Copy copy constructors and copy assigment operators

source/RobotAPI/libraries/armem/memory/Entity.cpp

@@ -16,6 +16,33 @@ namespace armarx::armem
     {
     }
 
+    Entity::Entity(const Entity& other)
+    {
+        *this = other;
+    }
+
+    Entity& Entity::operator=(const Entity& other)
+    {
+        this->name = other.name;
+        this->maxHistorySize = other.maxHistorySize;
+
+        this->history.clear();
+        for (const auto& [time, snapshot] : other.history)
+        {
+            this->addSnapshot(*snapshot);
+        }
+
+        return *this;
+    }
+
+    EntityPtr Entity::getEmptyCopy() const
+    {
+        EntityPtr other = std::make_unique<Entity>();
+        other->name = this->name;
+        other->maxHistorySize = this->maxHistorySize;
+        return other;
+    }
+
     bool Entity::hasSnapshot(Time time) const
     {
         return history.count(time) > 0;
@@ -43,6 +70,11 @@ namespace armarx::armem
     }
 
     EntitySnapshot& Entity::getLatestSnapshot()
+    {
+        return const_cast<EntitySnapshot&>(const_cast<const Entity*>(this)->getLatestSnapshot());
+    }
+
+    const EntitySnapshot& Entity::getLatestSnapshot() const
     {
         if (history.empty())
         {
@@ -53,6 +85,13 @@ namespace armarx::armem
     }
 
 
+    EntitySnapshot& Entity::addSnapshot(const EntitySnapshot& snapshot)
+    {
+        auto it = history.emplace(snapshot.time, std::make_unique<EntitySnapshot>(snapshot)).first;
+        return *it->second;
+    }
+
+
     MemoryID Entity::update(const InternalEntityUpdate& update)
     {
         checkEntityName(update.entityID.entityName);

source/RobotAPI/libraries/armem/memory/Entity.h

@@ -12,6 +12,9 @@
 namespace armarx::armem
 {
 
+    class Entity;
+    using EntityPtr = std::unique_ptr<Entity>;
+
     /**
      * @brief Data of an entity over a period of time.
      */
@@ -22,6 +25,16 @@ namespace armarx::armem
         Entity();
         Entity(const std::string& name);
 
+        /// Copy the history from `other` to this.
+        Entity(const Entity& other);
+        /// Copy the history from `other` to this.
+        Entity& operator=(const Entity& other);
+
+
+        /// Get an empty copy of `*this`.
+        EntityPtr getEmptyCopy() const;
+
+
         bool hasSnapshot(Time time) const;
         EntitySnapshot& getSnapshot(Time time);
         EntitySnapshot& getSnapshot(const MemoryID& id);
@@ -31,6 +44,7 @@ namespace armarx::armem
          * @return The latest snapshot.
          */
         EntitySnapshot& getLatestSnapshot();
+        const EntitySnapshot& getLatestSnapshot() const;
 
 
         /**
@@ -40,6 +54,9 @@ namespace armarx::armem
          */
         MemoryID update(const InternalEntityUpdate& update);
 
+        /// Add a single snapshot.
+        EntitySnapshot& addSnapshot(const EntitySnapshot& snapshot);
+
         /**
          * @brief Sets the maximum history size.
          *
@@ -71,6 +88,4 @@ namespace armarx::armem
 
     };
 
-    using EntityPtr = std::unique_ptr<Entity>;
-
 }

source/RobotAPI/libraries/armem/memory/EntitySnapshot.cpp

@@ -9,6 +9,24 @@ namespace armarx::armem
 {
 
 
+    EntitySnapshot::EntitySnapshot(const EntitySnapshot& other)
+    {
+        *this = other;
+    }
+
+    EntitySnapshot& EntitySnapshot::operator=(const EntitySnapshot& other)
+    {
+        this->time = other.time;
+        this->instances.clear();
+        this->instances.reserve(other.instances.size());
+        for (const auto& data : other.instances)
+        {
+            this->instances.emplace_back(std::make_unique<EntityData>(*data));
+        }
+
+        return *this;
+    }
+
     void EntitySnapshot::update(const InternalEntityUpdate& update)
     {
         time = update.timeCreated;

source/RobotAPI/libraries/armem/memory/EntitySnapshot.h

@@ -21,6 +21,11 @@ namespace armarx::armem
 
         EntitySnapshot() = default;
 
+        /// Copy the instances from `other` to this.
+        EntitySnapshot(const EntitySnapshot& other);
+        /// Copy the instances from `other` to this.
+        EntitySnapshot& operator=(const EntitySnapshot& other);
+
 
         void update(const InternalEntityUpdate& update);