SpatialWorldClient.h

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#ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_REMOTE_SPATIAL_WORLD_CLIENT_H_
#define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_REMOTE_SPATIAL_WORLD_CLIENT_H_

// worldlib
#include "SpatialWorldObservation.h"
#include "SqlClient.h"
#include "../model/PersistenceModel.h"
#include "../world/Observation.h"

// Boost
#include <boost/random.hpp>

// C++ Standard Library
#include <vector>

namespace rail
{
namespace spatial_temporal_learning
{
namespace worldlib
{
namespace remote
{

class SpatialWorldClient : public SqlClient
{
public:
  SpatialWorldClient(const SpatialWorldClient &client);

  SpatialWorldClient(const std::string &host, const uint16_t port, const std::string &user, const std::string &password,
      const std::string &database);

  virtual bool connect();

  void clearAllEntities() const;

  void addObservations(const std::vector<world::Observation> &observations) const;

  void addObservation(const world::Item &item, const world::Surface &surface, const geometry::Pose &pose) const;

  void addObservation(const world::Observation &observation) const;

  void getObservationsByItemName(const std::string &item_name,
      std::vector<SpatialWorldObservation> &observations) const;

  void getObservationsBySurfaceName(const std::string &surface_name,
      std::vector<SpatialWorldObservation> &observations) const;

  void getObservationsByItemAndSurfaceName(const std::string &item_name, const std::string &surface_name,
      std::vector<SpatialWorldObservation> &observations) const;

  void getObservationsBySurfaceFrameID(const std::string &surface_frame_id,
      std::vector<SpatialWorldObservation> &observations) const;

  std::string getMostFrequentSurfaceName(const std::string &item_name) const;

  std::string getMostFrequentSurfaceName(const world::Item &item) const;

  void updateObservation(const SpatialWorldObservation &observation) const;

  bool itemExistsOnSurface(const std::string &item_name, const std::string &surface_name) const;

  bool itemObservedOnSurface(const world::Item &item, const world::Surface &surface) const;

  bool itemObservedOnSurface(const std::string &item_name, const std::string &surface_name) const;

  void markObservationsAsRemoved(const world::Item &item, const world::Surface &surface,
      const ros::Time &removed_observed = ros::Time::now());

  void markObservationsAsRemoved(const std::string &item_name, const std::string &surface_name,
      const ros::Time &removed_observed = ros::Time::now());

  void getUniqueSurfaceNames(std::vector<std::string> &names) const;

  model::PersistenceModel getPersistenceModel(const std::string &item_name, const std::string &surface_name) const;

  model::PersistenceModel getPersistenceModel(const world::Item &item, const world::Surface &surface) const;

private:
  boost::mt19937 random_;

  void createTable();

  void getObservationsHelper(std::vector<SpatialWorldObservation> &observations, const std::string &where_clause,
      const uint32_t limit = 0, const std::string &order_by = "`time` ASC") const;
};

}
}
}
}

#endif