/ProviderSegmentBase.h | 16 ++++++++--------
.../armem/core/base/detail/Predictive.h | 12 ++++++------
.../armem/server/MemoryToIceAdapter.cpp | 14 +++++---------
.../server/segment/SpecializedCoreSegment.cpp | 4 ++--
.../server/segment/SpecializedCoreSegment.h | 6 +++---
.../segment/SpecializedProviderSegment.cpp | 6 +++---
.../server/segment/SpecializedProviderSegment.h | 8 ++++----
9 files changed, 36 insertions(+), 40 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index d7dfcfea9..a0139d9f4 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -70,20 +70,20 @@ namespace armarx::armem::base
}
explicit CoreSegmentBase(const std::string& name,
aron::type::ObjectPtr aronType = nullptr,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
CoreSegmentBase(name, MemoryID(), aronType, predictionEngines)
{
}
explicit CoreSegmentBase(const std::string& name,
const MemoryID& parentID,
aron::type::ObjectPtr aronType = nullptr,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
CoreSegmentBase(parentID.withCoreSegmentName(name), aronType, predictionEngines)
{
}
explicit CoreSegmentBase(const MemoryID& id,
aron::type::ObjectPtr aronType = nullptr,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
Base(id), AronTyped(aronType), detail::Predictive<_Derived>(predictionEngines)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index dd8d93c1c..947b459af 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -70,12 +70,12 @@ namespace armarx::armem::base
{
}
explicit MemoryBase(const std::string& name,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
MemoryBase(MemoryID().withMemoryName(name), predictionEngines)
{
}
explicit MemoryBase(const MemoryID& id,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
Base(id), detail::Predictive<_Derived>(predictionEngines)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 88485aafd..c380ab3ef 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -3,7 +3,7 @@
#include <map>
#include <string>
-#include <RobotAPI/interface/armem/prediction.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
#include "EntityBase.h"
#include "detail/AronTyped.h"
@@ -57,7 +57,7 @@ namespace armarx::armem::base
private:
- prediction::data::PredictionEngineSeq supportedEngines;
+ std::vector<PredictionEngine> supportedEngines;
public:
@@ -68,7 +68,7 @@ namespace armarx::armem::base
explicit ProviderSegmentBase(
const std::string& name,
aron::type::ObjectPtr aronType = nullptr,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
ProviderSegmentBase(name, MemoryID(), aronType, predictionEngines)
{
}
@@ -76,14 +76,14 @@ namespace armarx::armem::base
const std::string& name,
const MemoryID parentID,
aron::type::ObjectPtr aronType = nullptr,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType, predictionEngines)
{
}
explicit ProviderSegmentBase(
const MemoryID id,
aron::type::ObjectPtr aronType = nullptr,
- const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ const std::vector<PredictionEngine>& predictionEngines = {}) :
Base(id), AronTyped(aronType), supportedEngines(predictionEngines)
{
}
@@ -300,13 +300,13 @@ namespace armarx::armem::base
}
// PREDICTION ENGINES
- prediction::data::PredictionEngineSeq&
+ std::vector<PredictionEngine>&
predictionEngines()
{
return supportedEngines;
}
- std::map<MemoryID, prediction::data::PredictionEngineSeq>
+ std::map<MemoryID, std::vector<PredictionEngine>>
getAllPredictionEngines()
{
auto engines = predictionEngines();
@@ -315,7 +315,7 @@ namespace armarx::armem::base
return {};
}
// Type inference fails when using initializer lists here, not sure why.
- std::map<MemoryID, prediction::data::PredictionEngineSeq> engineMap;
+ std::map<MemoryID, std::vector<PredictionEngine>> engineMap;
engineMap.emplace(this->id(), engines);
return engineMap;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h b/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
index 096ba6429..3ab0cbdd8 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/armem/prediction.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
#include "derived.h"
@@ -36,21 +36,21 @@ namespace armarx::armem::base::detail
class Predictive
{
public:
- explicit Predictive(const prediction::data::PredictionEngineSeq& engines = {}) :
+ explicit Predictive(const std::vector<PredictionEngine>& engines = {}) :
supportedEngines(engines)
{
}
- prediction::data::PredictionEngineSeq&
+ std::vector<PredictionEngine>&
predictionEngines()
{
return supportedEngines;
}
- std::map<MemoryID, prediction::data::PredictionEngineSeq>
+ std::map<MemoryID, std::vector<PredictionEngine>>
getAllPredictionEngines()
{
- std::map<MemoryID, prediction::data::PredictionEngineSeq> engines;
+ std::map<MemoryID, std::vector<PredictionEngine>> engines;
auto& derivedContainer = derived<DerivedT>(this);
derivedContainer.forEachChild(
[&engines](auto& child)
@@ -68,6 +68,6 @@ namespace armarx::armem::base::detail
}
protected:
- prediction::data::PredictionEngineSeq supportedEngines;
+ std::vector<PredictionEngine> supportedEngines;
};
} // namespace armarx::armem::base::detail
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 12610c2ac..a10a39818 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -363,20 +363,16 @@ namespace armarx::armem::server
prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
{
prediction::data::EngineSupportMap result;
- auto wmMap = workingMemory->getAllPredictionEngines();
- for (const auto& [memoryID, engines] : wmMap)
- {
- result.emplace(armarx::toIce<data::MemoryID>(memoryID), engines);
- }
+ armarx::toIce(result, workingMemory->getAllPredictionEngines());
- auto ltmMap = workingMemory->getAllPredictionEngines();
+ prediction::data::EngineSupportMap ltmMap;
+ armarx::toIce(ltmMap, workingMemory->getAllPredictionEngines());
for (const auto& [memoryID, engines] : ltmMap)
{
- auto dtoID = armarx::toIce<data::MemoryID>(memoryID);
- auto entryIter = result.find(dtoID);
+ auto entryIter = result.find(memoryID);
if (entryIter == result.end())
{
- result.emplace(armarx::toIce<data::MemoryID>(memoryID), engines);
+ result.emplace(memoryID, engines);
}
else
{
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
index e33009bbb..f0b330e7b 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
@@ -15,7 +15,7 @@ namespace armarx::armem::server::segment
const std::string& defaultCoreSegmentName,
aron::type::ObjectPtr coreSegmentAronType,
int defaultMaxHistorySize,
- const prediction::data::PredictionEngineSeq& predictionEngines) :
+ const std::vector<PredictionEngine>& predictionEngines) :
Base(iceMemory),
aronType(coreSegmentAronType),
predictionEngines(predictionEngines),
@@ -85,7 +85,7 @@ namespace armarx::armem::server::segment
void
SpecializedCoreSegment::setPredictionEngines(
- const prediction::data::PredictionEngineSeq& predictionEngines)
+ const std::vector<PredictionEngine>& predictionEngines)
{
this->predictionEngines = predictionEngines;
}
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
index 059d9c7bc..5ddca3e7d 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
@@ -28,7 +28,7 @@ namespace armarx::armem::server::segment
const std::string& defaultCoreSegmentName = "",
aron::type::ObjectPtr coreSegmentAronType = nullptr,
int defaultMaxHistorySize = -1,
- const prediction::data::PredictionEngineSeq& predictionEngines = {});
+ const std::vector<PredictionEngine>& predictionEngines = {});
virtual ~SpecializedCoreSegment() override;
@@ -45,7 +45,7 @@ namespace armarx::armem::server::segment
void setDefaultMaxHistorySize(int64_t maxHistorySize);
void setAronType(aron::type::ObjectPtr aronType);
void
- setPredictionEngines(const prediction::data::PredictionEngineSeq& predictionEngines);
+ setPredictionEngines(const std::vector<PredictionEngine>& predictionEngines);
wm::CoreSegment& getCoreSegment();
const wm::CoreSegment& getCoreSegment() const;
@@ -54,7 +54,7 @@ namespace armarx::armem::server::segment
public:
aron::type::ObjectPtr aronType;
- prediction::data::PredictionEngineSeq predictionEngines;
+ std::vector<PredictionEngine> predictionEngines;
struct Properties
{
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
index 541f5ce07..5d254afda 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
@@ -16,8 +16,8 @@ namespace armarx::armem::server::segment
aron::type::ObjectPtr providerSegmentAronType,
aron::type::ObjectPtr coreSegmentAronType,
int defaultMaxHistorySize,
- const prediction::data::PredictionEngineSeq& providerSegmentPredictionEngines,
- const prediction::data::PredictionEngineSeq& coreSegmentPredictionEngines) :
+ const std::vector<PredictionEngine>& providerSegmentPredictionEngines,
+ const std::vector<PredictionEngine>& coreSegmentPredictionEngines) :
Base(iceMemory),
aronType(providerSegmentAronType),
predictionEngines(providerSegmentPredictionEngines),
@@ -95,7 +95,7 @@ namespace armarx::armem::server::segment
void
SpecializedProviderSegment::setPredictionEngines(
- const prediction::data::PredictionEngineSeq& predictionEngines)
+ const std::vector<PredictionEngine>& predictionEngines)
{
this->predictionEngines = predictionEngines;
}
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
index f8ffa13c0..3cb50c52f 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
@@ -30,8 +30,8 @@ namespace armarx::armem::server::segment
aron::type::ObjectPtr providerSegmentAronType = nullptr,
aron::type::ObjectPtr coreSegmentAronType = nullptr,
int defaultMaxHistorySize = -1,
- const prediction::data::PredictionEngineSeq& providerSegmentPredictionEngines = {},
- const prediction::data::PredictionEngineSeq& coreSegmentPredictionEngines = {});
+ const std::vector<PredictionEngine>& providerSegmentPredictionEngines = {},
+ const std::vector<PredictionEngine>& coreSegmentPredictionEngines = {});
virtual ~SpecializedProviderSegment() override;
@@ -42,7 +42,7 @@ namespace armarx::armem::server::segment
void setDefaultMaxHistorySize(int64_t maxHistorySize);
void setAronType(aron::type::ObjectPtr aronType);
void
- setPredictionEngines(const prediction::data::PredictionEngineSeq& predictionEngines);
+ setPredictionEngines(const std::vector<PredictionEngine>& predictionEngines);
wm::ProviderSegment& getProviderSegment();
const wm::ProviderSegment& getProviderSegment() const;
@@ -51,7 +51,7 @@ namespace armarx::armem::server::segment
public:
aron::type::ObjectPtr aronType;
- prediction::data::PredictionEngineSeq predictionEngines;
+ std::vector<PredictionEngine> predictionEngines;
SpecializedCoreSegment coreSegment;
struct Properties
--
GitLab