Migrate RobotStateMemory predictions

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

@@ -205,32 +205,6 @@ namespace armarx::armem::server::robot_state
         return { new Pose(poseMap[robotName].matrix()) };
     }
 
-    armem::prediction::data::PredictionResultSeq
-    RobotStateMemory::predict(const armem::prediction::data::PredictionRequestSeq& requests)
-    {
-        std::vector<armem::prediction::data::PredictionResult> results;
-        for (const auto& request : requests)
-        {
-            auto boRequest = armarx::fromIce<armem::PredictionRequest>(request);
-            armem::PredictionResult result;
-            if (armem::contains(workingMemory().id().withCoreSegmentName("Proprioception"),
-                                boRequest.snapshotID) &&
-                !boRequest.snapshotID.hasGap() && boRequest.snapshotID.hasTimestamp())
-            {
-                result = proprioceptionSegment.predict(boRequest);
-            }
-            else
-            {
-                result.success = false;
-                result.errorMessage << "No predictions are supported for MemoryID "
-                                    << boRequest.snapshotID;
-            }
-
-            results.push_back(result.toIce());
-        }
-        return results;
-    }
-
     /*************************************************************/
     // RobotUnit Streaming functions
     /*************************************************************/

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

@@ -79,11 +79,6 @@ namespace armarx::armem::server::robot_state
         // GlobalRobotPoseProvider interface
         armarx::PoseBasePtr getGlobalRobotPose(Ice::Long timestamp, const std::string& robotName, const ::Ice::Current&) override;
 
-        using ReadWritePluginUser::predict;
-
-        armem::prediction::data::PredictionResultSeq
-        predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
-
 
     protected:
 

source/RobotAPI/libraries/armem/server/wm/detail/Prediction.h

@@ -42,6 +42,7 @@ namespace armarx::armem::server::wm::detail
     {
     public:
         explicit Prediction(const std::map<std::string, Predictor>& predictors = {})
+            : _predictors(predictors)
         {
         }
 
@@ -119,6 +120,11 @@ namespace armarx::armem::server::wm::detail
     public:
         using Prediction<DerivedT>::Prediction;
 
+        explicit PredictionContainer(const std::map<std::string, Predictor>& predictors = {})
+            : Prediction<DerivedT>(predictors)
+        {
+        }
+
         std::vector<PredictionResult>
         dispatchPredictions(const std::vector<PredictionRequest>& requests)
         {

source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp

@@ -39,6 +39,14 @@ namespace armarx::armem::server::robot_state::proprioception
                        " when requested via the PredictingMemoryInterface (in seconds).");
     }
 
+    void Segment::init()
+    {
+        Base::init();
+
+        segmentPtr->addPredictor(
+            "Linear", [this](const PredictionRequest& request) { return this->predict(request); });
+    }
+
     void Segment::onConnect(RobotUnitInterfacePrx robotUnitPrx)
     {
         this->robotUnit = robotUnitPrx;

source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h

@@ -55,6 +55,8 @@ namespace armarx::armem::server::robot_state::proprioception
 
         void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
 
+        void init() override;
+
         void onConnect(RobotUnitInterfacePrx robotUnitPrx);