From e6a489ecf4b67709d0050161693c4c6d13874e0f Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Tue, 14 Jun 2022 09:48:47 +0200
Subject: [PATCH] Fix prediction errors in ObjectMemory
---
.../armem/server/ObjectMemory/ObjectMemory.cpp | 7 ++++---
source/RobotAPI/libraries/armem/core/Prediction.cpp | 9 ++++++++-
2 files changed, 12 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index fe2a74715..89da7e8a6 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -251,7 +251,7 @@ namespace armarx::armem::server::obj
if (objPoseResult.success)
{
armem::client::QueryBuilder builder;
- builder.singleEntitySnapshot(boRequest.snapshotID);
+ builder.latestEntitySnapshot(boRequest.snapshotID);
auto queryResult = armarx::fromIce<armem::client::QueryResult>(
query(builder.buildQueryInputIce()));
std::string instanceError =
@@ -263,11 +263,12 @@ namespace armarx::armem::server::obj
}
else
{
- auto* aronInstance = queryResult.memory.findInstance(boRequest.snapshotID);
+ auto* aronInstance = queryResult.memory.findLatestInstance(
+ boRequest.snapshotID, boRequest.snapshotID.instanceIndex);
if (aronInstance == nullptr)
{
result.success = false;
- result.errorMessage << instanceError;
+ result.errorMessage << instanceError << ": No latest instance found.";
}
else
{
diff --git a/source/RobotAPI/libraries/armem/core/Prediction.cpp b/source/RobotAPI/libraries/armem/core/Prediction.cpp
index 9880d03a2..bb43a908c 100644
--- a/source/RobotAPI/libraries/armem/core/Prediction.cpp
+++ b/source/RobotAPI/libraries/armem/core/Prediction.cpp
@@ -120,7 +120,14 @@ namespace armarx::armem
ice.success = result.success;
ice.errorMessage = result.errorMessage;
toIce(ice.snapshotID, result.snapshotID);
- ice.prediction = result.prediction->toAronDictDTO();
+ if (result.prediction)
+ {
+ ice.prediction = result.prediction->toAronDictDTO();
+ }
+ else
+ {
+ ice.prediction = nullptr;
+ }
}
void
--
GitLab