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Loading the last n Snapshots from LTM on Startup

Joana Plewnia requested to merge feature/loadLTMonStartup into master

Goal:

When starting a memory server the (last n) snapshots should be loaded from the long-term memory. This allows to recover more easily from crashes for example.

Steps:

  • load all snapshots from LTM on startup of a memory server component using the export path and name, if component (e.g. Robot State Memory) calls the appropriate method
  • add property to Memory (not LTM) that defines if reloading is triggered and if so trigger in Memory.cpp instead of single memory server components
  • make amount of snapshots loaded a parameter
  • make core segments to load a parameter
  • make loading from another day possible
  • call method from Plugin.cpp after connection was established, so the memory servers do not have to call it themselves

Tests:

  • in Simulation, if snapshots can be loaded
  • ARMAR-7, if snapshots can be loaded
  • recovering localization data on startup ( @reister )
Edited by Joana Plewnia

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