From bdc4d9cd7a3606176e8e00c20ff91eaa16f3d834 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Wed, 6 Jul 2022 20:06:37 +0200
Subject: [PATCH] Add documentation to `getSnapshotsInRange`
---
.../libraries/armem/util/prediction_helpers.h | 26 ++++++++++++++++++-
.../server/localization/Segment.cpp | 2 +-
.../server/proprioception/Segment.cpp | 2 +-
3 files changed, 27 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/util/prediction_helpers.h b/source/RobotAPI/libraries/armem/util/prediction_helpers.h
index 3e525d778..484797e3f 100644
--- a/source/RobotAPI/libraries/armem/util/prediction_helpers.h
+++ b/source/RobotAPI/libraries/armem/util/prediction_helpers.h
@@ -32,6 +32,10 @@
namespace armarx::armem
{
+ /**
+ * Holds info on snapshot data extracted from a time range.
+ * Used for performing predictions.
+ */
template <typename DataType, typename LatestType>
struct LatestSnapshotInfo
{
@@ -43,9 +47,29 @@ namespace armarx::armem
LatestType latestValue;
};
+ /*!
+ * @brief Get data points for the snapshots of an entity in a given time range.
+ *
+ * The resulting `LatestSnapshotInfo` is useful for performing predictions.
+ * Data from the individual snapshots is given to the conversion functions
+ * before being stored in the result.
+ * Timestamps in the `timestampsSec` vector are relative to the endTime parameter
+ * to this function.
+ * Data from a snapshot is always retrieved from the instance with index 0.
+ * If some data cannot be retrieved, `success` is set to `false`
+ * and the `errorMessage` in the return value is set accordingly.
+ *
+ * @param segment the segment to get the snapshot data from
+ * @param entityID the entity to get the data for
+ * @param startTime the beginning of the time range
+ * @param endTime the end of the time range. Timestamps are relative to this value
+ * @param dictToData the conversion function from `DictPtr` to `DataType`
+ * @param dictToLatest the conversion function from `DictPtr` to `LatestType`
+ * @return the corresponding `LatestSnapshotInfo`
+ */
template <typename SegmentType, typename DataType, typename LatestType>
LatestSnapshotInfo<DataType, LatestType>
- getLatestSnapshots(const SegmentType* segment,
+ getSnapshotsInRange(const SegmentType* segment,
const MemoryID& entityID,
const DateTime& startTime,
const DateTime& endTime,
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 53b404e34..53e8d04fe 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -214,7 +214,7 @@ namespace armarx::armem::server::robot_state::localization
doLocked(
[&, this]()
{
- info = getLatestSnapshots<server::wm::CoreSegment,
+ info = getSnapshotsInRange<server::wm::CoreSegment,
Eigen::Vector3d,
arondto::Transform>(
segmentPtr,
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index de7b389d4..8c2c431fd 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -231,7 +231,7 @@ namespace armarx::armem::server::robot_state::proprioception
// Default capture because the number of variables was getting out of hand
[&, this]()
{
- info = getLatestSnapshots<server::wm::CoreSegment,
+ info = getSnapshotsInRange<server::wm::CoreSegment,
Eigen::VectorXd,
aron::data::DictPtr>(
segmentPtr,
--
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