From 1bae07469e8c3fffdad5be98ffd1ba22fb463592 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 30 Aug 2023 18:45:25 +0200
Subject: [PATCH] Add typedef for
armarx::armem::wm::EntityInstanceBase<AronDtoT>
---
.../armem/core/wm/memory_definitions.h | 27 +++++++++++++++++++
1 file changed, 27 insertions(+)
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
index ae338328d..dcc828782 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -47,6 +47,32 @@ namespace armarx::armem::wm
bool equalsDeep(const EntityInstance& other) const;
};
+ /**
+ * @brief Entity instance with a concrete ARON DTO type as data.
+ *
+ * This is the return type of EntityInstance::withDataAs<AronDtoT>().
+ *
+ * Usage example:
+ * @code
+ * #include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
+ *
+ * armarx::arondto::Duration duration;
+ * duration.microSeconds = 1000;
+ *
+ * armarx::armem::wm::EntityInstance instance;
+ * instance.data() = duration.toAron();
+ *
+ * const armarx::armem::wm::EntityInstanceBase<armarx::arondto::Duration> cast =
+ * instance.withDataAs<armarx::arondto::Duration>();
+ *
+ * const armarx::arondto::Duration& durationOut = cast.data();
+ *
+ * assert(durationOut.microseconds == 1000);
+ * @endcode
+ */
+ template <class AronDtoT>
+ using EntityInstanceBase = base::EntityInstanceBase<AronDtoT, EntityInstanceMetadata>;
+
/**
* @brief Client-side working memory entity snapshot.
* @see base::EntitySnapshotBase
@@ -54,6 +80,7 @@ namespace armarx::armem::wm
class EntitySnapshot :
public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>,
public detail::FindInstanceDataMixinForSnapshot<EntitySnapshot>
+
{
public:
using base::EntitySnapshotBase<EntityInstance, EntitySnapshot>::EntitySnapshotBase;
--
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