diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index bb1988874e0d7a57f8f6e0511e8137643ca9dfec..b269993f79bd5c5d39c590e1359cb5790fd9b4dc 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -36,14 +36,6 @@
using armarx::armem::example::ExampleData;
namespace armem = armarx::armem;
-/*
-BOOST_AUTO_TEST_CASE(test_ExampleData)
-{
- ExampleData data;
- BOOST_CHECK(true);
-}
-*/
-
BOOST_AUTO_TEST_CASE(test_ExampleData_type)
{
@@ -55,5 +47,5 @@ BOOST_AUTO_TEST_CASE(test_ExampleData_type)
armem::wm::CoreSegment& core = memory.addCoreSegment("ExampleData", type);
armem::wm::ProviderSegment& prov = core.addProviderSegment("Provider");
- BOOST_CHECK_EQUAL(core.aronType, prov.aronType);
+ BOOST_CHECK_EQUAL(core.aronType(), prov.aronType());
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index c8609ac6280dcab6edb4d5bba6a96b08741cb282..d385ee26bb9a17f73535d15b68822c17c5bfd278 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -19,12 +19,12 @@ namespace armarx::armem::base
public:
- EntityInstanceBase& operator=(const EntityInstanceBase& other)
using DerivedT = _DerivedT;
public:
+ EntityInstanceBase& operator=(const EntityInstanceBase& other)
{
//other._copySelf(*this);
return *this;
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 43831ad04c5faf634ab6699b17622e0be4014d37..28bcf696369fedfa9bd39ab9cce3f694033211d6 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -18,7 +18,7 @@ namespace armarx::armem::d_ltm
}
EntityInstance::EntityInstance(const EntityInstance& other) :
- base::detail::MemoryItem(other.id)
+ base::detail::MemoryItem(other.id())
{
}
@@ -40,7 +40,7 @@ namespace armarx::armem::d_ltm
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
- return id == other.id;
+ return id() == other.id();
}
void EntityInstance::update(const EntityUpdate& update, int index)
@@ -73,7 +73,7 @@ namespace armarx::armem::d_ltm
std::filesystem::path EntityInstance::_fullPath(const std::filesystem::path& path) const
{
- return path / id.memoryName / id.coreSegmentName / id.providerSegmentName / id.entityName / std::to_string(id.timestamp.toMicroSeconds()) / std::to_string(id.instanceIndex);
+ return path / id().memoryName / id().coreSegmentName / id().providerSegmentName / id().entityName / std::to_string(id().timestamp.toMicroSeconds()) / std::to_string(id().instanceIndex);
}
wm::EntityInstance EntityInstance::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
@@ -143,7 +143,7 @@ namespace armarx::armem::d_ltm
wm::EntityInstance EntityInstance::unwrapData(const aron::datanavigator::DictNavigatorPtr& dataWrapped) const
{
- wm::EntityInstance e(id);
+ wm::EntityInstance e(id());
wm::EntityInstanceMetadata& metadata = e.metadata();
if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
@@ -193,7 +193,7 @@ namespace armarx::armem::d_ltm
dataWrapped->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
auto confidence = std::make_shared<aron::datanavigator::DoubleNavigator>();
- confidence->setValue(metadata.confidence);
+ confidence->setValue(static_cast<double>(metadata.confidence));
dataWrapped->addElement(DATA_WRAPPER_CONFIDENCE_FIELD, confidence);
return dataWrapped;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index 424dd732d74b777bb96b786302dc1a49782b8ec5..17535db36fda2e165df2e7a41489193699ac4754 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -18,7 +18,7 @@ namespace armarx::armem::ltm
}
EntityInstance::EntityInstance(const EntityInstance& other) :
- MemoryItem(other.id),
+ MemoryItem(other.id()),
_metadata(other._metadata)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index 125dde02214783caa6abe9668b24b04dc407c42a..cc2aed88a9dd43f326cde8cc8448bbee466369b0 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -19,7 +19,7 @@ namespace armarx::armem::wm
}
EntityInstance::EntityInstance(const EntityInstance& other) :
- base::detail::MemoryItem(other.id),
+ base::detail::MemoryItem(other.id()),
_metadata(other._metadata),
_data(other._data)
{
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 36d8ac9cfa55816a086985f0de6f6f6c99155273..a835f39bef74f745b22c4ee167e4755a031fec50 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -54,10 +54,10 @@ BOOST_AUTO_TEST_CASE(test_entity)
armem::data::EntityPtr ice;
armem::toIce(ice, entity);
- BOOST_CHECK_EQUAL(ice->id().memoryName, entity.id.memoryName);
- BOOST_CHECK_EQUAL(ice->id().coreSegmentName, entity.id.coreSegmentName);
- BOOST_CHECK_EQUAL(ice->id().providerSegmentName, entity.id.providerSegmentName);
- BOOST_CHECK_EQUAL(ice->id().entityName, entity.id.entityName);
+ BOOST_CHECK_EQUAL(ice->id.memoryName, entity.id().memoryName);
+ BOOST_CHECK_EQUAL(ice->id.coreSegmentName, entity.id().coreSegmentName);
+ BOOST_CHECK_EQUAL(ice->id.providerSegmentName, entity.id().providerSegmentName);
+ BOOST_CHECK_EQUAL(ice->id.entityName, entity.id().entityName);
BOOST_CHECK_EQUAL(ice->history.size(), entity.history().size());
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 8092012654c0bb9b9980279dce41467ba390d928..97c7befe6092f8e0525327e6c1b9599ee4ddcd1d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -98,7 +98,7 @@ namespace armarx::armem::gui::instance
instance = &memory.getEntityInstance(id);
if (useTypeInfo)
{
- aronType = memory.getCoreSegment(id.coreSegmentName).getProviderSegment(id.providerSegmentName).aronType;
+ aronType = memory.getCoreSegment(id.coreSegmentName).getProviderSegment(id.providerSegmentName).aronType();
}
}
catch (const armem::error::ArMemError& e)
@@ -124,7 +124,7 @@ namespace armarx::armem::gui::instance
{
if (currentInstance)
{
- updateInstanceID(currentInstance->id);
+ updateInstanceID(currentInstance->id());
updateMetaData(currentInstance->metadata());
updateData(currentInstance->data(), currentAronType);
updateImageView(currentInstance->data());
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
index 20f0a2f1a4f17cac00d91dd5705b6e8c37d95304..192ec825e85de0782b1839db975dc088ee62c399 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
@@ -261,11 +261,11 @@ namespace armarx::armem::gui::memory
columns.insert(int(Columns::SIZE), "");
columns.insert(int(Columns::TYPE), "");
columns.insert(int(Columns::LEVEL), QString::fromStdString(simox::alg::capitalize_words(memoryItem.getLevelName())));
- columns.insert(int(Columns::ID), QString::fromStdString(memoryItem.id.str()));
+ columns.insert(int(Columns::ID), QString::fromStdString(memoryItem.id().str()));
QTreeWidgetItem* item = new QTreeWidgetItem(columns);
item->setData(int(Columns::LEVEL), Qt::UserRole, QString::fromStdString(memoryItem.getLevelName()));
- item->setData(int(Columns::ID), Qt::UserRole, QString::fromStdString(memoryItem.id.str()));
+ item->setData(int(Columns::ID), Qt::UserRole, QString::fromStdString(memoryItem.id().str()));
item->setTextAlignment(int(Columns::SIZE), Qt::AlignRight);
return item;
}
@@ -289,9 +289,9 @@ namespace armarx::armem::gui::memory
{
updateContainerItem(container, item);
std::string typeName;
- if (container.aronType)
+ if (container.aronType())
{
- typeName = container.aronType->getName();
+ typeName = container.aronType()->getName();
std::string del = "::";
size_t find = typeName.rfind(del);
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
index b9682ddebf691e850cc604c610a4d98d33610aa5..d035b2b7926376c0e16e38bcfd6d8182f4609d87 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
@@ -29,6 +29,7 @@
#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/util/util.h>
@@ -38,11 +39,6 @@
#include <RobotAPI/libraries/armem_robot_mapping/types.h>
-namespace armarx::armem
-{
- class Entity;
-} // namespace armarx
-
namespace armarx::armem
{
@@ -108,7 +104,7 @@ namespace armarx::armem
.coreSegments().withName(properties.mappingMemoryName)
.providerSegments().withName(query.agent)
.entities().withNames(query.sensorList)
- .snapshots().timeRange(query.timeRange.min,query.timeRange.max);
+ .snapshots().timeRange(query.timeRange.min, query.timeRange.max);
// clang-format on
}
@@ -116,7 +112,7 @@ namespace armarx::armem
}
- std::vector<LaserScanStamped> asLaserScans(const std::map<std::string, Entity>& entities)
+ std::vector<LaserScanStamped> asLaserScans(const std::map<std::string, wm::Entity>& entities)
{
std::vector<LaserScanStamped> outV;
@@ -125,7 +121,7 @@ namespace armarx::armem
ARMARX_WARNING << "No entities!";
}
- const auto convert = [](const arondto::LaserScanStamped & aronLaserScanStamped, const EntityInstance & ei) -> LaserScanStamped
+ const auto convert = [](const arondto::LaserScanStamped & aronLaserScanStamped, const wm::EntityInstance & ei) -> LaserScanStamped
{
LaserScanStamped laserScanStamped;
fromAron(aronLaserScanStamped, laserScanStamped);
@@ -145,16 +141,16 @@ namespace armarx::armem
// loop over all entities and their snapshots
for (const auto &[s, entity] : entities)
{
- if (entity.history.empty())
+ if (entity.empty())
{
ARMARX_WARNING << "Empty history for " << s;
}
- ARMARX_INFO << "History size: " << entity.history.size();
+ ARMARX_INFO << "History size: " << entity.size();
- for (const auto &[ss, entitySnapshot] : entity.history)
+ for (const auto &[ss, entitySnapshot] : entity)
{
- for (const auto& entityInstance : entitySnapshot.instances)
+ for (const auto& entityInstance : entitySnapshot.instances())
{
const auto o = tryCast<arondto::LaserScanStamped>(entityInstance);