Add documentation to `getSnapshotsInRange`

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,

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,

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,