Add findEntity()

source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h

@@ -109,6 +109,26 @@ namespace armarx::armem::base
             return getProviderSegment(id.providerSegmentName).getEntity(id);
         }
 
+        const EntityT* findEntity(const MemoryID& id) const override
+        {
+            this->_checkContainerName(id.coreSegmentName, this->getKeyString());
+            if (id.hasProviderSegmentName())
+            {
+                return getProviderSegment(id.providerSegmentName).findEntity(id);
+            }
+            else
+            {
+                for (const auto& [_, providerSegment] : this->_container)
+                {
+                    if (auto entity = providerSegment.findEntity(id))
+                    {
+                        return entity;
+                    }
+                }
+                return nullptr;
+            }
+        }
+
         virtual MemoryID update(const EntityUpdate& update) override
         {
             this->_checkContainerName(update.entityID.coreSegmentName, this->name());

source/RobotAPI/libraries/armem/core/base/MemoryBase.h

@@ -103,6 +103,26 @@ namespace armarx::armem::base
             return getCoreSegment(id.coreSegmentName).getEntity(id);
         }
 
+        const EntityT* findEntity(const MemoryID& id) const override
+        {
+            this->_checkContainerName(id.memoryName, this->name());
+            if (id.hasCoreSegmentName())
+            {
+                return getCoreSegment(id.providerSegmentName).findEntity(id);
+            }
+            else
+            {
+                for (const auto& [_, coreSegment] : this->_container)
+                {
+                    if (auto entity = coreSegment.findEntity(id))
+                    {
+                        return entity;
+                    }
+                }
+                return nullptr;
+            }
+        }
+
         /**
          * @brief Add an empty core segment with the given name.
          * @param name The core segment name.

source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h

@@ -109,6 +109,20 @@ namespace armarx::armem::base
             }
         }
 
+        const EntityT* findEntity(const MemoryID& id) const override
+        {
+            this->_checkContainerName(id.providerSegmentName, this->getKeyString());
+            auto it = this->_container.find(id.entityName);
+            if (it != this->_container.end())
+            {
+                return &it->second;
+            }
+            else
+            {
+                return nullptr;
+            }
+        }
+
         /**
          * @brief Updates an entity's history.
          *

source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h

@@ -67,11 +67,26 @@ namespace armarx::armem::base::detail
          * @return The entity.
          * @throw An exception deriving from `armem::error::ArMemError` if the entity is missing.
          */
-        virtual _EntityT& getEntity(const MemoryID& id)
+        virtual EntityT& getEntity(const MemoryID& id)
         {
-            return const_cast<_EntityT&>(const_cast<const EntityContainerBase*>(this)->getEntity(id));
+            return const_cast<EntityT&>(const_cast<const EntityContainerBase*>(this)->getEntity(id));
         }
-        virtual const _EntityT& getEntity(const MemoryID& id) const = 0;
+        virtual const EntityT& getEntity(const MemoryID& id) const = 0;
+
+        /**
+         * @brief Find an entity.
+         *
+         * Search for the entity with the given ID and return a pointer to the
+         * first match. If `id` is underspecified (e.g. no provider segment name),
+         * search all children until the first match is found.
+         *
+         * If no matching entity is found, return `nullptr`.
+         *
+         * @param id The entities ID.
+         * @return A pointer to the first matching entity or `nullptr` if none was found.
+         */
+        virtual const EntityT* findEntity(const MemoryID& id) const = 0;
+
 
         /**
          * @brief Retrieve an entity snapshot.
@@ -89,7 +104,7 @@ namespace armarx::armem::base::detail
 
         virtual const EntitySnapshotT& getEntitySnapshot(const MemoryID& id) const
         {
-            const _EntityT& entity = getEntity(id);
+            const EntityT& entity = getEntity(id);
 
             if (id.hasTimestamp())
             {