diff --git a/source/VisionX/libraries/armem_human/CMakeLists.txt b/source/VisionX/libraries/armem_human/CMakeLists.txt
index 7485603469c80601a7f1e4f53ae8fff39857480b..8f5cccf7c8c2d498b781925a5683a32ebad1b395 100644
--- a/source/VisionX/libraries/armem_human/CMakeLists.txt
+++ b/source/VisionX/libraries/armem_human/CMakeLists.txt
@@ -21,6 +21,7 @@ armarx_add_library(
SOURCES
aron_conversions.cpp
json_conversions.cpp
+ memory_ids.cpp
client/HumanPoseReader.cpp
HEADERS
@@ -28,6 +29,7 @@ armarx_add_library(
aron_conversions.h
forward_declarations.h
json_conversions.h
+ memory_ids.h
client/HumanPoseReader.h
ARON_FILES
diff --git a/source/VisionX/libraries/armem_human/forward_declarations.h b/source/VisionX/libraries/armem_human/forward_declarations.h
index cf81d713a421be8de0bbc430a37571640e9a0b7d..8f59ef5ce889b98d5f0e2d738834cddbe75dd852 100644
--- a/source/VisionX/libraries/armem_human/forward_declarations.h
+++ b/source/VisionX/libraries/armem_human/forward_declarations.h
@@ -29,4 +29,6 @@ namespace armarx::human::arondto
class Gender;
class Handedness;
class Profile;
+
+ class FaceRecognition;
}
diff --git a/source/VisionX/libraries/armem_human/memory_ids.cpp b/source/VisionX/libraries/armem_human/memory_ids.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..70efb93d82e77a275b77f5f4861ea43437e17e9f
--- /dev/null
+++ b/source/VisionX/libraries/armem_human/memory_ids.cpp
@@ -0,0 +1,43 @@
+/*
+ * 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 VisionX::ArmarXObjects::armem_human
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "memory_ids.h"
+
+
+namespace armarx
+{
+
+ const armem::MemoryID human::MemoryID{"Human"};
+
+ const armem::MemoryID human::FaceRecognitionCoreSegmentID =
+ MemoryID.withCoreSegmentName("FaceRecognition");
+
+ const armem::MemoryID human::ProfileCoreSegmentID =
+ MemoryID.withCoreSegmentName("Profile");
+
+ const armem::MemoryID human::PersonInstanceCoreSegmentID =
+ MemoryID.withCoreSegmentName("PersonInstance");
+
+ const armem::MemoryID human::PoseCoreSegmentID =
+ MemoryID.withCoreSegmentName("Pose");
+
+} // namespace armarx
diff --git a/source/VisionX/libraries/armem_human/memory_ids.h b/source/VisionX/libraries/armem_human/memory_ids.h
new file mode 100644
index 0000000000000000000000000000000000000000..cbaed60f28309c02bc0bea47faad2ee311d9256f
--- /dev/null
+++ b/source/VisionX/libraries/armem_human/memory_ids.h
@@ -0,0 +1,38 @@
+/*
+ * 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 VisionX::ArmarXObjects::armem_human
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+
+namespace armarx::human
+{
+
+ extern const armem::MemoryID MemoryID;
+
+ extern const armem::MemoryID FaceRecognitionCoreSegmentID;
+ extern const armem::MemoryID PersonInstanceCoreSegmentID;
+ extern const armem::MemoryID ProfileCoreSegmentID;
+ extern const armem::MemoryID PoseCoreSegmentID;
+
+} // namespace armarx::human
diff --git a/source/VisionX/libraries/armem_human/server/PersonInstanceSegment.cpp b/source/VisionX/libraries/armem_human/server/PersonInstanceSegment.cpp
index 7e3403b154751d679158e0b93bd88017e9d2e3c8..e17b20ba36b9b31cddd08cf490e038c141dc624b 100644
--- a/source/VisionX/libraries/armem_human/server/PersonInstanceSegment.cpp
+++ b/source/VisionX/libraries/armem_human/server/PersonInstanceSegment.cpp
@@ -25,23 +25,25 @@
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <VisionX/libraries/armem_human/aron/PersonInstance.aron.generated.h>
-
+#include <VisionX/libraries/armem_human/memory_ids.h>
namespace armarx::armem::server::human
{
- const std::string PersonInstanceSegment::CORE_SEGMENT_NAME = "PersonInstance";
+ const std::string PersonInstanceSegment::CORE_SEGMENT_NAME =
+ armarx::human::PersonInstanceCoreSegmentID.coreSegmentName;
PersonInstanceSegment::PersonInstanceSegment(armem::server::MemoryToIceAdapter& iceMemory) :
- Base(iceMemory, CORE_SEGMENT_NAME,
- armarx::human::arondto::PersonInstance::ToAronType(), 32)
+ Base(iceMemory, CORE_SEGMENT_NAME, armarx::human::arondto::PersonInstance::ToAronType(), 32)
{
}
- void PersonInstanceSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ void
+ PersonInstanceSegment::defineProperties(armarx::PropertyDefinitionsPtr defs,
+ const std::string& prefix)
{
Base::defineProperties(defs, prefix);
}
-}
+} // namespace armarx::armem::server::human
diff --git a/source/VisionX/libraries/armem_human/server/PoseSegment.cpp b/source/VisionX/libraries/armem_human/server/PoseSegment.cpp
index 607e043fa242bee0f044124ca00d16d57fbfcbe4..3b4d6f5ccad100ef0c5f1de0ba6eaf98493d862a 100644
--- a/source/VisionX/libraries/armem_human/server/PoseSegment.cpp
+++ b/source/VisionX/libraries/armem_human/server/PoseSegment.cpp
@@ -25,22 +25,25 @@
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <VisionX/libraries/armem_human/aron/BODY_25Pose.aron.generated.h>
+#include <VisionX/libraries/armem_human/memory_ids.h>
namespace armarx::armem::server::human
{
- const std::string PoseSegment::CORE_SEGMENT_NAME = "Pose";
+ const std::string PoseSegment::CORE_SEGMENT_NAME =
+ armarx::human::PoseCoreSegmentID.coreSegmentName;
PoseSegment::PoseSegment(armem::server::MemoryToIceAdapter& iceMemory) :
- Base(iceMemory, CORE_SEGMENT_NAME,
- armarx::human::arondto::Body25Pose3D::ToAronType(), 256)
+ Base(iceMemory, CORE_SEGMENT_NAME, armarx::human::arondto::Body25Pose3D::ToAronType(), 256)
{
}
- void PoseSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ void
+ PoseSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
Base::defineProperties(defs, prefix);
}
-}
+
+} // namespace armarx::armem::server::human
diff --git a/source/VisionX/libraries/armem_human/server/face_recognition/Segment.cpp b/source/VisionX/libraries/armem_human/server/face_recognition/Segment.cpp
index f2c805f13628233dc71e888746c70c460a7fb3b1..b220f8add04ffda69e093d0dc754fb85974cf879 100644
--- a/source/VisionX/libraries/armem_human/server/face_recognition/Segment.cpp
+++ b/source/VisionX/libraries/armem_human/server/face_recognition/Segment.cpp
@@ -25,30 +25,36 @@
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <VisionX/libraries/armem_human/aron/FaceRecognition.aron.generated.h>
+#include <VisionX/libraries/armem_human/memory_ids.h>
namespace armarx::armem::server::human::facerecog
{
- const std::string Segment::CORE_SEGMENT_NAME = "FaceRecognition";
+ const std::string Segment::CORE_SEGMENT_NAME =
+ armarx::human::FaceRecognitionCoreSegmentID.coreSegmentName;
Segment::Segment(armem::server::MemoryToIceAdapter& iceMemory) :
- Base(iceMemory, CORE_SEGMENT_NAME,
- armarx::human::arondto::FaceRecognition::ToAronType(), 64)
+ Base(iceMemory,
+ CORE_SEGMENT_NAME,
+ armarx::human::arondto::FaceRecognition::ToAronType(),
+ 64)
{
}
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ void
+ Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
Base::defineProperties(defs, prefix);
}
- void Segment::init()
+ void
+ Segment::init()
{
Base::init();
}
-}
+} // namespace armarx::armem::server::human::facerecog
diff --git a/source/VisionX/libraries/armem_human/server/profile/Segment.cpp b/source/VisionX/libraries/armem_human/server/profile/Segment.cpp
index 6d35f7f32bb821d8c5afc9c06629f7d72f16327e..c373c9b3c0fde0b89a0997bc8d506d20aa728b7d 100644
--- a/source/VisionX/libraries/armem_human/server/profile/Segment.cpp
+++ b/source/VisionX/libraries/armem_human/server/profile/Segment.cpp
@@ -24,47 +24,52 @@
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
#include <VisionX/libraries/armem_human/aron/Profile.aron.generated.h>
+#include <VisionX/libraries/armem_human/memory_ids.h>
#include "Finder.h"
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-
namespace fs = std::filesystem;
namespace armarx::armem::server::human::profile
{
- const std::string Segment::CORE_SEGMENT_NAME = "Profile";
+ const std::string Segment::CORE_SEGMENT_NAME =
+ armarx::human::ProfileCoreSegmentID.coreSegmentName;
+
using Profile = armarx::human::arondto::Profile;
Segment::Segment(armem::server::MemoryToIceAdapter& iceMemory) :
- Base(iceMemory, CORE_SEGMENT_NAME,
- armarx::human::arondto::Profile::ToAronType(), 64)
+ Base(iceMemory, CORE_SEGMENT_NAME, armarx::human::arondto::Profile::ToAronType(), 64)
{
}
- Segment::Properties::PriorKnowledge::PriorKnowledge() :
- packageName(Finder::DefaultPackageName)
+ Segment::Properties::PriorKnowledge::PriorKnowledge() : packageName(Finder::DefaultPackageName)
{
}
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ void
+ Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
Base::defineProperties(defs, prefix);
- defs->optional(properties.priorKnowledge.load, prefix + "pk.load",
+ defs->optional(properties.priorKnowledge.load,
+ prefix + "pk.load",
"Load profiles from prior knowledge on startup.");
- defs->optional(properties.priorKnowledge.packageName, prefix + "pk.packageName",
+ defs->optional(properties.priorKnowledge.packageName,
+ prefix + "pk.packageName",
"ArmarX package to load human profiles from.");
}
- void Segment::init()
+ void
+ Segment::init()
{
Base::init();
@@ -75,13 +80,15 @@ namespace armarx::armem::server::human::profile
}
- void Segment::loadPriorKnowledge()
+ void
+ Segment::loadPriorKnowledge()
{
loadPriorKnowledge(Finder::DefaultPackageName);
}
- void Segment::loadPriorKnowledge(const std::string& dataPackageName)
+ void
+ Segment::loadPriorKnowledge(const std::string& dataPackageName)
{
const armem::Time now = armem::Time::Now();
@@ -95,15 +102,16 @@ namespace armarx::armem::server::human::profile
if (std::optional<Profile> profile = info.loadProfile())
{
armem::EntityUpdate& update = commit.add();
- update.entityID = getCoreSegment().id()
- .withProviderSegmentName(dataPackageName)
- .withEntityName(info.id());
+ update.entityID = getCoreSegment()
+ .id()
+ .withProviderSegmentName(dataPackageName)
+ .withEntityName(info.id());
update.timeCreated = update.timeSent = update.timeArrived = now;
- update.instancesData = { profile->toAron() };
+ update.instancesData = {profile->toAron()};
}
}
iceMemory.commit(commit);
}
-}
+} // namespace armarx::armem::server::human::profile