From 5104c3b5bea33ccc8e11bfb000d0a58ee75bc4e7 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Mon, 9 May 2022 19:28:05 +0200
Subject: [PATCH] Implement suggestions from Gitlab MR
---
.../armem/server/ObjectMemory/ObjectMemory.cpp | 18 ++++++++----------
.../armem/server/ObjectMemory/ObjectMemory.h | 2 +-
.../objectpose/ObjectPoseStorageInterface.ice | 2 +-
.../RobotAPI/libraries/armem/client/Reader.h | 1 +
.../armem_objects/server/instance/Segment.cpp | 6 +++---
.../armem_objects/server/instance/Visu.cpp | 10 ++++------
6 files changed, 18 insertions(+), 21 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index b3cb8043a..4b6ec249d 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -61,9 +61,9 @@ namespace armarx::armem::server::obj
// defs->component(kinematicUnitObserver); // Optional dependency.
defs->defineOptionalProperty<std::string>("cmp.KinematicUnitObserverName", "KinematicUnitObserver",
"Name of the kinematic unit observer.");
- defs->optional(predictionLookbackSeconds, "prediction.LookbackSeconds",
- "Lookback to use for predictions when requested via the PredictingMemoryInterface"
- " (in seconds).");
+ defs->optional(predictionTimeWindow, "prediction.TimeWindow",
+ "Duration of time window into the past to use for predictions"
+ " when requested via the PredictingMemoryInterface (in seconds).");
return defs;
}
@@ -239,14 +239,12 @@ namespace armarx::armem::server::obj
!boRequest.snapshotID.hasGap() && boRequest.snapshotID.hasInstanceIndex())
{
objpose::ObjectPosePredictionRequest objPoseRequest;
- objPoseRequest.lookback = armarx::toIce<armarx::core::time::dto::Duration>(
- Duration::SecondsDouble(predictionLookbackSeconds));
- objPoseRequest.objectID = armarx::toIce<armarx::data::ObjectID>(
- ObjectID(boRequest.snapshotID.entityName + "/" +
- boRequest.snapshotID.instanceIndexStr()));
+ toIce(objPoseRequest.timeWindow, Duration::SecondsDouble(predictionTimeWindow));
+ toIce(objPoseRequest.objectID,
+ ObjectID(boRequest.snapshotID.entityName + "/" +
+ boRequest.snapshotID.instanceIndexStr()));
objPoseRequest.settings = request.settings;
- objPoseRequest.timestamp = armarx::toIce<armarx::core::time::dto::DateTime>(
- boRequest.snapshotID.timestamp);
+ toIce(objPoseRequest.timestamp, boRequest.snapshotID.timestamp);
objpose::ObjectPosePredictionResult objPoseResult =
predictObjectPoses({objPoseRequest}).at(0);
result.success = objPoseResult.success;
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index f078b436c..7067f42da 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -123,7 +123,7 @@ namespace armarx::armem::server::obj
RobotStateComponentInterfacePrx robotStateComponent;
KinematicUnitObserverInterfacePrx kinematicUnitObserver;
- double predictionLookbackSeconds = 2;
+ double predictionTimeWindow = 2;
clazz::Segment classSegment;
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
index 3b5c76e98..a069da907 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
@@ -156,7 +156,7 @@ module armarx
{
armarx::data::ObjectID objectID;
armarx::core::time::dto::DateTime timestamp;
- armarx::core::time::dto::Duration lookback;
+ armarx::core::time::dto::Duration timeWindow;
armem::prediction::data::PredictionSettings settings;
};
sequence<ObjectPosePredictionRequest> ObjectPosePredictionRequestSeq;
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 37bc5fba0..34b3ce320 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -178,6 +178,7 @@ namespace armarx::armem::client
*/
std::vector<PredictionResult> predict(const std::vector<PredictionRequest>& requests) const;
+ //TODO(phesch): Fix this interface with the proper type
/**
* @brief Get the list of prediction engines supported by the memory.
*
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 819eb729f..32398f8c4 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -589,7 +589,7 @@ namespace armarx::armem::server::obj::instance
const ObjectID objID = armarx::fromIce<ObjectID>(request.objectID);
- const Duration lookbackDuration = armarx::fromIce<Duration>(request.lookback);
+ const Duration timeWindow = armarx::fromIce<Duration>(request.timeWindow);
const wm::Entity* entity = findObjectEntity(objID);
if (!entity)
@@ -606,7 +606,7 @@ namespace armarx::armem::server::obj::instance
std::vector<Eigen::Vector3d> positions;
entity->forEachSnapshotInTimeRange(
- Time::Now() - lookbackDuration, Time::Invalid(),
+ Time::Now() - timeWindow, Time::Invalid(),
[&timeOrigin, ×tampsSec, &positions](const wm::EntitySnapshot& snapshot)
{
snapshot.forEachInstance(
@@ -632,7 +632,7 @@ namespace armarx::armem::server::obj::instance
{
std::stringstream sstream;
sstream << "No snapshots of the object " << objID << " were found in the last "
- << lookbackDuration << ". Cannot make a prediction.";
+ << timeWindow << ". Cannot make a prediction.";
result.errorMessage = sstream.str();
return result;
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index 0c36323b4..131a60865 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -245,13 +245,11 @@ namespace armarx::armem::server::obj::instance
if (showLinearPredictions)
{
objpose::ObjectPosePredictionRequest request;
- request.objectID = armarx::toIce<armarx::data::ObjectID>(id);
+ toIce(request.objectID, id);
request.settings.predictionEngineID = "Linear Position Regression";
- request.lookback =
- armarx::toIce<armarx::core::time::dto::Duration>(Duration::Seconds(2));
- request.timestamp = armarx::toIce<armarx::core::time::dto::DateTime>(
- // ToDo: Make parametrizable.
- Time::Now() + Duration::MilliSeconds(1000));
+ toIce(request.timeWindow, Duration::Seconds(2));
+ // TODO(phesch): Make parametrizable.
+ toIce(request.timestamp, Time::Now() + Duration::MilliSeconds(1000));
auto predictionResult = predictor(request);
if (predictionResult.success)
{
--
GitLab