From d3347a521d7461c5b5bae7243344189a680ff68a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 12 Jul 2021 09:28:39 +0200
Subject: [PATCH] Properly use typedefs
---
.../libraries/armem/core/base/EntityBase.h | 26 ++++++++++---------
.../armem/core/longtermmemory/Entity.cpp | 5 ++--
.../armem/core/longtermmemory/Entity.h | 2 +-
3 files changed, 18 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index ab227c33e..0775a71f9 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -114,13 +114,13 @@ namespace armarx::armem::base
}
- inline const std::map<Time, EntitySnapshotT>& history() const
+ inline const ContainerT& history() const
{
return this->_container;
}
- inline std::map<Time, EntitySnapshotT>& history()
+ inline ContainerT& history()
{
- return const_cast<std::map<Time, EntitySnapshotT>&>(const_cast<const EntityBase*>(this)->history());
+ return const_cast<ContainerT&>(const_cast<const EntityBase*>(this)->history());
}
@@ -226,7 +226,7 @@ namespace armarx::armem::base
virtual const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
{
// first element equal or greater
- typename std::map<Time, EntitySnapshotT>::const_iterator refIt = this->_container.upper_bound(time);
+ typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
if (refIt == this->_container.begin())
{
@@ -238,7 +238,7 @@ namespace armarx::armem::base
}
// last element less than
- typename std::map<Time, EntitySnapshotT>::const_iterator refItPrev = std::prev(refIt);
+ typename ContainerT::const_iterator refItPrev = std::prev(refIt);
// ... or we return the element before if possible
if (refItPrev != this->_container.begin())
@@ -259,7 +259,7 @@ namespace armarx::armem::base
virtual const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
{
// first element equal or greater
- typename std::map<Time, EntitySnapshotT>::const_iterator refIt = this->_container.upper_bound(time);
+ typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
if (refIt == this->_container.begin())
{
@@ -267,7 +267,7 @@ namespace armarx::armem::base
}
// last element less than
- typename std::map<Time, EntitySnapshotT>::const_iterator refItPrev = std::prev(refIt);
+ typename ContainerT::const_iterator refItPrev = std::prev(refIt);
// we return the element before if possible
if (refItPrev != this->_container.begin())
@@ -311,7 +311,7 @@ namespace armarx::armem::base
virtual const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
{
// first element equal or greater
- typename std::map<Time, EntitySnapshotT>::const_iterator refIt = this->_container.upper_bound(time);
+ typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
if (refIt == this->_container.end())
{
@@ -330,7 +330,7 @@ namespace armarx::armem::base
virtual const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
{
// first element equal or greater
- typename std::map<Time, EntitySnapshotT>::const_iterator refIt = this->_container.upper_bound(time);
+ typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
if (refIt == this->_container.end())
{
@@ -343,7 +343,7 @@ namespace armarx::armem::base
}
// first element greater than
- typename std::map<Time, EntitySnapshotT>::const_iterator refItNext = std::next(refIt);
+ typename ContainerT::const_iterator refItNext = std::next(refIt);
if (refItNext != this->_container.end())
{
@@ -418,7 +418,7 @@ namespace armarx::armem::base
EntitySnapshotT& addSnapshot(EntitySnapshotT&& snapshot)
{
- auto it = this->_container.emplace(snapshot.time(), std::move(snapshot)).first;
+ auto it = this->_container.emplace_hint(this->_container.end(), snapshot.time(), std::move(snapshot));
it->second.id().setEntityID(this->id());
return it->second;
}
@@ -473,7 +473,9 @@ namespace armarx::armem::base
* @return The latest snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
*/
- virtual const typename std::map<Time, EntitySnapshotT>::value_type& getLatestItem() const
+ virtual
+ const typename ContainerT::value_type&
+ getLatestItem() const
{
if (this->_container.empty())
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index 3865e6df0..a3c3b2e89 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -1,5 +1,6 @@
#include "Entity.h"
+
namespace armarx::armem::ltm
{
@@ -106,7 +107,7 @@ namespace armarx::armem::ltm
snapshot.addInstance(instance);
}
- _container.insert({time, snapshot});
+ _container.emplace(time, snapshot);
//truncateHistoryToSize();
return true;
}
@@ -142,7 +143,7 @@ namespace armarx::armem::ltm
return Base::getSnapshot(time);
}
- const std::map<Time, EntitySnapshot>::value_type& Entity::getLatestItem() const
+ auto Entity::getLatestItem() const -> const ContainerT::value_type&
{
// Directly query mongodb (cache cant know whether it is the latest or not)
// TODO
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index a5bca08c7..20377befd 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -71,7 +71,7 @@ namespace armarx::armem::ltm
protected:
// virtual overrides for LTM storage
- virtual const std::map<Time, EntitySnapshot>::value_type& getLatestItem() const override;
+ virtual const ContainerT::value_type& getLatestItem() const override;
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
--
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