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Commit 42d2aa93 authored by Fabian Reister's avatar Fabian Reister
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adapting articulated object reader and writer

parent c17da674
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2 merge requests!443Feature/end effector trajectories,!437Feature/armarde tof fix
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with 108 additions and 83 deletions
source/RobotAPI/libraries/armem/client/Writer.cpp
+ 48
− 34
View file @ 42d2aa93
...@@ -5,7 +5,6 @@ ...@@ -5,7 +5,6 @@
#include "../error.h" #include "../error.h"
namespace armarx::armem::client namespace armarx::armem::client
{ {
...@@ -13,7 +12,10 @@ namespace armarx::armem::client ...@@ -13,7 +12,10 @@ namespace armarx::armem::client
{ {
} }
data::AddSegmentResult Writer::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName, bool clearWhenExists) data::AddSegmentResult
Writer::addSegment(const std::string& coreSegmentName,
const std::string& providerSegmentName,
bool clearWhenExists) const
{ {
data::AddSegmentInput input; data::AddSegmentInput input;
input.coreSegmentName = coreSegmentName; input.coreSegmentName = coreSegmentName;
...@@ -22,24 +24,30 @@ namespace armarx::armem::client ...@@ -22,24 +24,30 @@ namespace armarx::armem::client
return addSegment(input); return addSegment(input);
} }
data::AddSegmentResult Writer::addSegment(const MemoryID& providerSegmentID, bool clearWhenExists) data::AddSegmentResult
Writer::addSegment(const MemoryID& providerSegmentID, bool clearWhenExists) const
{ {
return addSegment(providerSegmentID.coreSegmentName, providerSegmentID.providerSegmentName, clearWhenExists); return addSegment(providerSegmentID.coreSegmentName,
providerSegmentID.providerSegmentName,
clearWhenExists);
} }
data::AddSegmentResult Writer::addSegment(const std::pair<std::string, std::string>& names, bool clearWhenExists) data::AddSegmentResult
Writer::addSegment(const std::pair<std::string, std::string>& names, bool clearWhenExists) const
{ {
return addSegment(names.first, names.second, clearWhenExists); return addSegment(names.first, names.second, clearWhenExists);
} }
data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input) data::AddSegmentResult
Writer::addSegment(const data::AddSegmentInput& input) const
{ {
data::AddSegmentsResult results = addSegments({input}); data::AddSegmentsResult results = addSegments({input});
ARMARX_CHECK_EQUAL(results.size(), 1); ARMARX_CHECK_EQUAL(results.size(), 1);
return results.at(0); return results.at(0);
} }
data::AddSegmentsResult Writer::addSegments(const data::AddSegmentsInput& inputs) data::AddSegmentsResult
Writer::addSegments(const data::AddSegmentsInput& inputs) const
{ {
ARMARX_CHECK_NOT_NULL(memory); ARMARX_CHECK_NOT_NULL(memory);
data::AddSegmentsResult results = memory->addSegments(inputs); data::AddSegmentsResult results = memory->addSegments(inputs);
...@@ -47,8 +55,8 @@ namespace armarx::armem::client ...@@ -47,8 +55,8 @@ namespace armarx::armem::client
return results; return results;
} }
CommitResult
CommitResult Writer::commit(const Commit& commit) Writer::commit(const Commit& commit) const
{ {
ARMARX_CHECK_NOT_NULL(memory); ARMARX_CHECK_NOT_NULL(memory);
...@@ -63,15 +71,15 @@ namespace armarx::armem::client ...@@ -63,15 +71,15 @@ namespace armarx::armem::client
return result; return result;
} }
data::CommitResult
data::CommitResult Writer::commit(const data::Commit& _commit) Writer::commit(const data::Commit& _commit) const
{ {
data::Commit commit = _commit; data::Commit commit = _commit;
return this->_commit(commit); return this->_commit(commit);
} }
EntityUpdateResult
EntityUpdateResult Writer::commit(const EntityUpdate& update) Writer::commit(const EntityUpdate& update) const
{ {
armem::Commit commit; armem::Commit commit;
commit.updates.push_back(update); commit.updates.push_back(update);
...@@ -81,10 +89,10 @@ namespace armarx::armem::client ...@@ -81,10 +89,10 @@ namespace armarx::armem::client
return result.results.at(0); return result.results.at(0);
} }
EntityUpdateResult Writer::commit( EntityUpdateResult
const MemoryID& entityID, Writer::commit(const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData, const std::vector<aron::data::DictPtr>& instancesData,
Time referencedTime) Time referencedTime) const
{ {
EntityUpdate update; EntityUpdate update;
update.entityID = entityID; update.entityID = entityID;
...@@ -99,7 +107,8 @@ namespace armarx::armem::client ...@@ -99,7 +107,8 @@ namespace armarx::armem::client
this->memory = memory; this->memory = memory;
} }
data::CommitResult Writer::_commit(data::Commit& commit) data::CommitResult
Writer::_commit(data::Commit& commit) const
{ {
ARMARX_CHECK_NOT_NULL(memory); ARMARX_CHECK_NOT_NULL(memory);
...@@ -119,11 +128,11 @@ namespace armarx::armem::client ...@@ -119,11 +128,11 @@ namespace armarx::armem::client
} }
data::CommitResult result; data::CommitResult result;
auto handleError = [&commit, &result](const std::string & what) auto handleError = [&commit, &result](const std::string& what)
{ {
for (const auto& _ : commit.updates) for (const auto& _ : commit.updates)
{ {
(void) _; (void)_;
data::EntityUpdateResult& r = result.results.emplace_back(); data::EntityUpdateResult& r = result.results.emplace_back();
r.success = false; r.success = false;
r.errorMessage = "Memory component not registered.\n" + std::string(what); r.errorMessage = "Memory component not registered.\n" + std::string(what);
...@@ -149,18 +158,20 @@ namespace armarx::armem::client ...@@ -149,18 +158,20 @@ namespace armarx::armem::client
return result; return result;
} }
} } // namespace armarx::armem::client
std::ostream&
std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentInput& rhs) armarx::armem::data::operator<<(std::ostream& os, const AddSegmentInput& rhs)
{ {
return os << "AddSegmentInput: " return os << "AddSegmentInput: "
<< "\n- core segment: \t'" << rhs.coreSegmentName << "'" << "\n- core segment: \t'" << rhs.coreSegmentName << "'"
<< "\n- provider segment: \t'" << rhs.providerSegmentName << "'" << "\n- provider segment: \t'" << rhs.providerSegmentName << "'"
<< "\n- clear when exists:\t" << rhs.clearWhenExists << "" << "\n- clear when exists:\t" << rhs.clearWhenExists << ""
<< "\n"; << "\n";
} }
std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsInput& rhs)
std::ostream&
armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsInput& rhs)
{ {
for (size_t i = 0; i < rhs.size(); ++i) for (size_t i = 0; i < rhs.size(); ++i)
{ {
...@@ -168,15 +179,18 @@ std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegment ...@@ -168,15 +179,18 @@ std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegment
} }
return os; return os;
} }
std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentResult& rhs)
std::ostream&
armarx::armem::data::operator<<(std::ostream& os, const AddSegmentResult& rhs)
{ {
return os << "AddSegmentResult:" return os << "AddSegmentResult:"
<< "\n- success: \t" << rhs.success << "\n- success: \t" << rhs.success << "\n- segment ID: \t'" << rhs.segmentID
<< "\n- segment ID: \t'" << rhs.segmentID << "'" << "'"
<< "\n- error message: \t" << rhs.errorMessage << "\n- error message: \t" << rhs.errorMessage << "\n";
<< "\n";
} }
std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsResult& rhs)
std::ostream&
armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsResult& rhs)
{ {
for (size_t i = 0; i < rhs.size(); ++i) for (size_t i = 0; i < rhs.size(); ++i)
{ {
......
source/RobotAPI/libraries/armem/client/Writer.h
+ 10
− 10
View file @ 42d2aa93
...@@ -32,28 +32,28 @@ namespace armarx::armem::client ...@@ -32,28 +32,28 @@ namespace armarx::armem::client
data::AddSegmentResult addSegment(const std::string& coreSegmentName, data::AddSegmentResult addSegment(const std::string& coreSegmentName,
const std::string& providerSegmentName, const std::string& providerSegmentName,
bool clearWhenExists = false); bool clearWhenExists = false) const;
data::AddSegmentResult addSegment(const MemoryID& providerSegmentID, data::AddSegmentResult addSegment(const MemoryID& providerSegmentID,
bool clearWhenExists = false); bool clearWhenExists = false) const;
data::AddSegmentResult addSegment(const std::pair<std::string, std::string>& names, data::AddSegmentResult addSegment(const std::pair<std::string, std::string>& names,
bool clearWhenExists = false); bool clearWhenExists = false) const;
data::AddSegmentResult addSegment(const data::AddSegmentInput& input); data::AddSegmentResult addSegment(const data::AddSegmentInput& input) const;
data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input); data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input) const;
/** /**
* @brief Writes a `Commit` to the memory. * @brief Writes a `Commit` to the memory.
*/ */
CommitResult commit(const Commit& commit); CommitResult commit(const Commit& commit) const;
/// Commit a single entity update. /// Commit a single entity update.
EntityUpdateResult commit(const EntityUpdate& update); EntityUpdateResult commit(const EntityUpdate& update) const;
/// Commit a single entity update. /// Commit a single entity update.
EntityUpdateResult commit(const MemoryID& entityID, EntityUpdateResult commit(const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData, const std::vector<aron::data::DictPtr>& instancesData,
Time referencedTime); Time referencedTime) const;
// with bare-ice types // with bare-ice types
data::CommitResult commit(const data::Commit& commit); data::CommitResult commit(const data::Commit& commit) const;
void setWritingMemory(server::WritingMemoryInterfacePrx memory); void setWritingMemory(server::WritingMemoryInterfacePrx memory);
...@@ -65,7 +65,7 @@ namespace armarx::armem::client ...@@ -65,7 +65,7 @@ namespace armarx::armem::client
private: private:
/// Sets `timeSent` on all entity updates and performs the commit, /// Sets `timeSent` on all entity updates and performs the commit,
data::CommitResult _commit(data::Commit& commit); data::CommitResult _commit(data::Commit& commit) const;
public: public:
......
source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
+ 4
− 3
View file @ 42d2aa93
...@@ -15,8 +15,9 @@ namespace armarx::armem::articulated_object ...@@ -15,8 +15,9 @@ namespace armarx::armem::articulated_object
const std::optional<std::string>& providerName, const std::optional<std::string>& providerName,
const std::string& instanceName = ""); const std::string& instanceName = "");
bool synchronizeArticulatedObject(VirtualRobot::Robot& object, [[nodiscard]] bool
const armem::Time& timestamp, synchronizeArticulatedObject(VirtualRobot::Robot& object,
const std::optional<std::string>& providerName); const armem::Time& timestamp,
const std::optional<std::string>& providerName);
}; };
} // namespace armarx::armem::articulated_object } // namespace armarx::armem::articulated_object
source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+ 6
− 7
View file @ 42d2aa93
...@@ -26,7 +26,6 @@ ...@@ -26,7 +26,6 @@
#include "utils.h" #include "utils.h"
namespace fs = ::std::filesystem;
namespace armarx::armem::articulated_object namespace armarx::armem::articulated_object
{ {
...@@ -100,7 +99,7 @@ namespace armarx::armem::articulated_object ...@@ -100,7 +99,7 @@ namespace armarx::armem::articulated_object
std::optional<ArticulatedObject> std::optional<ArticulatedObject>
Reader::get(const std::string& name, Reader::get(const std::string& name,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName) const std::optional<std::string>& providerName) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
...@@ -125,7 +124,7 @@ namespace armarx::armem::articulated_object ...@@ -125,7 +124,7 @@ namespace armarx::armem::articulated_object
Reader::get(const ArticulatedObjectDescription& description, Reader::get(const ArticulatedObjectDescription& description,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::string& instanceName, const std::string& instanceName,
const std::optional<std::string>& providerName) const std::optional<std::string>& providerName) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
...@@ -142,7 +141,7 @@ namespace armarx::armem::articulated_object ...@@ -142,7 +141,7 @@ namespace armarx::armem::articulated_object
bool bool
Reader::synchronize(ArticulatedObject& obj, Reader::synchronize(ArticulatedObject& obj,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName) const std::optional<std::string>& providerName) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
...@@ -164,7 +163,7 @@ namespace armarx::armem::articulated_object ...@@ -164,7 +163,7 @@ namespace armarx::armem::articulated_object
std::vector<robot::RobotDescription> std::vector<robot::RobotDescription>
Reader::queryDescriptions(const armem::Time& timestamp, Reader::queryDescriptions(const armem::Time& timestamp,
const std::optional<std::string>& providerName) const std::optional<std::string>& providerName) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
// Query all entities from provider. // Query all entities from provider.
...@@ -209,7 +208,7 @@ namespace armarx::armem::articulated_object ...@@ -209,7 +208,7 @@ namespace armarx::armem::articulated_object
std::optional<robot::RobotDescription> std::optional<robot::RobotDescription>
Reader::queryDescription(const std::string& name, Reader::queryDescription(const std::string& name,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName) const std::optional<std::string>& providerName) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
...@@ -256,7 +255,7 @@ namespace armarx::armem::articulated_object ...@@ -256,7 +255,7 @@ namespace armarx::armem::articulated_object
std::optional<robot::RobotState> std::optional<robot::RobotState>
Reader::queryState(const std::string& instanceName, Reader::queryState(const std::string& instanceName,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName) const std::optional<std::string>& providerName) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
......
source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+ 14
− 10
View file @ 42d2aa93
...@@ -26,13 +26,17 @@ ...@@ -26,13 +26,17 @@
#include <VirtualRobot/VirtualRobot.h> #include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h> #include "ArmarXCore/core/application/properties/forward_declarations.h"
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h> #include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/forward_declarations.h>
#include "interfaces.h" #include "interfaces.h"
// #include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
// #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
namespace armarx::armem::articulated_object namespace armarx::armem::articulated_object
{ {
...@@ -40,7 +44,7 @@ namespace armarx::armem::articulated_object ...@@ -40,7 +44,7 @@ namespace armarx::armem::articulated_object
{ {
public: public:
Reader() = default; Reader() = default;
virtual ~Reader() = default; ~Reader() override = default;
void void
registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def) registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
...@@ -49,30 +53,30 @@ namespace armarx::armem::articulated_object ...@@ -49,30 +53,30 @@ namespace armarx::armem::articulated_object
void connect(armem::client::MemoryNameSystem& memoryNameSystem); void connect(armem::client::MemoryNameSystem& memoryNameSystem);
bool synchronize(ArticulatedObject& obj, [[nodiscard]] bool synchronize(ArticulatedObject& obj,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName) override; const std::optional<std::string>& providerName) const override;
std::optional<ArticulatedObject> std::optional<ArticulatedObject>
get(const std::string& name, get(const std::string& name,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName) override; const std::optional<std::string>& providerName) const override;
ArticulatedObject get(const ArticulatedObjectDescription& description, ArticulatedObject get(const ArticulatedObjectDescription& description,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::string& instanceName, const std::string& instanceName,
const std::optional<std::string>& providerName) override; const std::optional<std::string>& providerName) const override;
std::optional<robot::RobotState> queryState(const std::string& instanceName, std::optional<robot::RobotState> queryState(const std::string& instanceName,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName); const std::optional<std::string>& providerName) const;
std::optional<robot::RobotDescription> std::optional<robot::RobotDescription>
queryDescription(const std::string& name, queryDescription(const std::string& name,
const armem::Time& timestamp, const armem::Time& timestamp,
const std::optional<std::string>& providerName); const std::optional<std::string>& providerName) const;
std::vector<robot::RobotDescription> std::vector<robot::RobotDescription>
queryDescriptions(const armem::Time& timestamp, queryDescriptions(const armem::Time& timestamp,
const std::optional<std::string>& providerName); const std::optional<std::string>& providerName) const;
std::string getProviderName() const; std::string getProviderName() const;
void setProviderName(const std::string& providerName); void setProviderName(const std::string& providerName);
......
source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+ 4
− 4
View file @ 42d2aa93
...@@ -103,7 +103,7 @@ namespace armarx::armem::articulated_object ...@@ -103,7 +103,7 @@ namespace armarx::armem::articulated_object
} }
std::optional<armem::MemoryID> std::optional<armem::MemoryID>
Writer::storeOrGetClass(const ArticulatedObject& obj) Writer::storeOrGetClass(const ArticulatedObject& obj) const
{ {
ARMARX_TRACE; ARMARX_TRACE;
...@@ -129,7 +129,7 @@ namespace armarx::armem::articulated_object ...@@ -129,7 +129,7 @@ namespace armarx::armem::articulated_object
} }
std::optional<armem::MemoryID> std::optional<armem::MemoryID>
Writer::storeClass(const ArticulatedObject& obj) Writer::storeClass(const ArticulatedObject& obj) const
{ {
std::lock_guard g{memoryWriterMutex}; std::lock_guard g{memoryWriterMutex};
...@@ -190,7 +190,7 @@ namespace armarx::armem::articulated_object ...@@ -190,7 +190,7 @@ namespace armarx::armem::articulated_object
} }
bool bool
Writer::storeInstance(const ArticulatedObject& obj) Writer::storeInstance(const ArticulatedObject& obj) const
{ {
std::lock_guard g{memoryWriterMutex}; std::lock_guard g{memoryWriterMutex};
...@@ -259,7 +259,7 @@ namespace armarx::armem::articulated_object ...@@ -259,7 +259,7 @@ namespace armarx::armem::articulated_object
} }
bool bool
Writer::store(const ArticulatedObject& obj) Writer::store(const ArticulatedObject& obj) const
{ {
const std::optional<armem::MemoryID> classId = storeOrGetClass(obj); const std::optional<armem::MemoryID> classId = storeOrGetClass(obj);
......
source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+ 8
− 8
View file @ 42d2aa93
...@@ -39,16 +39,16 @@ namespace armarx::armem::articulated_object ...@@ -39,16 +39,16 @@ namespace armarx::armem::articulated_object
{ {
public: public:
Writer() = default; Writer() = default;
virtual ~Writer() = default; ~Writer() override = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def); void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect(armem::client::MemoryNameSystem& memoryNameSystem); void connect(armem::client::MemoryNameSystem& memoryNameSystem);
bool store(const ArticulatedObject& obj) override; bool store(const ArticulatedObject& obj) const override;
bool storeInstance(const ArticulatedObject& obj); bool storeInstance(const ArticulatedObject& obj) const;
std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj); std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj) const;
// const std::string& getPropertyPrefix() const override; // const std::string& getPropertyPrefix() const override;
...@@ -57,7 +57,7 @@ namespace armarx::armem::articulated_object ...@@ -57,7 +57,7 @@ namespace armarx::armem::articulated_object
private: private:
std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj); std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj) const;
void updateKnownObjects(const armem::MemoryID& subscriptionID, void updateKnownObjects(const armem::MemoryID& subscriptionID,
const std::vector<armem::MemoryID>& snapshotIDs); const std::vector<armem::MemoryID>& snapshotIDs);
...@@ -85,13 +85,13 @@ namespace armarx::armem::articulated_object ...@@ -85,13 +85,13 @@ namespace armarx::armem::articulated_object
const std::string propertyPrefix = "mem.obj.articulated."; const std::string propertyPrefix = "mem.obj.articulated.";
armem::client::Writer memoryWriter; armem::client::Writer memoryWriter;
std::mutex memoryWriterMutex; mutable std::mutex memoryWriterMutex;
armem::client::Reader memoryReader; armem::client::Reader memoryReader;
std::mutex memoryReaderMutex; mutable std::mutex memoryReaderMutex;
// key: name of object: RobotDescription::name // key: name of object: RobotDescription::name
std::unordered_map<std::string, MemoryID> knownObjects; mutable std::unordered_map<std::string, MemoryID> knownObjects;
}; };
......
source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
+ 14
− 7
View file @ 42d2aa93
...@@ -11,19 +11,26 @@ namespace armarx::armem::articulated_object ...@@ -11,19 +11,26 @@ namespace armarx::armem::articulated_object
public: public:
virtual ~ReaderInterface() = default; virtual ~ReaderInterface() = default;
virtual bool synchronize(ArticulatedObject& obj, const armem::Time& timestamp, const std::optional<std::string>& providerName) = 0; virtual bool synchronize(ArticulatedObject& obj,
const armem::Time& timestamp,
virtual ArticulatedObject get(const ArticulatedObjectDescription& description, const armem::Time& timestamp, const std::string& instanceName, const std::optional<std::string>& providerName) = 0; const std::optional<std::string>& providerName) const = 0;
virtual std::optional<ArticulatedObject> get(const std::string& name, const armem::Time& timestamp, const std::optional<std::string>& providerName) = 0;
virtual ArticulatedObject get(const ArticulatedObjectDescription& description,
const armem::Time& timestamp,
const std::string& instanceName,
const std::optional<std::string>& providerName) const = 0;
virtual std::optional<ArticulatedObject>
get(const std::string& name,
const armem::Time& timestamp,
const std::optional<std::string>& providerName) const = 0;
}; };
class WriterInterface class WriterInterface
{ {
public: public:
virtual ~WriterInterface() = default; virtual ~WriterInterface() = default;
virtual bool store(const ArticulatedObject& obj) = 0; virtual bool store(const ArticulatedObject& obj) const = 0;
}; };
} // namespace armarx::armem::articulated_object } // namespace armarx::armem::articulated_object
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