Add max history size

source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.cpp

@@ -42,6 +42,9 @@ namespace armarx
 
         setMemoryName(armem::index::memoryID.memoryName);
 
+        defs->optional(properties.maxHistorySize, "p.maxHistorySize", "The maximum size of entity histories.")
+                .setMin(1);
+
         return defs;
     }
 
@@ -56,10 +59,16 @@ namespace armarx
     void
     IndexMemory::onInitComponent()
     {
-        workingMemory().addCoreSegment(armem::index::namedSegmentID.coreSegmentName,
-                                       armem::index::arondto::Named::ToAronType());
-        workingMemory().addCoreSegment(armem::index::spatialSegmentID.coreSegmentName,
-                                       armem::index::arondto::Spatial::ToAronType());
+        size_t maxHistorySize = static_cast<size_t>(std::max(1, properties.maxHistorySize));
+        workingMemory()
+            .addCoreSegment(armem::index::namedSegmentID.coreSegmentName,
+                            armem::index::arondto::Named::ToAronType())
+            .setMaxHistorySize(maxHistorySize);
+
+        workingMemory()
+            .addCoreSegment(armem::index::spatialSegmentID.coreSegmentName,
+                            armem::index::arondto::Spatial::ToAronType())
+            .setMaxHistorySize(maxHistorySize);
     }
 
 

source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.h

@@ -70,6 +70,7 @@ namespace armarx
     private:
         struct Properties
         {
+            int maxHistorySize = 1024;
         };
         Properties properties;