add ReasoningMemory

source/RobotAPI/components/armem/server/CMakeLists.txt

 add_subdirectory(ExampleMemory)
 add_subdirectory(GeneralPurposeMemory)
 add_subdirectory(ObjectMemory)
+add_subdirectory(ReasoningMemory)
 add_subdirectory(RobotStateMemory)
 add_subdirectory(SkillsMemory)
 add_subdirectory(GraspMemory)

source/RobotAPI/components/armem/server/ReasoningMemory/CMakeLists.txt

+armarx_component_set_name("ReasoningMemory")
+
+
+set(COMPONENT_LIBS
+    ArmarXCore ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore RobotAPIInterfaces armem_server
+    RobotAPIComponentPlugins  # for ArViz and other plugins
+    armem_reasoning
+    armem_reasoning_server
+)
+
+set(SOURCES
+    ReasoningMemory.cpp
+)
+set(HEADERS
+    ReasoningMemory.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#generate the application
+armarx_generate_and_add_component_executable(
+    COMPONENT_NAMESPACE ::armarx::armem::server
+)
+
+
+

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

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::ExampleMemory
+ * @author     Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "ReasoningMemory.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+
+
+namespace armarx::armem::server
+{
+    armarx::PropertyDefinitionsPtr ReasoningMemory::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+        setMemoryName("Reasoning");
+        return defs;
+    }
+
+
+    ReasoningMemory::ReasoningMemory() :
+        anticipationSegment(iceAdapter())
+    {
+
+    }
+
+    std::string ReasoningMemory::getDefaultName() const
+    {
+        return "ReasoningMemory";
+    }
+
+    void ReasoningMemory::onInitComponent()
+    {
+        //poseSegment.onInit();
+        //identificationSegment.onInit();
+	
+	{
+        wm::CoreSegment& cs = workingMemory().addCoreSegment("Anticipation", armarx::reasoning::arondto::Anticipation::ToAronType());
+		cs.setMaxHistorySize(20);
+	}
+
+	
+	{
+		wm::CoreSegment& cs = workingMemory().addCoreSegment("Anticipation", armarx::reasoning::arondto::Anticipation::ToAronType());
+		cs.setMaxHistorySize(20);
+	}
+
+
+    }
+
+    void ReasoningMemory::onConnectComponent()
+    {
+    }
+
+    void ReasoningMemory::onDisconnectComponent()
+    {
+    }
+
+    void ReasoningMemory::onExitComponent()
+    {
+    }
+}

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

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::ExampleMemory
+ * @author     Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
+#include <RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h>
+
+namespace armarx::armem::server
+{
+    class ReasoningMemory :
+        virtual public armarx::Component, 
+        virtual public armem::server::ReadWritePluginUser
+    {
+    public:
+        ReasoningMemory();
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+
+    protected:
+
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+        void onInitComponent() override;
+        void onConnectComponent() override;
+        void onDisconnectComponent() override;
+        void onExitComponent() override;
+
+
+    private:
+        reasoning::AnticipationSegment anticipationSegment;
+    };
+}

source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt

@@ -20,6 +20,6 @@ armarx_add_library(
 )
 
 
-add_library(VisionX::armem_reasoning ALIAS ${LIB_NAME})
+add_library(RobotAPI::armem_reasoning ALIAS ${LIB_NAME})
 
 add_subdirectory(server)

source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt

@@ -19,4 +19,4 @@ armarx_add_library(
 )
 
 
-add_library(VisionX::armem_reasoning_server ALIAS ${LIB_NAME})
+add_library(RobotAPI::armem_reasoning_server ALIAS ${LIB_NAME})