From 5cdf21e69090348714a2c954a81d0f1425d0c84e Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 21 Jul 2021 14:36:32 +0200
Subject: [PATCH] Remove unused files
---
.../armem/server/ObjectMemory/ObjectMemory.h | 2 -
.../libraries/armem_objects/CMakeLists.txt | 12 +-
.../articulated_object_class/Segment.cpp | 186 ------------------
.../server/articulated_object_class/Segment.h | 112 -----------
.../articulated_object_instance/Segment.cpp | 175 ----------------
.../articulated_object_instance/Segment.h | 112 -----------
6 files changed, 1 insertion(+), 598 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.h
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 5ef38a94b..b90406be3 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -38,8 +38,6 @@
#include <RobotAPI/libraries/armem_objects/server/class/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
-#include <RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.h>
-#include <RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 54eb919e1..ab26b1f8a 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -16,6 +16,7 @@ armarx_add_library(
RobotAPI::Core
RobotAPI::armem
RobotAPI::armem_robot
+
HEADERS
aron_conversions.h
aron_forward_declarations.h
@@ -32,11 +33,6 @@ armarx_add_library(
server/instance/Visu.h
server/instance/ArticulatedObjectVisu.h
- # server/articulated_object_class/Segment.h
- # server/articulated_object_instance/Segment.h
- # server/articulated_object/SegmentAdapter.h
- # server/articulated_object_instance/Visu.h
-
server/attachments/Segment.h
client/articulated_object/Reader.h
@@ -64,12 +60,6 @@ armarx_add_library(
server/instance/Visu.cpp
server/instance/ArticulatedObjectVisu.cpp
- server/articulated_object_class/Segment.cpp
-
- # server/articulated_object_instance/Segment.cpp
- # server/articulated_object/SegmentAdapter.cpp
- # server/articulated_object_instance/Visu.cpp
-
server/attachments/Segment.cpp
client/articulated_object/Reader.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
deleted file mode 100644
index 354ac2efc..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
+++ /dev/null
@@ -1,186 +0,0 @@
-#include "Segment.h"
-
-#include <SimoxUtility/algorithm/get_map_keys_values.h>
-#include <sstream>
-
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include "ArmarXCore/core/logging/Logging.h"
-
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
-
-#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-
-#include "RobotAPI/libraries/armem_robot/robot_conversions.h"
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
-#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
-
-
-namespace armarx::armem::server::obj::articulated_object_class
-{
-
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
- iceMemory(memoryToIceAdapter),
- memoryMutex(memoryMutex)
- {
- Logging::setTag("ArticulatedObjectInstanceSegment");
- }
-
- Segment::~Segment() = default;
-
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
- {
- defs->optional(p.coreClassSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
- defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
-
- defs->optional(p.objectsPackage, prefix + "ObjectsPackage", "Name of the objects package to load from.");
- defs->optional(p.loadFromObjectsPackage, prefix + "LoadFromObjectsPackage",
- "If true, load the objects from the objects package on startup.");
-
- }
-
- void Segment::init()
- {
- ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
-
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::RobotDescription::toAronType());
- coreSegment->setMaxHistorySize(p.maxHistorySize);
-
- if (p.loadFromObjectsPackage)
- {
- loadByObjectFinder(p.objectsPackage);
- }
- }
-
-
- void Segment::connect()
- {
- }
-
-
- void Segment::loadByObjectFinder(const std::string& package)
- {
- ObjectFinder finder(package);
-
- const auto knownArticulatedObjectDescriptions = finder.findAllArticulatedObjectsByDataset(true);
- ARMARX_DEBUG << "Found " << knownArticulatedObjectDescriptions.size() << " articulated objects";
-
- loadObjectsIntoMemory(knownArticulatedObjectDescriptions, package);
- }
-
- void Segment::loadObjectsIntoMemory(const std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>>& datasets, const std::string& package)
- {
- const Time now = TimeUtil::GetTime();
-
- const MemoryID providerID = coreSegment->id().withProviderSegmentName(package);
- coreSegment->addProviderSegment(providerID.providerSegmentName);
-
- // ARMARX_INFO << "Loading up to " << infos.size() << " object classes from '"
- // << objectFinder.getPackageName() << "' ...";
- Commit commit;
-
- for (const auto& [datasetName, descriptions] : datasets)
- {
-
- for (const armem::articulated_object::ArticulatedObjectDescription& desc : descriptions)
- {
- EntityUpdate& update = commit.updates.emplace_back();
- update.entityID = providerID.withEntityName(desc.name);
- update.timeArrived = update.timeCreated = update.timeSent = now;
-
- arondto::RobotDescription aronRobotDescription;
- toAron(aronRobotDescription, desc);
- // TODO toAron(aronRobotDescription.timestamp, now);
-
- update.instancesData = { aronRobotDescription.toAron()};
- }
-
- ARMARX_INFO << "Loaded " << commit.updates.size() << " articulated object classes from '"
- << package << "' in dataset '" << datasetName << "'.";
- }
- iceMemory.commit(commit);
- }
-
-
-
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> Segment::getKnownObjectClasses() const
- {
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> objects;
-
- for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
- {
- for (const auto& [name, entity] : provSeg.entities())
- {
- for (const auto& snapshot : simox::alg::get_values(entity.history()))
- {
- const auto& entityInstance = snapshot.getInstance(0);
- const auto description = robot::convertRobotDescription(entityInstance);
-
- if (not description)
- {
- ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
- continue;
- }
-
- ARMARX_DEBUG << "Key is " << armem::MemoryID(snapshot.id());
-
- objects.emplace(armem::MemoryID(snapshot.id()), *description);
- }
- }
- }
-
- ARMARX_INFO << deactivateSpam(10) << "Number of known articulated object classes: " << objects.size();
-
- return objects;
- }
-
-
-
- // void Segment::RemoteGui::setup(const Segment& data)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
- // maxHistorySize.setRange(1, 1e6);
- // infiniteHistory.setValue(data.p.maxHistorySize == -1);
- // discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
- // GridLayout grid;
- // int row = 0;
- // grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
- // row++;
- // grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
- // row++;
- // grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
- // row++;
-
- // group.setLabel("Data");
- // group.addChild(grid);
- // }
-
- // void Segment::RemoteGui::update(Segment& data)
- // {
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
- // || discardSnapshotsWhileAttached.hasValueChanged())
- // {
- // std::scoped_lock lock(data.memoryMutex);
-
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
- // {
- // data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- // if (data.coreSegment)
- // {
- // data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
- // }
- // }
-
- // data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
- // }
- // }
-
-} // namespace armarx::armem::server::obj::articulated_object_class
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h
deleted file mode 100644
index e2a7bbc6f..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Reister ( fabian dot reister at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#include <string>
-#include <optional>
-#include <mutex>
-#include <unordered_map>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
-
-// #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
-
-#include "RobotAPI/components/ArViz/Client/Client.h"
-
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem_objects/types.h"
-
-#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-
-namespace armarx::armem
-{
- namespace server
- {
- class MemoryToIceAdapter;
- }
-
- namespace wm
- {
- class CoreSegment;
- }
-} // namespace armarx::armem
-
-
-namespace armarx::armem::server::obj::articulated_object_class
-{
- class Visu;
-
- class Segment : public armarx::Logging
- {
- public:
- Segment(server::MemoryToIceAdapter& iceMemory,
- std::mutex& memoryMutex);
-
- virtual ~Segment();
-
- void connect(viz::Client arviz);
-
- void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
-
- void init();
-
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> getKnownObjectClasses() const;
-
-
- private:
- void loadByObjectFinder(const std::string& package);
- void loadObjectsIntoMemory(const std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>>& datasets, const std::string& package);
-
- server::MemoryToIceAdapter& iceMemory;
- wm::CoreSegment* coreSegment = nullptr;
- std::mutex& memoryMutex;
-
- struct Properties
- {
- std::string coreClassSegmentName = "ArticulatedObjectClass";
- int64_t maxHistorySize = -1;
-
- std::string objectsPackage = ObjectFinder::DefaultObjectsPackageName;
- bool loadFromObjectsPackage = true;
- };
- Properties p;
-
- // std::unique_ptr<Visu> visu;
-
- public:
-
- // struct RemoteGui
- // {
- // armarx::RemoteGui::Client::GroupBox group;
-
- // armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
- // armarx::RemoteGui::Client::CheckBox infiniteHistory;
- // armarx::RemoteGui::Client::CheckBox discardSnapshotsWhileAttached;
-
- // void setup(const Segment& data);
- // void update(Segment& data);
- // };
-
- };
-
-} // namespace armarx::armem::server::obj::articulated_object_class
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
deleted file mode 100644
index dba8c91a8..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
+++ /dev/null
@@ -1,175 +0,0 @@
-#include "Segment.h"
-
-#include <sstream>
-
-#include <SimoxUtility/algorithm/get_map_keys_values.h>
-
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-
-#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-
-#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
-
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
-#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
-#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
-#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
-
-#include <RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h>
-
-#include "Visu.h"
-
-
-namespace armarx::armem::server::obj::articulated_object_instance
-{
-
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
- iceMemory(memoryToIceAdapter),
- memoryMutex(memoryMutex)
- {
- Logging::setTag("ArticulatedObjectInstanceSegment");
- }
-
- Segment::~Segment() = default;
-
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr& defs, const std::string& prefix)
- {
- defs->optional(p.coreInstanceSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
- defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
- }
-
- void Segment::init()
- {
- ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
-
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreInstanceSegmentName, arondto::Robot::toAronType());
- coreSegment->setMaxHistorySize(p.maxHistorySize);
-
- }
-
- void Segment::connect(viz::Client arviz)
- {
- this->visu = std::make_unique<Visu>(arviz, *this);
- visu->init();
- }
-
- void Segment::setArticulatedObjectClassSegment(const articulated_object_class::Segment& segment)
- {
- classSegment = &segment;
- }
-
- ::armarx::armem::articulated_object::ArticulatedObjects Segment::getArticulatedObjects() const
- {
- ARMARX_CHECK_NOT_NULL(classSegment);
- const auto knownObjectClasses = classSegment->getKnownObjectClasses();
-
- ARMARX_DEBUG << "Class segment has " << knownObjectClasses.size() << " known articulated objects";
-
- const auto escape = [](std::string & v)
- {
- v = simox::alg::replace_all(v, "/", "\\/");
- };
-
- const auto resolveDescriptionLink = [&](auto & articulatedObject, const auto & aronDescriptionLink) -> bool
- {
- armem::MemoryID descriptionLink;
- fromAron(aronDescriptionLink, descriptionLink);
-
- escape(descriptionLink.providerSegmentName);
-
- ARMARX_DEBUG << "Lookup key is " << descriptionLink;
-
- // const auto keys = simox::alg::get_keys(knownObjectClasses);
- // ARMARX_DEBUG << "Known keys " << keys;
-
- const auto it = knownObjectClasses.find(descriptionLink);
- if (it == knownObjectClasses.end())
- {
- ARMARX_WARNING << "Unknown object class " << descriptionLink
- << "Known classes are " << simox::alg::get_keys(knownObjectClasses);
- return false;
- }
-
- articulatedObject.description = it->second;
- return true;
- };
-
- ::armarx::armem::articulated_object::ArticulatedObjects objects;
- for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreInstanceSegmentName))
- {
- for (const auto& [_, entity] : provSeg.entities())
- {
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-
- arondto::Robot aronArticulatedObject;
- aronArticulatedObject.fromAron(entityInstance.data());
-
- armem::articulated_object::ArticulatedObject articulatedObject;
- fromAron(aronArticulatedObject, articulatedObject);
-
- // resolve memory link for description
- const arondto::MemoryID& aronDescriptionLink = aronArticulatedObject.description;
- if (not resolveDescriptionLink(articulatedObject, aronDescriptionLink))
- {
- continue;
- }
-
- objects.push_back(articulatedObject);
- }
- }
-
- return objects;
- }
-
-
-
- // void Segment::RemoteGui::setup(const Segment& data)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
- // maxHistorySize.setRange(1, 1e6);
- // infiniteHistory.setValue(data.p.maxHistorySize == -1);
- // discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
- // GridLayout grid;
- // int row = 0;
- // grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
- // row++;
- // grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
- // row++;
- // grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
- // row++;
-
- // group.setLabel("Data");
- // group.addChild(grid);
- // }
-
- // void Segment::RemoteGui::update(Segment& data)
- // {
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
- // || discardSnapshotsWhileAttached.hasValueChanged())
- // {
- // std::scoped_lock lock(data.memoryMutex);
-
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
- // {
- // data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- // if (data.coreSegment)
- // {
- // data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
- // }
- // }
-
- // data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
- // }
- // }
-
-} // namespace armarx::armem::server::obj::articulated_object_instance
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.h
deleted file mode 100644
index 2d50be817..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Reister ( fabian dot reister at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#include <cstdint>
-#include <map>
-#include <string>
-#include <optional>
-#include <mutex>
-
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
-
-#include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
-
-#include <RobotAPI/interface/core/RobotState.h>
-
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-
-#include "RobotAPI/components/ArViz/Client/Client.h"
-
-#include "RobotAPI/libraries/armem_objects/types.h"
-
-
-namespace armarx::armem::server::obj::articulated_object_class
-{
- class Segment;
-}
-
-namespace armarx::armem::server::obj::articulated_object_instance
-{
- class Visu;
-
- class Segment : public armarx::Logging
- {
- public:
-
- struct CommitStats
- {
- int numUpdated = 0;
- };
-
-
- Segment(server::MemoryToIceAdapter& iceMemory,
- std::mutex& memoryMutex);
-
- virtual ~Segment();
-
- void connect(viz::Client arviz);
-
- void defineProperties(armarx::PropertyDefinitionsPtr& defs, const std::string& prefix = "");
-
- void init();
-
- void setArticulatedObjectClassSegment(const articulated_object_class::Segment& segment);
-
- ::armarx::armem::articulated_object::ArticulatedObjects getArticulatedObjects() const;
-
- private:
-
- server::MemoryToIceAdapter& iceMemory;
- wm::CoreSegment* coreSegment = nullptr;
- std::mutex& memoryMutex;
-
- articulated_object_class::Segment const* classSegment;
-
-
- struct Properties
- {
- std::string coreInstanceSegmentName = "ArticulatedObjectInstance";
- int64_t maxHistorySize = -1;
- };
- Properties p;
-
- std::unique_ptr<Visu> visu;
-
- public:
-
- // struct RemoteGui
- // {
- // armarx::RemoteGui::Client::GroupBox group;
-
- // armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
- // armarx::RemoteGui::Client::CheckBox infiniteHistory;
- // armarx::RemoteGui::Client::CheckBox discardSnapshotsWhileAttached;
-
- // void setup(const Segment& data);
- // void update(Segment& data);
- // };
-
- };
-
-} // namespace armarx::armem::server::obj::articulated_object_instance
--
GitLab