From ca265b72de0445c9160f187cd360673d90438127 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Tue, 25 Apr 2023 11:04:40 +0200
Subject: [PATCH] aron converter updates
---
.../armem/core/base/EntityInstanceBase.h | 10 ++
.../libraries/armem/core/base/MemoryBase.h | 5 +
.../server/ltm/disk/detail/DiskStorage.h | 4 +-
.../armem_laser_scans/CMakeLists.txt | 1 +
.../armem_laser_scans/aron_conversions.cpp | 1 -
.../armem_laser_scans/aron_conversions.h | 2 +-
.../client/instance/ObjectReader.h | 2 +
.../libraries/armem_skills/CMakeLists.txt | 4 +
.../segment/ExecutableSkillLibrarySegment.cpp | 11 +-
.../libraries/armem_vision/CMakeLists.txt | 1 +
.../armem_vision/aron_conversions.cpp | 1 -
.../libraries/armem_vision/aron_conversions.h | 2 +-
source/RobotAPI/libraries/aron/CMakeLists.txt | 4 +-
.../libraries/aron/common/aron_conversions.h | 1 +
.../libraries/aron/converter/CMakeLists.txt | 6 +-
.../converter/{common => aron}/CMakeLists.txt | 11 +-
.../aron/DatatypeConverterVisitor.cpp | 151 +++++++++++++++++
.../converter/aron/DatatypeConverterVisitor.h | 62 +++++++
.../aron/converter/common/Converter.cpp | 1 -
.../aron/converter/common/Converter.h | 71 --------
.../aron/converter/common/VectorConverter.cpp | 1 -
.../aron/converter/stl/CMakeLists.txt | 24 +++
.../aron/converter/stl/StdVectorConverter.cpp | 1 +
.../StdVectorConverter.h} | 60 +++----
.../stl/StdVectorConverterVisitor.cpp | 6 +
.../converter/stl/StdVectorConverterVisitor.h | 154 ++++++++++++++++++
.../libraries/aron/core/aron_conversions.h | 41 +++++
.../aron/core/data/variant/Variant.h | 2 +-
.../aron/core/data/variant/complex/NDArray.h | 2 +-
.../aron/core/data/variant/container/Dict.h | 8 +-
.../aron/core/data/variant/container/List.h | 4 +-
.../data/variant/detail/PrimitiveVariant.h | 5 +-
.../data/variant/detail/SpecializedVariant.h | 8 +
.../libraries/aron/filter/CMakeLists.txt | 22 +++
.../libraries/aron/filter/DataFilter.cpp | 136 ++++++++++++++++
.../libraries/aron/filter/DataFilter.h | 82 ++++++++++
.../aron/similarity_measure/CMakeLists.txt | 22 +++
.../similarity_measure/ndarray/image/MSE.cpp | 11 ++
.../similarity_measure/ndarray/image/MSE.h | 39 +++++
.../RobotAPI/libraries/skills/CMakeLists.txt | 3 +
40 files changed, 854 insertions(+), 128 deletions(-)
rename source/RobotAPI/libraries/aron/converter/{common => aron}/CMakeLists.txt (54%)
create mode 100644 source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.cpp
create mode 100644 source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.h
delete mode 100644 source/RobotAPI/libraries/aron/converter/common/Converter.cpp
delete mode 100644 source/RobotAPI/libraries/aron/converter/common/Converter.h
delete mode 100644 source/RobotAPI/libraries/aron/converter/common/VectorConverter.cpp
create mode 100644 source/RobotAPI/libraries/aron/converter/stl/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.cpp
rename source/RobotAPI/libraries/aron/converter/{common/VectorConverter.h => stl/StdVectorConverter.h} (65%)
create mode 100644 source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.cpp
create mode 100644 source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.h
create mode 100644 source/RobotAPI/libraries/aron/filter/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/aron/filter/DataFilter.cpp
create mode 100644 source/RobotAPI/libraries/aron/filter/DataFilter.h
create mode 100644 source/RobotAPI/libraries/aron/similarity_measure/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.cpp
create mode 100644 source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.h
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 02b2bcae4..9ec137651 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -110,6 +110,16 @@ namespace armarx::armem::base
return _data;
}
+ void setData(DataT& d)
+ {
+ _data = d;
+ }
+
+ void setMetadata(MetadataT& m)
+ {
+ _metadata = m;
+ }
+
/**
* @brief Get the data converted to a generated Aron DTO class.
*/
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index efc18d58c..a5a521c8e 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -218,6 +218,11 @@ namespace armarx::armem::base
// MODIFICATION
+ void setName(const std::string& name)
+ {
+ this->id().memoryName = name;
+ }
+
/**
* @brief Add an empty core segment with the given name, type and prediction engines.
* @param name The core segment name.
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/DiskStorage.h b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/DiskStorage.h
index e4bc43b0b..2185220ec 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/DiskStorage.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/DiskStorage.h
@@ -22,8 +22,8 @@ namespace armarx::armem::server::ltm::disk
DiskMemoryItem(const std::filesystem::path& memoryParentPath, const std::string& escapedMemoryName, const std::filesystem::path relativePath);
virtual ~DiskMemoryItem() = default;
- std::filesystem::path getMemoryBasePathForMode(const MemoryEncodingMode m, const unsigned long e) const;
- std::filesystem::path getRelativePathForMode(const MemoryEncodingMode m) const;
+ std::filesystem::path getMemoryBasePathForMode(const MemoryEncodingMode m = MemoryEncodingMode::FILESYSTEM, const unsigned long e = 0) const;
+ std::filesystem::path getRelativePathForMode(const MemoryEncodingMode m = MemoryEncodingMode::FILESYSTEM) const;
protected:
static std::string EscapeSegmentName(const std::string& segmentName);
diff --git a/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt b/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt
index 1d452ddcb..f40102f3b 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_laser_scans/CMakeLists.txt
@@ -11,6 +11,7 @@ armarx_add_library(
RobotAPI::Core
RobotAPI::armem
aroncommon
+ aronvectorconverter
armem_robot_state
armem_robot
# System / External
diff --git a/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.cpp b/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.cpp
index aaa39472e..4cc4a87d2 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.cpp
@@ -8,7 +8,6 @@
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem_laser_scans/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include <RobotAPI/libraries/aron/converter/common/Converter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
#include "types.h"
diff --git a/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.h b/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.h
index 931cda8c8..80c15c082 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_laser_scans/aron_conversions.h
@@ -24,7 +24,7 @@
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem_laser_scans/types.h>
-#include <RobotAPI/libraries/aron/converter/common/VectorConverter.h>
+#include <RobotAPI/libraries/aron/converter/stl/StdVectorConverter.h>
#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
index 4900004e0..0a517497c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
@@ -34,6 +34,7 @@
// The object pose provider. As long as the provider is not connected to armem we need the second proxy
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
namespace armarx::armem::obj::instance
{
@@ -172,6 +173,7 @@ namespace armarx::armem::obj::instance
const std::string propertyPrefix = "mem.obj.instance.";
armem::client::MemoryNameSystem& memoryNameSystem;
+ objpose::ObjectPoseStorageInterfacePrx objPoseStorage;
objpose::ObjectPoseProviderPrx objPoseProvider;
armem::client::Reader memoryReader;
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
index 40e112f8b..dc960e9b3 100644
--- a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -13,6 +13,10 @@ armarx_add_library(
RobotAPI::armem_server
RobotAPI::skills
aronjsonconverter
+<<<<<<< Updated upstream
+=======
+ aronaronconverter
+>>>>>>> Stashed changes
SOURCES
./aron_conversions.cpp
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index ec84a4f91..db2a719d4 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -4,6 +4,7 @@
#include <SimoxUtility/algorithm/string.h>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+#include <RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
@@ -43,13 +44,19 @@ namespace armarx::skills::segment
if (desc.acceptedType)
{
auto t = aron::type::Object::FromAronObjectDTO(desc.acceptedType);
- skillDescription.acceptedType = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(t).dump(2);
+
+ aron::converter::DatatypeConverterVisitor c;
+ aron::type::visit(c, t);
+
+ skillDescription.acceptedType = aron::data::Dict::DynamicCastAndCheck(c.latest);
}
armem::Commit commit;
auto& entityUpdate = commit.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
+ entityUpdate.sentTime = armem::Time::Now();
+ entityUpdate.arrivedTime = armem::Time::Now();
entityUpdate.instancesData = {skillDescription.toAron()};
entityUpdate.entityID = provId.withEntityName(skillDescription.skillName);
diff --git a/source/RobotAPI/libraries/armem_vision/CMakeLists.txt b/source/RobotAPI/libraries/armem_vision/CMakeLists.txt
index 4d179ca04..eed9e12ee 100644
--- a/source/RobotAPI/libraries/armem_vision/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_vision/CMakeLists.txt
@@ -11,6 +11,7 @@ armarx_add_library(
RobotAPI::Core
RobotAPI::armem
aroncommon
+ aronvectorconverter
# System / External
Eigen3::Eigen
armem_laser_scans
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
index 814ec5463..86a6c62c0 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
@@ -9,7 +9,6 @@
#include <RobotAPI/libraries/armem_laser_scans/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.aron.generated.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include <RobotAPI/libraries/aron/converter/common/Converter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
#include "types.h"
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.h b/source/RobotAPI/libraries/armem_vision/aron_conversions.h
index bb1e52534..7da8fe4e6 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.h
@@ -26,7 +26,7 @@
#include <RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/types.h>
-#include <RobotAPI/libraries/aron/converter/common/VectorConverter.h>
+#include <RobotAPI/libraries/aron/converter/stl/StdVectorConverter.h>
#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
diff --git a/source/RobotAPI/libraries/aron/CMakeLists.txt b/source/RobotAPI/libraries/aron/CMakeLists.txt
index e1ccc8560..ebe331f66 100644
--- a/source/RobotAPI/libraries/aron/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/CMakeLists.txt
@@ -1,5 +1,7 @@
add_subdirectory(core)
+add_subdirectory(common)
add_subdirectory(converter)
+add_subdirectory(filter)
add_subdirectory(codegeneration)
-add_subdirectory(common)
+add_subdirectory(similarity_measure)
add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions.h b/source/RobotAPI/libraries/aron/common/aron_conversions.h
index 84804124d..95177ce57 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions.h
@@ -1,5 +1,6 @@
#pragma once
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include "aron_conversions/armarx.h"
#include "aron_conversions/simox.h"
#include "aron_conversions/eigen.h"
diff --git a/source/RobotAPI/libraries/aron/converter/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
index e93d191b2..9f3a28977 100644
--- a/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
@@ -1,21 +1,23 @@
-add_subdirectory(common)
add_subdirectory(ivt)
add_subdirectory(pcl)
add_subdirectory(eigen)
add_subdirectory(opencv)
add_subdirectory(json)
+add_subdirectory(stl)
+add_subdirectory(aron)
add_library(AronConverter INTERFACE)
target_link_libraries(AronConverter
INTERFACE
- RobotAPI::aron::converter::common
RobotAPI::aron::converter::ivt
RobotAPI::aron::converter::pcl
RobotAPI::aron::converter::eigen
RobotAPI::aron::converter::opencv
RobotAPI::aron::converter::json
+ RobotAPI::aron::converter::stdstl
+ RobotAPI::aron::converter::aron
)
add_library(aron::converter ALIAS AronConverter)
diff --git a/source/RobotAPI/libraries/aron/converter/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/aron/CMakeLists.txt
similarity index 54%
rename from source/RobotAPI/libraries/aron/converter/common/CMakeLists.txt
rename to source/RobotAPI/libraries/aron/converter/aron/CMakeLists.txt
index ad1ddc366..a29edce54 100644
--- a/source/RobotAPI/libraries/aron/converter/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/converter/aron/CMakeLists.txt
@@ -1,23 +1,22 @@
-set(LIB_NAME aroncommonconverter)
+set(LIB_NAME aronaronconverter)
armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
set(LIBS
aron
+ aroncommon
)
set(LIB_FILES
- Converter.cpp
- VectorConverter.cpp
+ DatatypeConverterVisitor.cpp
)
set(LIB_HEADERS
- Converter.h
- VectorConverter.h
+ DatatypeConverterVisitor.h
)
armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
-add_library(RobotAPI::aron::converter::common ALIAS aroncommonconverter)
+add_library(RobotAPI::aron::converter::aron ALIAS aronaronconverter)
diff --git a/source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.cpp b/source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.cpp
new file mode 100644
index 000000000..b20cc993b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.cpp
@@ -0,0 +1,151 @@
+#include "DatatypeConverterVisitor.h"
+
+namespace armarx::aron::converter
+{
+ void DatatypeConverterVisitor::visitAronVariant(const type::ObjectPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ for (const auto& [key, child] : el->getMemberTypes())
+ {
+ DatatypeConverterVisitor converter;
+ aron::type::visit(converter, child);
+
+ dict->addElement(key, converter.latest);
+ }
+
+ latest = dict;
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::DictPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ auto acceptedType = el->getAcceptedType();
+ DatatypeConverterVisitor converter;
+ aron::type::visit(converter, acceptedType);
+ dict->addElement(acceptedTypeMemberName, converter.latest);
+
+ latest = dict;
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::ListPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ auto acceptedType = el->getAcceptedType();
+ DatatypeConverterVisitor converter;
+ aron::type::visit(converter, acceptedType);
+ dict->addElement(acceptedTypeMemberName, converter.latest);
+
+ latest = dict;
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::PairPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ auto acceptedType1 = el->getFirstAcceptedType();
+ DatatypeConverterVisitor converter1;
+ aron::type::visit(converter1, acceptedType1);
+ dict->addElement(firstAcceptedTypeMemberName, converter1.latest);
+
+ auto acceptedType2 = el->getSecondAcceptedType();
+ DatatypeConverterVisitor converter2;
+ aron::type::visit(converter2, acceptedType2);
+ dict->addElement(secondAcceptedTypeMemberName, converter2.latest);
+
+ latest = dict;
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::TuplePtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ int i = 0;
+ for (const auto& child : el->getAcceptedTypes())
+ {
+ DatatypeConverterVisitor converter;
+ aron::type::visit(converter, child);
+
+ dict->addElement(acceptedTypeMemberName + "_" + std::to_string(i++), converter.latest);
+ }
+
+ latest = dict;
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::MatrixPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::NDArrayPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::QuaternionPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::PointCloudPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::ImagePtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::IntEnumPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::IntPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::LongPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::FloatPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::DoublePtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::BoolPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::StringPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverterVisitor::visitAronVariant(const type::AnyObjectPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.h b/source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.h
new file mode 100644
index 000000000..03573997a
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/aron/DatatypeConverterVisitor.h
@@ -0,0 +1,62 @@
+/*
+ * 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/>.
+ *
+ * @author Fabian Peller ( fabian dot peller at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <vector>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+namespace armarx::aron::converter
+{
+ class DatatypeConverterVisitor :
+ public aron::type::ConstVariantVisitor
+ {
+ const std::string typeMemberName = "_aron_type";
+ const std::string acceptedTypeMemberName = "_aron_accepted_type";
+ const std::string firstAcceptedTypeMemberName = "_aron_first_accepted_type";
+ const std::string secondAcceptedTypeMemberName = "_aron_second_accepted_type";
+
+ void visitAronVariant(const type::ObjectPtr&) override;
+ void visitAronVariant(const type::DictPtr&) override;
+ void visitAronVariant(const type::ListPtr&) override;
+ void visitAronVariant(const type::PairPtr&) override;
+ void visitAronVariant(const type::TuplePtr&) override;
+ void visitAronVariant(const type::MatrixPtr&) override;
+ void visitAronVariant(const type::NDArrayPtr&) override;
+ void visitAronVariant(const type::QuaternionPtr&) override;
+ void visitAronVariant(const type::PointCloudPtr&) override;
+ void visitAronVariant(const type::ImagePtr&) override;
+ void visitAronVariant(const type::IntEnumPtr&) override;
+ void visitAronVariant(const type::IntPtr&) override;
+ void visitAronVariant(const type::LongPtr&) override;
+ void visitAronVariant(const type::FloatPtr&) override;
+ void visitAronVariant(const type::DoublePtr&) override;
+ void visitAronVariant(const type::BoolPtr&) override;
+ void visitAronVariant(const type::StringPtr&) override;
+ void visitAronVariant(const type::AnyObjectPtr&) override;
+
+ public:
+ aron::data::VariantPtr latest;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/converter/common/Converter.cpp b/source/RobotAPI/libraries/aron/converter/common/Converter.cpp
deleted file mode 100644
index c5161e17c..000000000
--- a/source/RobotAPI/libraries/aron/converter/common/Converter.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "Converter.h"
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron/converter/common/Converter.h b/source/RobotAPI/libraries/aron/converter/common/Converter.h
deleted file mode 100644
index f6e9959df..000000000
--- a/source/RobotAPI/libraries/aron/converter/common/Converter.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * 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/>.
- *
- * @author Fabian Reister ( fabian dot reister at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#include <algorithm>
-#include <vector>
-
-namespace armarx::aron
-{
-
- /**
- * @brief Converter function for vector of aron elements to plain cpp type
- *
- * You have to provide a converter function for the element with the signature
- *
- * PlainCppType fromAron(const AronType&)
- *
- * @tparam T the aron vector element
- * @param v the vector of elements
- * @return the vector of aron elements
- */
- template <typename T>
- auto fromAron(const std::vector<T>& v) -> std::vector<decltype(fromAron(T()))>
- {
- std::vector<decltype(fromAron(T()))> r;
- r.reserve(v.size());
-
- std::transform(v.begin(), v.end(), std::back_inserter(r),
- [](const T & t)
- {
- return fromAron(t);
- });
-
- return r;
- }
-
-
- template <typename T> auto toAron(const std::vector<T>& v)
- {
- std::vector<decltype(toAron(T()))> r;
- r.reserve(v.size());
-
- std::transform(v.begin(), v.end(), std::back_inserter(r),
- [](const T & t)
- {
- return toAron(t);
- });
-
- return r;
- }
-
-} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/converter/common/VectorConverter.cpp b/source/RobotAPI/libraries/aron/converter/common/VectorConverter.cpp
deleted file mode 100644
index 5f5406cc2..000000000
--- a/source/RobotAPI/libraries/aron/converter/common/VectorConverter.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "VectorConverter.h"
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron/converter/stl/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/stl/CMakeLists.txt
new file mode 100644
index 000000000..efbd807ac
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/stl/CMakeLists.txt
@@ -0,0 +1,24 @@
+set(LIB_NAME aronstdstlconverter)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+set(LIBS
+ aron
+ aroncommon
+)
+
+set(LIB_FILES
+ StdVectorConverter.cpp
+ StdVectorConverterVisitor.cpp
+)
+
+set(LIB_HEADERS
+ StdVectorConverter.h
+ StdVectorConverterVisitor.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+
+add_library(RobotAPI::aron::converter::stdstl ALIAS aronstdstlconverter)
diff --git a/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.cpp b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.cpp
new file mode 100644
index 000000000..e0f2ae152
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.cpp
@@ -0,0 +1 @@
+#include "StdVectorConverter.h"
diff --git a/source/RobotAPI/libraries/aron/converter/common/VectorConverter.h b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.h
similarity index 65%
rename from source/RobotAPI/libraries/aron/converter/common/VectorConverter.h
rename to source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.h
index 14b3ffc96..9d3f89acc 100644
--- a/source/RobotAPI/libraries/aron/converter/common/VectorConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverter.h
@@ -32,20 +32,20 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
-
namespace armarx::aron::converter
{
class AronVectorConverter
{
private:
template<typename T>
- static std::vector<T> convert_to_1d_vector(const unsigned char* data, const int elements, const int offset, const int size)
+ static std::vector<T> convert_to_1d_vector(const unsigned char* data, const int offset, const int size)
{
ARMARX_CHECK_NOT_NULL(data);
- ARMARX_CHECK(elements * sizeof(T) == size);
+ ARMARX_CHECK(size % sizeof(T) == 0);
+ int elements = size / sizeof(T);
std::vector<T> v(elements);
- memcpy(v.data(), data, size);
+ memcpy(v.data(), data + offset, size);
return v;
}
@@ -54,25 +54,33 @@ namespace armarx::aron::converter
AronVectorConverter() = delete;
template<typename T>
- static std::vector<std::vector<T>> ConvertTo2DVector(const data::NDArray& nav)
+ static std::vector<std::vector<T>> ConvertTo2DVector(const data::NDArray& nav, int dim0size = -1)
{
const auto& dims = nav.getShape();
- if (dims.size() != 3)
+ if (dims.size() == 0 || dim0size == 0)
{
- throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have 3 dimensions.", nav.getPath());
+ return {};
}
- if (dims.at(dims.size()-1) != sizeof(T))
+ if (dim0size == -1)
{
- throw error::AronException(__PRETTY_FUNCTION__, "Last dimension of the array has to match the element size.", nav.getPath());
+ dim0size = dims.at(0);
}
- const int one_row_size = dims.at(1) * dims.at(2);
+ const int fullDataByteSize = nav.getDataAsVector().size();
+
+ ARMARX_CHECK(fullDataByteSize % sizeof(T) == 0);
+ const int fullDataSize = fullDataByteSize / sizeof(T);
+
+ ARMARX_CHECK(fullDataSize % dim0size == 0);
+ const int dim1size = fullDataSize / dim0size;
+
+ const int oneRowByteSize = dim1size * sizeof(T);
std::vector<std::vector<T>> v(dims.at(0));
- for (int i = 0; i < dims.at(0); i++)
+ for (int i = 0; i < dim0size; i++)
{
- v[i] = convert_to_1d_vector<T>(nav.getData(), dims.at(1), i * one_row_size, one_row_size);
+ v[i] = convert_to_1d_vector<T>(nav.getData(), i * oneRowByteSize, oneRowByteSize);
}
return v;
@@ -87,41 +95,38 @@ namespace armarx::aron::converter
}
template<typename T>
- static std::vector<T> ConvertTo1DVector(const data::NDArray& nav, const bool allowFlatten = false)
+ static std::vector<T> ConvertTo1DVector(const data::NDArray& nav)
{
const auto& dims = nav.getShape();
- if (!allowFlatten && dims.size() != 2)
+ if (dims.size() == 0)
{
- throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have 2 dimensions.", nav.getPath());
+ return {};
}
- if (dims.at(dims.size()-1) != sizeof(T))
- {
- throw error::AronException(__PRETTY_FUNCTION__, "Last dimension of the array has to match the element size.", nav.getPath());
- }
+ const int fullDataByteSize = nav.getDataAsVector().size();
- ARMARX_CHECK(dims.size() >= 1);
+ ARMARX_CHECK(fullDataByteSize % sizeof(T) == 0);
+ const int dim0size = fullDataByteSize / sizeof(T);
- const int elements = std::accumulate(std::begin(dims), std::prev(std::end(dims)), 1, std::multiplies<>());
- const int all_size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>());
- std::vector<T> v = convert_to_1d_vector<T>(nav.getData(), elements, 0, all_size);
+ const int oneRowByteSize = dim0size * sizeof(T);
+ std::vector<T> v = convert_to_1d_vector<T>(nav.getData(), 0, oneRowByteSize);
return v;
}
template<typename T>
- static std::vector<T> ConvertTo1DVector(const data::NDArrayPtr& nav, const bool allowFlatten = false)
+ static std::vector<T> ConvertTo1DVector(const data::NDArrayPtr& nav)
{
ARMARX_CHECK_NOT_NULL(nav);
- return ConvertTo1DVector<T>(*nav, allowFlatten);
+ return ConvertTo1DVector<T>(*nav);
}
// alias
template<typename T>
- static std::vector<T> ConvertToVector(const data::NDArrayPtr& nav, const bool allowFlatten = false)
+ static std::vector<T> ConvertToVector(const data::NDArrayPtr& nav)
{
- return ConvertTo1DVector<T>(nav, allowFlatten);
+ return ConvertTo1DVector<T>(nav);
}
@@ -145,5 +150,4 @@ namespace armarx::aron::converter
}
};
-
} // namespace armarx::aron::converter
diff --git a/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.cpp b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.cpp
new file mode 100644
index 000000000..4eed9e5fa
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.cpp
@@ -0,0 +1,6 @@
+#include "StdVectorConverterVisitor.h"
+
+namespace armarx::aron::converter
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.h b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.h
new file mode 100644
index 000000000..416087349
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/stl/StdVectorConverterVisitor.h
@@ -0,0 +1,154 @@
+/*
+ * 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/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+// ArmarX
+#include "StdVectorConverter.h"
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx::aron::converter
+{
+ namespace detail
+ {
+ template<typename T, size_t D>
+ struct multidimensional_vector
+ {
+ static_assert(D > 0, "matrix dimensions must be positive");
+ typedef std::vector< typename multidimensional_vector<T, D-1>::type > type;
+ };
+
+ template <typename T>
+ struct multidimensional_vector<T, 1>
+ {
+ typedef std::vector<T> type;
+ };
+
+ template <typename T, size_t D>
+ class AronVectorConverterVisitorBase : public armarx::aron::data::RecursiveConstVariantVisitor
+ {
+ public:
+ using VectorType = typename detail::multidimensional_vector<T, D>::type;
+ using Input = armarx::aron::data::RecursiveConstVariantVisitor::Input;
+
+ VectorType data;
+ std::map<std::string, int> memberInfo;
+
+ protected:
+ int currentIndex = 0;
+ };
+ }
+
+ template <typename T, size_t D>
+ class AronVectorConverterVisitor : public detail::AronVectorConverterVisitorBase<T, D>
+ {
+
+ };
+
+ template <>
+ class AronVectorConverterVisitor<float, 1> : public detail::AronVectorConverterVisitorBase<float, 1>
+ {
+ public:
+ using T = float;
+
+ void visitNDArray(Input &aron) override
+ {
+ auto ndarray = armarx::aron::data::NDArray::DynamicCastAndCheck(aron);
+
+ auto shape = ndarray->getShape();
+ memberInfo[ndarray->getPath().toString()] = currentIndex;
+
+ VectorType vec;
+ vec = AronVectorConverter::ConvertTo1DVector<T>(ndarray);
+ shape = {shape.empty() ? 0 : std::accumulate(std::begin(shape), std::prev(std::end(shape)), 1, std::multiplies<int>())};
+ shape.push_back(sizeof(T));
+
+ data.insert(data.end(), vec.begin(), vec.end());
+ currentIndex += shape.at(0);
+ }
+
+ void visitInt(Input &aron) override
+ {
+ auto a = armarx::aron::data::Int::DynamicCastAndCheck(aron);
+ memberInfo[a->getPath().toString()] = currentIndex;
+
+ data.push_back(T(a->getValue()));
+ }
+
+ void visitLong(Input& aron) override
+ {
+ auto a = armarx::aron::data::Long::DynamicCastAndCheck(aron);
+ memberInfo[a->getPath().toString()] = currentIndex;
+
+ data.push_back(T(a->getValue()));
+ }
+
+ void visitFloat(Input& aron) override
+ {
+ auto a = armarx::aron::data::Float::DynamicCastAndCheck(aron);
+ memberInfo[a->getPath().toString()] = currentIndex;
+
+ data.push_back(T(a->getValue()));
+ }
+
+ void visitDouble(Input& aron) override
+ {
+ auto a = armarx::aron::data::Double::DynamicCastAndCheck(aron);
+ memberInfo[a->getPath().toString()] = currentIndex;
+
+ data.push_back(T(a->getValue()));
+ }
+
+ void visitBool(Input& aron) override
+ {
+ auto a = armarx::aron::data::Bool::DynamicCastAndCheck(aron);
+ memberInfo[a->getPath().toString()] = currentIndex;
+
+ data.push_back(T(a->getValue()));
+ }
+ };
+
+ template <>
+ class AronVectorConverterVisitor<char, 2> : public detail::AronVectorConverterVisitorBase<char, 2>
+ {
+ public:
+ using T = char;
+
+ public:
+ void visitNDArray(Input &aron) override
+ {
+ auto ndarray = armarx::aron::data::NDArray::DynamicCastAndCheck(aron);
+
+ auto shape = ndarray->getShape();
+ memberInfo[ndarray->getPath().toString()] = currentIndex;
+
+ VectorType vec;
+ vec = AronVectorConverter::ConvertTo2DVector<T>(ndarray);
+ shape.push_back(1);
+
+ data.insert(data.end(), vec.begin(), vec.end());
+ currentIndex += shape.at(0);
+ }
+ };
+
+} // namespace armarx::aron::converter
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.h b/source/RobotAPI/libraries/aron/core/aron_conversions.h
index d27d64158..95c997dcd 100644
--- a/source/RobotAPI/libraries/aron/core/aron_conversions.h
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.h
@@ -414,4 +414,45 @@ namespace armarx
{
armarx::aron::toAron<DtoKeyT, DtoValueT, BoKeyT, BoValueT>(boMap);
}
+
+ /**
+ * @brief Converter function for vector of aron elements to plain cpp type
+ *
+ * You have to provide a converter function for the element with the signature
+ *
+ * PlainCppType fromAron(const AronType&)
+ *
+ * @tparam T the aron vector element
+ * @param v the vector of elements
+ * @return the vector of aron elements
+ */
+ template <typename T>
+ auto fromAron(const std::vector<T>& v) -> std::vector<decltype(fromAron(T()))>
+ {
+ std::vector<decltype(fromAron(T()))> r;
+ r.reserve(v.size());
+
+ std::transform(v.begin(), v.end(), std::back_inserter(r),
+ [](const T & t)
+ {
+ return fromAron(t);
+ });
+
+ return r;
+ }
+
+
+ template <typename T> auto toAron(const std::vector<T>& v)
+ {
+ std::vector<decltype(toAron(T()))> r;
+ r.reserve(v.size());
+
+ std::transform(v.begin(), v.end(), std::back_inserter(r),
+ [](const T & t)
+ {
+ return toAron(t);
+ });
+
+ return r;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
index aee8c55fc..1fab338ab 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
@@ -115,7 +115,7 @@ namespace armarx::aron::data
// virtual definitions
/// get a pointer to a copy of this variant
- virtual VariantPtr clone() const = 0;
+ virtual VariantPtr cloneAsVariant() const = 0;
/// get the children of a data variant
virtual std::vector<VariantPtr> getChildren() const = 0;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
index 593298a7d..068fd1a85 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
@@ -84,7 +84,7 @@ namespace armarx::aron::data
data::dto::NDArrayPtr toNDArrayDTO() const;
// virtual implementations
- virtual VariantPtr clone() const override
+ NDArrayPtr clone() const override
{
NDArrayPtr ret(new NDArray(getShape(), getType(), getDataAsVector(), getPath()));
return ret;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
index 498e59ee2..5006a0c97 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
@@ -64,9 +64,9 @@ namespace armarx::aron::data
std::vector<std::string> getAllKeys() const;
std::string getAllKeysAsString() const;
- void addElement(const std::string& key, const VariantPtr&);
+ void addElement(const std::string& key, const VariantPtr& = nullptr);
bool hasElement(const std::string&) const;
- void setElement(const std::string&, const VariantPtr&);
+ void setElement(const std::string&, const VariantPtr& = nullptr);
VariantPtr getElement(const std::string&) const;
std::map<std::string, VariantPtr> getElements() const;
@@ -75,12 +75,12 @@ namespace armarx::aron::data
void clear();
// virtual implementations
- VariantPtr clone() const override
+ DictPtr clone() const override
{
DictPtr ret(new Dict(getPath()));
for (const auto& [key, val] : getElements())
{
- ret->addElement(key, val->clone());
+ ret->addElement(key, val->cloneAsVariant());
}
return ret;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
index 4ab656bfa..142f42ee6 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
@@ -73,12 +73,12 @@ namespace armarx::aron::data
void clear();
// virtual implementations
- VariantPtr clone() const override
+ ListPtr clone() const override
{
ListPtr ret(new List(getPath()));
for (const auto& val : getElements())
{
- ret->addElement(val->clone());
+ ret->addElement(val->cloneAsVariant());
}
return ret;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
index ad4ad2eac..3b36c6310 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
@@ -41,6 +41,7 @@ namespace armarx::aron::data::detail
public SpecializedVariantBase<AronDataT, DerivedT>
{
public:
+ using PointerType = std::shared_ptr<DerivedT>;
using ValueType = ValueT;
public:
@@ -80,9 +81,9 @@ namespace armarx::aron::data::detail
throw error::AronException(__PRETTY_FUNCTION__, "Could not navigate through a non container navigator. The input path was: " + path.toString(), Variant::getPath());
}
- VariantPtr clone() const override
+ PointerType clone() const override
{
- typename DerivedT::PointerType ret(new DerivedT(getValue(), this->getPath()));
+ PointerType ret(new DerivedT(getValue(), this->getPath()));
return ret;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
index 4ac67da09..d7e6e4a55 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
@@ -77,7 +77,15 @@ namespace armarx::aron::data::detail
virtual bool operator==(const DerivedT&) const = 0;
virtual bool operator==(const PointerType& other) const = 0;
+ // new interface methods
+ virtual PointerType clone() const = 0;
+
// virtual implementations
+ VariantPtr cloneAsVariant() const override
+ {
+ return clone();
+ }
+
data::dto::GenericDataPtr toAronDTO() const override
{
return aron;
diff --git a/source/RobotAPI/libraries/aron/filter/CMakeLists.txt b/source/RobotAPI/libraries/aron/filter/CMakeLists.txt
new file mode 100644
index 000000000..46ca5c4ae
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/filter/CMakeLists.txt
@@ -0,0 +1,22 @@
+set(LIB_NAME aronfilter)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+set(LIBS
+ aron
+ aroncommon
+)
+
+set(LIB_FILES
+ DataFilter.cpp
+)
+
+set(LIB_HEADERS
+ DataFilter.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+
+add_library(RobotAPI::aron::filter ALIAS aronfilter)
diff --git a/source/RobotAPI/libraries/aron/filter/DataFilter.cpp b/source/RobotAPI/libraries/aron/filter/DataFilter.cpp
new file mode 100644
index 000000000..51cb17110
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/filter/DataFilter.cpp
@@ -0,0 +1,136 @@
+#include "DataFilter.h"
+
+#include <SimoxUtility/algorithm/string.h>
+
+namespace armarx::aron::filter
+{
+ WhitelistDataFilterWithNormalization::WhitelistDataFilterWithNormalization(const std::vector<std::string>& whitelist, const std::map<std::string, Normalization>& normalization) :
+ whitelist(whitelist),
+ normalization(normalization)
+ {
+
+ }
+
+ bool WhitelistDataFilterWithNormalization::pathInWhitelist(const aron::Path& p) const
+ {
+ for (const auto& w : whitelist)
+ {
+ if (simox::alg::starts_with(p.toString(), w))
+ {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::ListPtr& aron)
+ {
+ auto l = aron::make_list(aron->getPath());
+ for (const auto& el : aron->getElements())
+ {
+ WhitelistDataFilterWithNormalization v(whitelist, normalization);
+ aron::data::visit(v, el);
+
+ if (v.data)
+ {
+ l->addElement(v.data);
+ }
+ }
+
+ if (l->getElements().size() || pathInWhitelist(aron->getPath()))
+ {
+ data = l;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::DictPtr& aron)
+ {
+ auto l = aron::make_dict(aron->getPath());
+ for (const auto& [k, el] : aron->getElements())
+ {
+ WhitelistDataFilterWithNormalization v(whitelist, normalization);
+ aron::data::visit(v, el);
+
+ if (v.data)
+ {
+ l->addElement(k, v.data);
+ }
+ }
+
+ if (l->getElements().size() || pathInWhitelist(aron->getPath()))
+ {
+ data = l;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::NDArrayPtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ data = aron->clone();
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::IntPtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ auto e = aron->clone();
+ int v = checkForNormalization(aron->getPath(), e->getValue());
+ e->setValue(v);
+ data = e;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::LongPtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ auto e = aron->clone();
+ long v = checkForNormalization(aron->getPath(), e->getValue());
+ e->setValue(v);
+ data = e;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::FloatPtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ auto e = aron->clone();
+ float v = checkForNormalization(aron->getPath(), e->getValue());
+ e->setValue(v);
+ data = e;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::DoublePtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ auto e = aron->clone();
+ double v = checkForNormalization(aron->getPath(), e->getValue());
+ e->setValue(v);
+ data = e;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::BoolPtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ auto e = aron->clone();
+ bool v = checkForNormalization(aron->getPath(), e->getValue());
+ e->setValue(v);
+ data = e;
+ }
+ }
+
+ void WhitelistDataFilterWithNormalization::visitAronVariant(const data::StringPtr& aron)
+ {
+ if (pathInWhitelist(aron->getPath()))
+ {
+ data = aron->clone();
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/filter/DataFilter.h b/source/RobotAPI/libraries/aron/filter/DataFilter.h
new file mode 100644
index 000000000..8b00b3bcc
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/filter/DataFilter.h
@@ -0,0 +1,82 @@
+/*
+ * 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/>.
+ *
+ * @author Fabian Peller ( fabian dot peller at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <vector>
+#include <map>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx::aron::filter
+{
+ class WhitelistDataFilterWithNormalization :
+ public aron::data::ConstVariantVisitor
+ {
+ public:
+ struct Normalization
+ {
+ float min;
+ float max;
+ };
+
+ WhitelistDataFilterWithNormalization(const std::vector<std::string>& whitelist, const std::map<std::string, Normalization>& normalization = {});
+
+ void visitAronVariant(const data::DictPtr&) override;
+ void visitAronVariant(const data::ListPtr&) override;
+ void visitAronVariant(const data::NDArrayPtr&) override;
+ void visitAronVariant(const data::IntPtr&) override;
+ void visitAronVariant(const data::LongPtr&) override;
+ void visitAronVariant(const data::FloatPtr&) override;
+ void visitAronVariant(const data::DoublePtr&) override;
+ void visitAronVariant(const data::BoolPtr&) override;
+ void visitAronVariant(const data::StringPtr&) override;
+
+ private:
+
+ bool pathInWhitelist(const aron::Path& p) const;
+
+ // normalization
+ template <class T>
+ T checkForNormalization(const aron::Path& p, const T& t)
+ {
+ for (const auto& [n, v] : normalization)
+ {
+ if (simox::alg::starts_with(p.toString(), n))
+ {
+ auto diff = v.max - v.min;
+ auto norm = (t - v.min) / diff;
+ return norm;
+ }
+ }
+ return t;
+ }
+
+ std::vector<std::string> whitelist;
+ std::map<std::string, Normalization> normalization;
+
+ public:
+
+ aron::data::VariantPtr data;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/similarity_measure/CMakeLists.txt b/source/RobotAPI/libraries/aron/similarity_measure/CMakeLists.txt
new file mode 100644
index 000000000..fdd238143
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/similarity_measure/CMakeLists.txt
@@ -0,0 +1,22 @@
+set(LIB_NAME aronsimilaritymeasure)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+set(LIBS
+ aron
+ aroncommon
+)
+
+set(LIB_FILES
+ ndarray/image/MSE.cpp
+)
+
+set(LIB_HEADERS
+ ndarray/image/MSE.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+
+add_library(RobotAPI::aron::similarity_measure ALIAS aronsimilaritymeasure)
diff --git a/source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.cpp b/source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.cpp
new file mode 100644
index 000000000..e3e37f6dc
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.cpp
@@ -0,0 +1,11 @@
+#include "MSE.h"
+
+#include <SimoxUtility/algorithm/string.h>
+
+namespace armarx::aron::similarity_measure::ndarray::image
+{
+ size_t MSE::similarity(const aron::data::NDArrayPtr& p1, const aron::data::NDArrayPtr& p2)
+ {
+ return 0;
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.h b/source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.h
new file mode 100644
index 000000000..c8f9bf5d8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/similarity_measure/ndarray/image/MSE.h
@@ -0,0 +1,39 @@
+/*
+ * 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/>.
+ *
+ * @author Fabian Peller ( fabian dot peller at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <vector>
+#include <map>
+
+#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
+
+namespace armarx::aron::similarity_measure::ndarray::image
+{
+ class MSE
+ {
+ public:
+ MSE() = delete;
+
+ static size_t similarity(const aron::data::NDArrayPtr& p1, const aron::data::NDArrayPtr& p2);
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
index 30241deae..8f92d10a8 100644
--- a/source/RobotAPI/libraries/skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -11,6 +11,9 @@ armarx_add_library(
RobotAPI::Core
aronjsonconverter
+ aroncommonconverter
+ aronaronconverter
+
SOURCES
./error/Exception.cpp
./manager/SkillManagerComponentPlugin.cpp
--
GitLab