diff --git a/scenarios/PlatformNavigation/config/VisionMemory.cfg b/scenarios/PlatformNavigation/config/VisionMemory.cfg
index 22e0d3e62dbf7e3c0012b44f0d65e2e7a1fe3f46..1b95447f4edb52efc404a7bd9c2c00ee89ddf608 100644
--- a/scenarios/PlatformNavigation/config/VisionMemory.cfg
+++ b/scenarios/PlatformNavigation/config/VisionMemory.cfg
@@ -210,21 +210,12 @@
# ArmarX.VisionMemory.mem.MemoryName = Vision
-# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# ArmarX.VisionMemory.mem.ltm.configuration:
# Attributes:
-# - Default: 10
+# - Default: {}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.VisionMemory.mem.ltm..buffer.storeFreq = 10
-
-
-# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.depthImageExtractor.Enabled = true
+# ArmarX.VisionMemory.mem.ltm.configuration = {}
# ArmarX.VisionMemory.mem.ltm.enabled:
@@ -236,100 +227,6 @@
# ArmarX.VisionMemory.mem.ltm.enabled = false
-# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.exrConverter.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.imageExtractor.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.memFreqFilter.WaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.pngConverter.Enabled = true
-
-
-# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
-# Attributes:
-# - Default: 1024
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
-
-
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled:
-# Attributes:
-# - Default: false
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.Enabled = false
-
-
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
-
-
-# ArmarX.VisionMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
-# Attributes:
-# - Default: Default value not mapped.
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.VisionMemory.mem.ltm.storagepath = Default value not mapped.
-
-
# ArmarX.VisionMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/PlatformNavigation/config/navigation_memory.cfg b/scenarios/PlatformNavigation/config/navigation_memory.cfg
index f808f7771be10fe6b63eee35db55e0ab5db5f3cf..8945e9ca86ae9055750010e93a7ae1f88e4db55b 100644
--- a/scenarios/PlatformNavigation/config/navigation_memory.cfg
+++ b/scenarios/PlatformNavigation/config/navigation_memory.cfg
@@ -217,7 +217,7 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graphs/audimax-science-week-opening
+ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graphs/R003
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
@@ -285,6 +285,6 @@ ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graph
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Info
+ArmarX.Verbosity = Verbose
diff --git a/scenarios/PlatformNavigation/config/navigator.cfg b/scenarios/PlatformNavigation/config/navigator.cfg
index f6a497b25e20ac551dbcc98a5eb5fd28244e68df..c94f448997d4aaf46f433ffd9982765673ed8eb4 100644
--- a/scenarios/PlatformNavigation/config/navigator.cfg
+++ b/scenarios/PlatformNavigation/config/navigator.cfg
@@ -92,298 +92,323 @@
# ArmarX.LoggingGroup = ""
-# ArmarX.Navigator.ArVizStorageName: Name of the ArViz storage
+# ArmarX.Navigator.ObjectName: No Description
# Attributes:
-# - Default: ArVizStorage
-# - Case sensitivity: yes
+# - Default: navigator
+# - Case sensitivity: no
# - Required: no
-# ArmarX.Navigator.ArVizStorageName = ArVizStorage
+ArmarX.Navigator.ObjectName = navigator
-# ArmarX.Navigator.ArVizTopicName: Name of the ArViz topic
+# ArmarX.Navigator.RobotUnitName: No Description
# Attributes:
-# - Default: ArVizTopic
-# - Case sensitivity: yes
+# - Default: Armar6Unit
+# - Case sensitivity: no
+# - Required: no
+ArmarX.Navigator.RobotUnitName = Armar6Unit
+
+
+# ArmarX.Navigator.cmp.PlatformUnit: No Description
+# Attributes:
+# - Default: Armar6PlatformUnit
+# - Case sensitivity: no
# - Required: no
-# ArmarX.Navigator.ArVizTopicName = ArVizTopic
+ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
-# ArmarX.Navigator.EnableProfiling: enable profiler which is used for logging performance events
+# ArmarX.Navigator.p.occupancy_grid.occopied_threshold: No Description
# Attributes:
-# - Default: false
+# - Default: 0.8
+# - Case sensitivity: no
+# - Required: no
+ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.Navigator.EnableProfiling = false
+# ArmarX.RedirectStdout = true
-# ArmarX.Navigator.MinimumLoggingLevel: Local logging level only for this component
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
-# - Default: Undefined
+# - Default: 3000
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Navigator.MinimumLoggingLevel = Undefined
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.Navigator.ObjectMemoryName: Name of the object memory.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
-# - Default: ObjectMemory
+# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.ObjectMemoryName = ObjectMemory
+# ArmarX.SecondsStartupDelay = 0
-# ArmarX.Navigator.ObjectName: Name of IceGrid well-known object
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
# Attributes:
-# - Default: ""
+# - Default: false
# - Case sensitivity: yes
# - Required: no
-ArmarX.Navigator.ObjectName = navigator
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
-# ArmarX.Navigator.RobotUnitName: Name of the RobotUnit
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
+# - Default: 1
# - Case sensitivity: yes
-# - Required: yes
-ArmarX.Navigator.RobotUnitName = Armar6Unit
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
-# ArmarX.Navigator.cmp.PlatformUnit: No Description
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
-# - Default: Armar6PlatformUnit
-# - Case sensitivity: no
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
+# ArmarX.TopicSuffix = ""
-# ArmarX.Navigator.cmp.RemoteGui: Ice object name of the `RemoteGui` component.
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: RemoteGuiProvider
+# - Default: false
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.cmp.RemoteGui = RemoteGuiProvider
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
-# ArmarX.Navigator.mem.nav.costmap.CoreSegment:
+# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
-# - Default: Costmap
+# - Default: Info
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.costmap.CoreSegment = Costmap
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+ArmarX.Verbosity = Verbose
-# ArmarX.Navigator.mem.nav.costmap.Memory:
+# ArmarX.navigator.ArVizStorageName: Name of the ArViz storage
# Attributes:
-# - Default: Navigation
+# - Default: ArVizStorage
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.costmap.Memory = Navigation
+# ArmarX.navigator.ArVizStorageName = ArVizStorage
-# ArmarX.Navigator.mem.nav.costmap.Provider: Name of this provider
+# ArmarX.navigator.ArVizTopicName: Name of the ArViz topic
# Attributes:
-# - Default: ""
+# - Default: ArVizTopic
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.costmap.Provider = ""
+# ArmarX.navigator.ArVizTopicName = ArVizTopic
-# ArmarX.Navigator.mem.nav.events.CoreSegment:
+# ArmarX.navigator.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: Events
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.navigator.EnableProfiling = false
+
+
+# ArmarX.navigator.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.events.CoreSegment = Events
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.navigator.MinimumLoggingLevel = Undefined
-# ArmarX.Navigator.mem.nav.events.Memory:
+# ArmarX.navigator.ObjectMemoryName: Name of the object memory.
# Attributes:
-# - Default: Navigation
+# - Default: ObjectMemory
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.events.Memory = Navigation
+# ArmarX.navigator.ObjectMemoryName = ObjectMemory
-# ArmarX.Navigator.mem.nav.events.Provider: Name of this provider
+# ArmarX.navigator.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.events.Provider = ""
+# ArmarX.navigator.ObjectName = ""
-# ArmarX.Navigator.mem.nav.graph.CoreSegment:
+# ArmarX.navigator.RobotUnitName: Name of the RobotUnit
# Attributes:
-# - Default: Location
# - Case sensitivity: yes
-# - Required: no
-# ArmarX.Navigator.mem.nav.graph.CoreSegment = Location
+# - Required: yes
+# ArmarX.navigator.RobotUnitName = ::_NOT_SET_::
-# ArmarX.Navigator.mem.nav.graph.Memory:
+# ArmarX.navigator.cmp.RemoteGui: Ice object name of the `RemoteGui` component.
# Attributes:
-# - Default: Navigation
+# - Default: RemoteGuiProvider
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.graph.Memory = Navigation
+# ArmarX.navigator.cmp.RemoteGui = RemoteGuiProvider
-# ArmarX.Navigator.mem.nav.param.CoreSegment:
+# ArmarX.navigator.mem.nav.costmap.CoreSegment:
# Attributes:
-# - Default: Parameterization
+# - Default: Costmap
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.param.CoreSegment = Parameterization
+# ArmarX.navigator.mem.nav.costmap.CoreSegment = Costmap
-# ArmarX.Navigator.mem.nav.param.Memory:
+# ArmarX.navigator.mem.nav.costmap.Memory:
# Attributes:
# - Default: Navigation
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.param.Memory = Navigation
+# ArmarX.navigator.mem.nav.costmap.Memory = Navigation
-# ArmarX.Navigator.mem.nav.param.Provider: Name of this provider
+# ArmarX.navigator.mem.nav.events.CoreSegment:
# Attributes:
-# - Default: ""
+# - Default: Events
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.param.Provider = ""
+# ArmarX.navigator.mem.nav.events.CoreSegment = Events
-# ArmarX.Navigator.mem.nav.stack_result.CoreSegment:
+# ArmarX.navigator.mem.nav.events.Memory:
# Attributes:
-# - Default: ""
+# - Default: Navigation
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.stack_result.CoreSegment = ""
+# ArmarX.navigator.mem.nav.events.Memory = Navigation
-# ArmarX.Navigator.mem.nav.stack_result.Memory:
+# ArmarX.navigator.mem.nav.events.Provider: Name of this provider
# Attributes:
-# - Default: Navigation
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.stack_result.Memory = Navigation
+# ArmarX.navigator.mem.nav.events.Provider = ""
-# ArmarX.Navigator.mem.nav.stack_result.Provider: Name of this provider
+# ArmarX.navigator.mem.nav.graph.CoreSegment:
# Attributes:
-# - Default: ""
+# - Default: Location
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.nav.stack_result.Provider = ""
+# ArmarX.navigator.mem.nav.graph.CoreSegment = Location
-# ArmarX.Navigator.mem.robot_state.Memory:
+# ArmarX.navigator.mem.nav.graph.Memory:
# Attributes:
-# - Default: RobotState
+# - Default: Navigation
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.robot_state.Memory = RobotState
+# ArmarX.navigator.mem.nav.graph.Memory = Navigation
-# ArmarX.Navigator.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# ArmarX.navigator.mem.nav.param.CoreSegment:
# Attributes:
-# - Default: Localization
+# - Default: Parameterization
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mem.robot_state.localizationSegment = Localization
+# ArmarX.navigator.mem.nav.param.CoreSegment = Parameterization
-# ArmarX.Navigator.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
-# Set to false to use this memory as a stand-alone.
+# ArmarX.navigator.mem.nav.param.Memory:
# Attributes:
-# - Default: true
+# - Default: Navigation
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.Navigator.mns.MemoryNameSystemEnabled = true
+# ArmarX.navigator.mem.nav.param.Memory = Navigation
-# ArmarX.Navigator.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# ArmarX.navigator.mem.nav.param.Provider: Name of this provider
# Attributes:
-# - Default: MemoryNameSystem
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.Navigator.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.navigator.mem.nav.param.Provider = ""
-# ArmarX.Navigator.p.occupancy_grid.occopied_threshold: Threshold for each cell to be considered occupied. Increase this value to reduce noise.
+# ArmarX.navigator.mem.nav.stack_result.CoreSegment:
# Attributes:
-# - Default: 0.550000012
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
+# ArmarX.navigator.mem.nav.stack_result.CoreSegment = ""
-# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# ArmarX.navigator.mem.nav.stack_result.Memory:
# Attributes:
-# - Default: true
+# - Default: Navigation
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RedirectStdout = true
+# ArmarX.navigator.mem.nav.stack_result.Memory = Navigation
-# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# ArmarX.navigator.mem.nav.stack_result.Provider: Name of this provider
# Attributes:
-# - Default: 3000
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RemoteHandlesDeletionTimeout = 3000
+# ArmarX.navigator.mem.nav.stack_result.Provider = ""
-# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# ArmarX.navigator.mem.robot_state.Memory:
# Attributes:
-# - Default: 0
+# - Default: RobotState
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SecondsStartupDelay = 0
+# ArmarX.navigator.mem.robot_state.Memory = RobotState
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.navigator.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
# Attributes:
-# - Default: false
+# - Default: Localization
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.StartDebuggerOnCrash = false
+# ArmarX.navigator.mem.robot_state.localizationSegment = Localization
-# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# ArmarX.navigator.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
# Attributes:
-# - Default: 1
+# - Default: true
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ThreadPoolSize = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.navigator.mns.MemoryNameSystemEnabled = true
-# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# ArmarX.navigator.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
# Attributes:
-# - Default: ""
+# - Default: MemoryNameSystem
# - Case sensitivity: yes
# - Required: no
-# ArmarX.TopicSuffix = ""
+# ArmarX.navigator.mns.MemoryNameSystemName = MemoryNameSystem
-# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# ArmarX.navigator.p.disableExecutor: If the executor is disabled, the navigator will only plan the trajectory but won't execute it.
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.UseTimeServer = false
+# ArmarX.navigator.p.disableExecutor = false
-# ArmarX.Verbosity: Global logging level for whole application
+# ArmarX.navigator.p.occupancy_grid.occopied_threshold: Threshold for each cell to be considered occupied. Increase this value to reduce noise.
# Attributes:
-# - Default: Info
+# - Default: 0.550000012
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-ArmarX.Verbosity = Verbose
+# ArmarX.navigator.p.occupancy_grid.occopied_threshold = 0.550000012
diff --git a/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt b/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt
index 06bd40803f1b508891608aadd055e0e24138d3fe..01196c1455fa9f064d9eaab04f9ec243a0551647 100644
--- a/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt
+++ b/source/armarx/navigation/components/NavigationMemory/CMakeLists.txt
@@ -1,4 +1,9 @@
armarx_add_component(navigation_memory
+ ICE_DEPENDENCIES
+ ArmarXCoreInterfaces
+ RobotAPIInterfaces
+ ICE_FILES
+ ComponentInterface.ice
DEPENDENCIES
# ArmarXCore
ArmarXCore
diff --git a/source/armarx/navigation/components/NavigationMemory/ComponentInterface.ice b/source/armarx/navigation/components/NavigationMemory/ComponentInterface.ice
new file mode 100644
index 0000000000000000000000000000000000000000..b7c4d6d92b0292d39a0fd5f8b312919c9120b024
--- /dev/null
+++ b/source/armarx/navigation/components/NavigationMemory/ComponentInterface.ice
@@ -0,0 +1,47 @@
+/**
+* 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 as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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
+* @author Rainer Kartmann
+* @copyright 2020 Humanoids Group, H2T, KIT
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+*/
+
+#pragma once
+
+#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
+
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice>
+#include <ArmarXCore/interface/core/PackagePath.ice>
+// #include <ArmarXCore/interface/core/PackagePath.h>
+
+
+module armarx
+{
+ module navigation
+ {
+ module memory
+ {
+ interface NavigationMemoryInterface extends
+ armarx::armem::server::MemoryInterface
+ {
+ bool storeLocationGraph(armarx::data::PackagePath packagePath);
+ };
+
+ };
+ };
+};
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
index c3bec2c61a63b1e21b9b9e6114558e9b013074fe..d000113f7d5b064c792c835118f3b580ad97d25c 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
@@ -23,15 +23,24 @@
#include "NavigationMemory.h"
// STD / STL
+#include <cstddef>
#include <filesystem>
#include <fstream>
#include <iostream>
+#include <iterator>
+#include <SimoxUtility/json/json.hpp>
+
+#include "ArmarXCore/core/PackagePath.h"
+#include "ArmarXCore/core/logging/Logging.h"
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
+#include "RobotAPI/libraries/armem/core/MemoryID.h"
+#include "RobotAPI/libraries/armem/core/wm/aron_conversions.h"
#include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem/server/ltm/disk/Memory.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
@@ -39,7 +48,6 @@
#include "Visu.h"
#include <armarx/navigation/algorithms/Costmap.h>
-#include <armarx/navigation/memory/constants.h>
#include <armarx/navigation/algorithms/aron/Costmap.aron.generated.h>
#include <armarx/navigation/core/Graph.h>
#include <armarx/navigation/core/aron/Graph.aron.generated.h>
@@ -48,7 +56,7 @@
#include <armarx/navigation/core/aron/Twist.aron.generated.h>
#include <armarx/navigation/graph/constants.h>
#include <armarx/navigation/location/constants.h>
-
+#include <armarx/navigation/memory/constants.h>
namespace armarx::navigation
{
@@ -135,7 +143,8 @@ namespace armarx::navigation
// This section loads the snapshot specified by the scenario parameters
// resolve the paths for the locations and graphs
const std::filesystem::path graph = snapshotToLoadPath / "Graph";
- const std::filesystem::path location = snapshotToLoadPath / "Location";
+ const std::filesystem::path locationsFilename =
+ snapshotToLoadPath / "locations.json";
// remove date from folder name (if present)
// Sometimes, we use the date before the snapshotname and use a symlink to the real data (e.g. R003 and 2022-03-01_R003)
@@ -145,62 +154,63 @@ namespace armarx::navigation
// This if statement loads the location. Each location is a single file (without extension). The filename is the name of the location.
// The file contains json with the globalRobotPose (4x4 matrix) and relativeToObject information
- if (std::filesystem::is_directory(location))
+ if (std::filesystem::is_regular_file(locationsFilename))
{
armem::Commit c;
armem::MemoryID providerID = workingMemory().id();
providerID.coreSegmentName = "Location";
providerID.providerSegmentName = providerName;
- for (const auto& subdir : std::filesystem::directory_iterator(
- location)) // iterate over all files in folder (the locations)
+
+ const auto now = armem::Time::Now();
+
{
- const std::filesystem::path location = subdir.path();
if (std::filesystem::is_regular_file(
- location)) // check if its a file (otherwise skip)
+ locationsFilename)) // check if its a file (otherwise skip)
{
- std::ifstream ifs(location);
+ ARMARX_VERBOSE << "Loading " << locationsFilename;
+ std::ifstream ifs(locationsFilename);
const std::string content((std::istreambuf_iterator<char>(ifs)),
(std::istreambuf_iterator<char>()));
// parse location as json. All files in Location folder must be valid json objects!
- nlohmann::json j = nlohmann::json::parse(content);
+ nlohmann::json js = nlohmann::json::parse(content);
- if (j.find("globalRobotPose") == j.end())
+ for (const auto& [locationMemoryIdStr, j] :
+ js["locations"].get<std::map<std::string, nlohmann::json>>())
{
- ARMARX_WARNING
- << "The file '" << location.string()
- << "' has no 'globalRobotPose' member. Skipping this file.";
- continue;
- }
-
- if (j.find("relativeToObject") == j.end())
- {
- ARMARX_WARNING
- << "The file '" << location.string()
- << "' has no 'relativeToObject' member. Skipping this file.";
- continue;
- }
-
- std::vector<float> p = j.at("globalRobotPose");
- ARMARX_CHECK_EQUAL(p.size(), 16);
-
- navigation::location::arondto::Location loc;
- loc.globalRobotPose << p[0], p[1], p[2], p[3], p[4], p[5], p[6], p[7],
- p[8], p[9], p[10], p[11], p[12], p[13], p[14],
- p[15]; // load the 4x4 matrix
+ if (j.find("globalRobotPose") == j.end())
+ {
+ ARMARX_WARNING << "The element '" << locationMemoryIdStr
+ << "' has no 'globalRobotPose' member. Skipping "
+ "this entity.";
+ continue;
+ }
- // TODO: All location I have seen were null.
- // I don't know how this member should look like (von @Fabian Peller to @Fabian Reister)
- loc.relativeToObject = std::nullopt;
+ if (j.find("relativeToObject") == j.end())
+ {
+ ARMARX_WARNING << "The element '" << locationMemoryIdStr
+ << "' has no 'relativeToObject' member. "
+ "Skipping this entity.";
+ continue;
+ }
- // send commit to memory
- auto& up = c.add();
- up.confidence = 1.0;
- up.timeCreated = armem::Time::Now();
- up.timeSent = armem::Time::Now();
- up.timeArrived = armem::Time::Now();
- up.entityID = providerID.withEntityName(location.filename().string());
- up.instancesData = {loc.toAron()};
+ navigation::location::arondto::Location loc;
+ j.at("globalRobotPose")
+ .get_to(loc.globalRobotPose); // load the 4x4 matrix
+
+ // TODO: All location I have seen were null.
+ // I don't know how this member should look like (von @Fabian Peller to @Fabian Reister)
+ loc.relativeToObject = std::nullopt;
+
+ // send commit to memory
+ auto& up = c.add();
+ up.confidence = 1.0;
+ up.timeCreated = now;
+ up.timeSent = now;
+ up.timeArrived = now;
+ up.entityID = armarx::armem::MemoryID(locationMemoryIdStr);
+ up.instancesData = {loc.toAron()};
+ }
}
}
@@ -208,7 +218,9 @@ namespace armarx::navigation
iceAdapter().commit(c);
}
- // Next we load the graphs. The graph folder may contain several graphs, represented by different folders.
+ const auto now = armem::Time::Now();
+
+ // Next we load the graphs. The graph folder may contain several graphs, represented by different json files.
// Each of those graphs contains a list of files representing the vertices. The filename is the vertice id (ideally starting at 0).
// The file contains a json with the corresponding location name (as path) and the adjacent vertives (representing the directed outgoing edges).
if (std::filesystem::is_directory(graph))
@@ -219,82 +231,58 @@ namespace armarx::navigation
providerID.providerSegmentName = providerName;
for (const auto& graphdir : std::filesystem::directory_iterator(
- graph)) // iterate over the different graphs (subfolders)
+ graph)) // iterate over the different graphs (json files)
{
- const std::filesystem::path singleGraph = graphdir.path();
- if (std::filesystem::is_directory(
- singleGraph)) // assure that its a folder. otherwise skip
+ if (std::filesystem::is_regular_file(
+ graphdir.path())) // assure that its a json file
{
+ const std::string graphName = graphdir.path().stem();
+
navigation::core::arondto::Graph g;
- for (const auto& subdir : std::filesystem::directory_iterator(
- singleGraph)) // iterate over all files in the graph
+ ARMARX_VERBOSE << "Loading graph `" << graphName << " `from file `"
+ << graphdir.path() << "`.";
+
+ std::ifstream ifs(graphdir.path());
+ const std::string content((std::istreambuf_iterator<char>(ifs)),
+ (std::istreambuf_iterator<char>()));
+
+ nlohmann::json j = nlohmann::json::parse(content);
+
+ const auto& jEdges = j.at("edges");
+ const auto& jVertices = j.at("vertices");
+
+ for (const auto& jVertex : jVertices)
{
- const std::filesystem::path vertice = subdir.path();
- if (std::filesystem::is_regular_file(
- vertice)) // assure its a file. otherwise skip
- {
- std::ifstream ifs(vertice);
- const std::string content((std::istreambuf_iterator<char>(ifs)),
- (std::istreambuf_iterator<char>()));
-
- // parse vertice. Each vertice must be a valid json object
- nlohmann::json j = nlohmann::json::parse(content);
- if (j.find("location") == j.end())
- {
- ARMARX_WARNING
- << "The file '" << vertice.string()
- << "' has no 'location' member. Skipping this file.";
- continue;
- }
-
- if (j.find("outgoingEdges") == j.end())
- {
- ARMARX_WARNING << "The file '" << vertice.string()
- << "' has no 'outgoingEdges' member. "
- "Skipping this file.";
- continue;
- }
-
- std::string location = j.at("location");
- int id = std::stoi(vertice.filename());
-
- auto split = simox::alg::split(location, "/");
- ARMARX_CHECK_EQUAL(
- split.size(),
- 4); // the location is always a path like Navigation/Location/XXX/YYY
-
- armarx::navigation::core::arondto::Vertex v;
- v.vertexID = id;
- v.locationID.memoryName = split[0];
- v.locationID.coreSegmentName = split[1];
- v.locationID.providerSegmentName = split[2];
- v.locationID.entityName = split[3];
- toAron(v.locationID.timestamp, armem::Time::Invalid());
- v.locationID.instanceIndex = 0;
-
- g.vertices.push_back(v);
-
- // add edges of this vertice to graph
- std::vector<float> edges = j.at("outgoingEdges");
-
- for (const auto edge_id : edges)
- {
- armarx::navigation::core::arondto::Edge e;
- e.sourceVertexID = id;
- e.targetVertexID = edge_id;
- g.edges.push_back(e);
- }
- }
+ const armarx::armem::MemoryID vertexLocationMemoryId(
+ jVertex.at("locationID"));
+
+ armarx::navigation::core::arondto::Vertex v;
+ v.vertexID = jVertex.at("vertexID");
+ toAron(v.locationID, vertexLocationMemoryId);
+ toAron(v.locationID.timestamp, armem::Time::Invalid());
+ v.locationID.instanceIndex = 0;
+
+ g.vertices.push_back(v);
+ }
+
+ for (const auto& jEdge : jEdges)
+ {
+ std::pair<std::int64_t, std::int64_t> edgeSourceTargetPair;
+ jEdge.get_to(edgeSourceTargetPair);
+
+ armarx::navigation::core::arondto::Edge e;
+ e.sourceVertexID = edgeSourceTargetPair.first;
+ e.targetVertexID = edgeSourceTargetPair.second;
+ g.edges.push_back(e);
}
auto& up = c.add();
up.confidence = 1.0;
- up.timeCreated = armem::Time::Now();
- up.timeSent = armem::Time::Now();
- up.timeArrived = armem::Time::Now();
- up.entityID =
- providerID.withEntityName(singleGraph.filename().string());
+ up.timeCreated = now;
+ up.timeSent = now;
+ up.timeArrived = now;
+ up.entityID = providerID.withEntityName(graphName);
up.instancesData = {g.toAron()};
}
}
@@ -457,5 +445,191 @@ namespace armarx::navigation
}
}
+ bool
+ store(const std::map<armem::MemoryID, core::Graph>& graphs,
+ const std::filesystem::path& baseDirectory)
+ {
+ ARMARX_INFO << "Creating export directory `" << baseDirectory << "`.";
+ std::filesystem::create_directories(baseDirectory);
+
+ for (const auto& [memoryId, graph] : graphs)
+ {
+ const std::filesystem::path nestedSubDir =
+ std::filesystem::path(memoryId.providerSegmentName) / memoryId.coreSegmentName;
+ const std::filesystem::path dir = baseDirectory / nestedSubDir;
+
+ std::filesystem::create_directories(dir);
+
+ nlohmann::json j;
+
+ // source -> target
+ std::vector<std::pair<std::size_t, std::size_t>> outgoingEdges;
+ std::transform(graph.m_edges.begin(),
+ graph.m_edges.end(),
+ std::back_inserter(outgoingEdges),
+ [](const auto& edge)
+ { return std::make_pair(edge.m_source, edge.m_target); });
+
+ j["edges"] = outgoingEdges;
+ j["vertices"] = {};
+
+ for (const auto& vertex : graph.m_vertices)
+ {
+
+ armarx::armem::MemoryID locationId;
+ fromAron(vertex.m_property.aron.locationID, locationId);
+
+ nlohmann::json jVertex;
+ jVertex["locationID"] = locationId.getEntityID().str();
+ jVertex["vertexID"] = vertex.m_property.aron.vertexID;
+
+ j["vertices"].push_back(jVertex);
+ }
+
+ // save to disk
+ const std::filesystem::path filename = dir / (memoryId.entityName + ".json");
+ ARMARX_VERBOSE << "Saving file `" << filename << "`.";
+ std::ofstream ofs(filename);
+ ofs << std::setw(4) << j;
+ }
+
+ return true;
+ }
+
+ bool
+ store(const std::map<armem::MemoryID, location::arondto::Location>& locations,
+ const std::filesystem::path& baseDirectory)
+ {
+ ARMARX_INFO << "Creating export directory `" << baseDirectory << "`.";
+ std::filesystem::create_directories(baseDirectory);
+
+ // key: provider id
+ std::map<std::string, nlohmann::json> js;
+
+
+ for (const auto& [memoryId, location] : locations)
+ {
+ auto& j = js[memoryId.providerSegmentName];
+
+ if (j.count("locations") == 0)
+ {
+ j["locations"] = {};
+ }
+
+ nlohmann::json jLoc;
+
+ jLoc["globalRobotPose"] = location.globalRobotPose;
+
+ if (location.relativeToObject)
+ {
+ armarx::armem::MemoryID memoryId;
+ fromAron(location.relativeToObject->objectInstanceID, memoryId);
+
+ jLoc["relativeToObject"]["objectInstanceID"] = memoryId.str();
+ jLoc["relativeToObject"]["relativeRobotPose"] =
+ location.relativeToObject->relativeRobotPose;
+ }
+ else
+ {
+ jLoc["relativeToObject"] = "null";
+ }
+
+ j["locations"][memoryId.getEntityID().str()] = jLoc;
+ }
+
+ // save to disk
+ for (const auto& [providerId, j] : js)
+ {
+ const std::filesystem::path subDir = std::filesystem::path(providerId);
+ const std::filesystem::path dir = baseDirectory / subDir;
+
+ if (not std::filesystem::exists(dir))
+ {
+ std::filesystem::create_directories(dir);
+ }
+
+ const std::filesystem::path filename = dir / "locations.json";
+ ARMARX_VERBOSE << "Saving file `" << filename << "`.";
+ std::ofstream ofs(filename);
+ ofs << std::setw(4) << j;
+ }
+
+
+ return true;
+ }
+
+
+ bool
+ NavigationMemory::storeLocationGraph(const armarx::data::PackagePath& packagePath,
+ const Ice::Current& current)
+ {
+ armem::server::wm::CoreSegment& locationCoreSegment =
+ workingMemory().getCoreSegment(navigation::location::coreSegmentID);
+ armem::server::wm::CoreSegment& graphCoreSegment =
+ workingMemory().getCoreSegment(navigation::graph::coreSegmentID);
+
+ // obtain locations and graphs
+
+ const std::map<armem::MemoryID, location::arondto::Location> locations =
+ [&locationCoreSegment]()
+ {
+ std::map<armem::MemoryID, location::arondto::Location> locations;
+ locationCoreSegment.doLocked(
+ [&]()
+ {
+ locationCoreSegment.forEachEntity(
+ [&](const armarx::armem::server::wm::Entity& entity) -> bool
+ {
+ if (const armarx::armem::server::wm::EntityInstance* instance =
+ entity.findLatestInstance())
+ {
+ locations[entity.id()].fromAron(instance->data());
+ }
+
+ return true;
+ });
+
+ return true;
+ });
+
+ return locations;
+ }();
+
+ const auto graphs = [&graphCoreSegment]()
+ {
+ std::map<armem::MemoryID, core::Graph> graphs;
+ graphCoreSegment.doLocked(
+ [&]()
+ {
+ graphCoreSegment.forEachEntity(
+ [&](const armarx::armem::server::wm::Entity& entity) -> bool
+ {
+ core::Graph& graph = graphs[entity.id()];
+ if (const armarx::armem::server::wm::EntityInstance* instance =
+ entity.findLatestInstance())
+ {
+ navigation::core::arondto::Graph aron;
+ aron.fromAron(instance->data());
+ fromAron(aron, graph);
+ }
+
+ return true;
+ });
+ });
+
+ return graphs;
+ }();
+
+
+ // store on disk
+
+ const std::filesystem::path baseDirectory = armarx::PackagePath(packagePath).toSystemPath();
+
+ store(locations, baseDirectory);
+ store(graphs, baseDirectory);
+
+ return true;
+ }
+
} // namespace armarx::navigation
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h
index 11bd41fd1785a347daf20aa516a7d8bb232f5754..e6464265300fa98314a1989253e9b227071b325f 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.h
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/interface/core/PackagePath.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
@@ -34,6 +35,8 @@
#include <mutex>
+#include <armarx/navigation/components/NavigationMemory/ComponentInterface.h>
+
namespace armarx::navigation
{
@@ -50,17 +53,20 @@ namespace armarx::navigation
* Detailed description of class NavigationMemory.
*/
class NavigationMemory :
- virtual public armarx::Component
+ virtual public armarx::Component,
// , virtual public armarx::DebugObserverComponentPluginUser
- ,
virtual public armarx::LightweightRemoteGuiComponentPluginUser,
virtual public armarx::ArVizComponentPluginUser,
- virtual public armarx::armem::server::ReadWritePluginUser
+ virtual public armarx::armem::server::ReadWritePluginUser,
+ virtual public memory::NavigationMemoryInterface
{
public:
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+ bool storeLocationGraph(const armarx::data::PackagePath& packagePath, const Ice::Current& current) override;
+
+
protected:
/// @see PropertyUser::createPropertyDefinitions()
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt b/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
index e12c2b6aabca29cf2f484766e1dbfc86ce56d1d2..c8cd2932321fcf06edf66123b7c21b6fbe8352a9 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
@@ -56,4 +56,5 @@ armarx_add_qt_plugin(qt_plugin_LocationGraphEditor
armarx_navigation::location
armarx_navigation::graph
+ armarx_navigation::navigation_memory_ice
)
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
index db72fa0c83009a8fa6c55cd40cf5e2ef39ae552c..d13d0c05feae8e905447e1ec4dabb75065fbdc64 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
@@ -120,6 +120,70 @@
</layout>
</widget>
</item>
+ <item>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>130</height>
+ </size>
+ </property>
+ <property name="title">
+ <string>Export</string>
+ </property>
+ <widget class="QPushButton" name="exportButton">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>100</y>
+ <width>84</width>
+ <height>28</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Export</string>
+ </property>
+ </widget>
+ <widget class="QWidget" name="horizontalLayoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>30</y>
+ <width>308</width>
+ <height>61</height>
+ </rect>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLineEdit" name="packageNameEdit">
+ <property name="minimumSize">
+ <size>
+ <width>150</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>PriorKnowledgeData</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="packageDirectoryEdit">
+ <property name="minimumSize">
+ <size>
+ <width>150</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>navigation-graphs</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
<item>
<widget class="QGroupBox" name="robotVisuGroupBox">
<property name="title">
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp
index 33c40dfc3147484998f36f4ea1fe66ceead87404..b59ac4cf2f3cb846c95cb027f16cc796368ba376 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/PackagePath.h>
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
@@ -40,11 +41,13 @@
#include "widgets/graph_scene/Scene.h"
#include "widgets/graph_scene/Widget.h"
#include "widgets/utils.h"
+#include <armarx/navigation/components/NavigationMemory/ComponentInterface.h>
#include <armarx/navigation/core/aron/Graph.aron.generated.h>
#include <armarx/navigation/core/aron/Location.aron.generated.h>
#include <armarx/navigation/graph/constants.h>
#include <armarx/navigation/gui-plugins/LocationGraphEditor/ui_LocationGraphEditorWidget.h>
#include <armarx/navigation/location/constants.h>
+#include <armarx/navigation/components/NavigationMemory/ComponentInterface.h>
// Qt headers
#include <QDialog>
@@ -165,8 +168,20 @@ namespace armarx::navigation::qt_plugins::location_graph_editor
&This::removeEdgesOfVertex);
connect(view.edgeTable, &EdgeTableWidget::edgeRemovalRequested, this, &This::removeEdges);
+
+ // export
+ connect(widget.exportButton, &QPushButton::clicked, this, &This::exportLocationGraph);
}
+ void WidgetController::exportLocationGraph()
+ {
+ auto navigationMemoryPrx =
+ getProxy<memory::NavigationMemoryInterfacePrx>("NavigationMemory");
+
+ const ::armarx::PackagePath packagePath(widget.packageNameEdit->text().toStdString(), widget.packageDirectoryEdit->text().toStdString());
+
+ navigationMemoryPrx->storeLocationGraph(packagePath.serialize());
+ }
WidgetController::~WidgetController()
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.h
index 080b961704568478c2aa18763ab524cc89e679d3..f8f6e97d4ca04227a9aac996c5257315c132d649 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.h
@@ -201,6 +201,7 @@ namespace armarx::navigation::qt_plugins::location_graph_editor
QString getGraphDisplayName(const armem::MemoryID& entityID, bool changed = false) const;
+ void exportLocationGraph();
private:
/// Widget Form