The main MySQL client connection to the spatial world database. More...

#include <SpatialWorldClient.h>

Inheritance diagram for rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient:

Public Member Functions
void	addObservation (const world::Item &item, const world::Surface &surface, const geometry::Pose &pose) const
	Add a new Observation to the spatial world database.
void	addObservation (const world::Observation &observation) const
	Add a new Observation to the spatial world database.
void	addObservations (const std::vector< world::Observation > &observations) const
	Add several observations to the spatial world database.
void	clearAllEntities () const
	Clear all entries in the spatial world database.
virtual bool	connect ()
	Create a connection to the spatial world database.
std::string	getMostFrequentSurfaceName (const std::string &item_name) const
	Get the most frequent surface name for the given Item.
std::string	getMostFrequentSurfaceName (const world::Item &item) const
	Get the most frequent surface name for the given Item.
void	getObservationsByItemAndSurfaceName (const std::string &item_name, const std::string &surface_name, std::vector< SpatialWorldObservation > &observations) const
	Get all observations for a given Item and Surface name.
void	getObservationsByItemName (const std::string &item_name, std::vector< SpatialWorldObservation > &observations) const
	Get all observations for a given Item name.
void	getObservationsBySurfaceFrameID (const std::string &surface_frame_id, std::vector< SpatialWorldObservation > &observations) const
	Get all observations for a given Surface frame ID.
void	getObservationsBySurfaceName (const std::string &surface_name, std::vector< SpatialWorldObservation > &observations) const
	Get all observations for a given Surface name.
model::PersistenceModel	getPersistenceModel (const std::string &item_name, const std::string &surface_name) const
	Get the PersistenceModel associated with the Item on a Surface.
model::PersistenceModel	getPersistenceModel (const world::Item &item, const world::Surface &surface) const
	Get the PersistenceModel associated with the Item on a Surface.
void	getUniqueSurfaceNames (std::vector< std::string > &names) const
	Get a list of unique surface names.
bool	itemExistsOnSurface (const std::string &item_name, const std::string &surface_name) const
	Check if an Item still exists on a given Surface.
bool	itemObservedOnSurface (const world::Item &item, const world::Surface &surface) const
	Check if an Item has ever been seen on a given Surface.
bool	itemObservedOnSurface (const std::string &item_name, const std::string &surface_name) const
	Check if an Item has ever been seen on a given Surface.
void	markObservationsAsRemoved (const world::Item &item, const world::Surface &surface, const ros::Time &removed_observed=ros::Time::now())
	Mark the given Item on the given Surface as being removed.
void	markObservationsAsRemoved (const std::string &item_name, const std::string &surface_name, const ros::Time &removed_observed=ros::Time::now())
	Mark the given Item on the given Surface as being removed.
	SpatialWorldClient (const SpatialWorldClient &client)
	Create a new SpatialWorldClient.
	SpatialWorldClient (const std::string &host, const uint16_t port, const std::string &user, const std::string &password, const std::string &database)
	Create a new SpatialWorldClient.
void	updateObservation (const SpatialWorldObservation &observation) const
	Update the given observation.
Private Member Functions
void	createTable ()
	Create the spatial world table (sws).
void	getObservationsHelper (std::vector< SpatialWorldObservation > &observations, const std::string &where_clause, const uint32_t limit=0, const std::string &order_by="`time` ASC") const
	Get all observations based on a given SQL where clause.
Private Attributes
boost::mt19937	random_

Detailed Description

The main MySQL client connection to the spatial world database.

The spatial world SQL client can communicate with a MySQL database containing the spatial world database.

Definition at line 41 of file SpatialWorldClient.h.

Constructor & Destructor Documentation

SpatialWorldClient::SpatialWorldClient ( const SpatialWorldClient & client )

Create a new SpatialWorldClient.

Creates a new Client by copying the values from the given SpatialWorldClient. A new connection is made if one exists.

Parameters:

client The SpatialWorldClient to copy.

Definition at line 26 of file SpatialWorldClient.cpp.

rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient::SpatialWorldClient	(	const std::string &	host,
		const uint16_t	port,
		const std::string &	user,
		const std::string &	password,
		const std::string &	database
	)

Create a new SpatialWorldClient.

Creates a new SpatialWorldClient with the given connection information. A connection is not made by default.

Parameters:

host	The host of the database.
port	The host port of the database.
user	The user of the database.
password	The password for the user of the database.
database	The database name.

Member Function Documentation

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

Add a new Observation to the spatial world database.

Attempts to add an Observation to the spatial world database. If no connection is made, no effect is made. This will create default timestamps for all values.

Parameters:

item	The Item observed in the world.
surface	The Surface the Item was observed on.
pose	The Pose of the Item with respect to the Surface.

Definition at line 87 of file SpatialWorldClient.cpp.

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

Add a new Observation to the spatial world database.

Attempts to add an Observation to the spatial world database. If no connection is made, no effect is made.

Parameters:

observation The Observation observed in the world.

Definition at line 94 of file SpatialWorldClient.cpp.

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

Add several observations to the spatial world database.

Attempts to add observations to the spatial world database. If no connection is made, no effect is made.

Parameters:

item	The Item observed in the world.
surface	The Surface the Item was observed on.
pose	The Pose of the Item with respect to the Surface.

Definition at line 78 of file SpatialWorldClient.cpp.

void SpatialWorldClient::clearAllEntities ( ) const

Clear all entries in the spatial world database.

Attempts to clear all entries in the spatial world database. If no connection is made, no effect is made.

Definition at line 68 of file SpatialWorldClient.cpp.

bool SpatialWorldClient::connect ( ) [virtual]

Create a connection to the spatial world database.

Attempts to create a connection to the spatial world database. Tables are created if they do not exist yet. A flag is returned to indicate the success.

Returns:: True if a connection has been successfully made.

Reimplemented from rail::spatial_temporal_learning::worldlib::remote::SqlClient.

Definition at line 35 of file SpatialWorldClient.cpp.

void SpatialWorldClient::createTable ( ) [private]

Create the spatial world table (sws).

Attempts to create the spatial world table (sws). If no connection is made, no effect is made.

Definition at line 43 of file SpatialWorldClient.cpp.

std::string rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient::getMostFrequentSurfaceName ( const std::string & item_name ) const

Get the most frequent surface name for the given Item.

Get the name of the surface the the given item has been seen on the most.

Parameters:

item_name The Item name to get the most frequent surface for (case is not important).

Returns:: The name of the Surface.

string SpatialWorldClient::getMostFrequentSurfaceName ( const world::Item & item ) const

Get the most frequent surface name for the given Item.

Get the name of the surface the the given item has been seen on the most.

Parameters:

item_name The Item to get the most frequent surface for.

Returns:: The name of the Surface.

Definition at line 160 of file SpatialWorldClient.cpp.

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

Get all observations for a given Item and Surface name.

Load all observations for a given Item and Surface name and store them in the given vector. If no connection is made, no effect is made.

Parameters:

item_name	The Item name to load observations for (case is not important).
surface_name	The Surface name to load observations for (case is not important).
observations	The array of observations to fill once loaded.

Definition at line 143 of file SpatialWorldClient.cpp.

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

Get all observations for a given Item name.

Load all observations for a given Item name and store them in the given vector. If no connection is made, no effect is made.

Parameters:

item_name	The Item name to load observations for (case is not important).
observations	The array of observations to fill once loaded.

Definition at line 127 of file SpatialWorldClient.cpp.

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

Get all observations for a given Surface frame ID.

Load all observations for a given Surface frame ID and store them in the given vector. Note that this function is case sensitive. If no connection is made, no effect is made.

Parameters:

surface_frame_id	The Surface name to load observations for (case is important).
observations	The array of observations to fill once loaded.

Definition at line 152 of file SpatialWorldClient.cpp.

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

Get all observations for a given Surface name.

Load all observations for a given Surface name and store them in the given vector. If no connection is made, no effect is made.

Parameters:

surface_name	The Surface name to load observations for (case is not important).
observations	The array of observations to fill once loaded.

Definition at line 135 of file SpatialWorldClient.cpp.

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

Get all observations based on a given SQL where clause.

Load all observations for a given where clause and store them in the given vector. If no connection is made, no effect is made. This is meant for internal use only.

Parameters:

observations	The array of observations to fill once loaded.
where_clause	The SQL where clause of a select on the observations.
limit	The SQL return limit (defaults to 0 meaning unlimited).
order_by	The SQL ordering constraint (defaults to ascending `time` field; i.e., oldest first).

Definition at line 359 of file SpatialWorldClient.cpp.

model::PersistenceModel rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient::getPersistenceModel	(	const std::string &	item_name,
		const std::string &	surface_name
	)		const

Get the PersistenceModel associated with the Item on a Surface.

Get the PersistenceModel associated with the Item on a Surface. This will calculate parameters based on data from the spatial world database.

Parameters:

item_name	The name of the Item (case is not important).
surface_name	The name of the Surface (case is not important).

Returns:: The PersistenceModel loaded.

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

Get the PersistenceModel associated with the Item on a Surface.

Get the PersistenceModel associated with the Item on a Surface. This will calculate parameters based on data from the spatial world database.

Parameters:

item	The Item.
surface	The Surface.

Returns:: The PersistenceModel loaded.

Definition at line 335 of file SpatialWorldClient.cpp.

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

Get a list of unique surface names.

Get a unique list of surface names and store them in the given vector.

Parameters:

names The vector to store the name list in.

Definition at line 312 of file SpatialWorldClient.cpp.

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

Check if an Item still exists on a given Surface.

Check if the Item still exists on a given Surface (i.e., it was not removed yet). If no connection is made false is returned.

Parameters:

item_name	The name of the Item (case is not important).
item_name	The name of the Surface (case is not important).

Returns:: Returns true if the Item still exists on a given Surface (i.e., it was not removed yet).

Definition at line 209 of file SpatialWorldClient.cpp.

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

Check if an Item has ever been seen on a given Surface.

Check if an Item has ever been seen on a given Surface. If no connection is made false is returned.

Parameters:

item	The Item.
surface	The Surface.

Returns:: Returns true if the Item has ever been observed on a given Surface.

Definition at line 230 of file SpatialWorldClient.cpp.

bool rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient::itemObservedOnSurface	(	const std::string &	item_name,
		const std::string &	surface_name
	)		const

Check if an Item has ever been seen on a given Surface.

Check if an Item has ever been seen on a given Surface. If no connection is made false is returned.

Parameters:

item_name	The name of the Item (case is not important).
surface_name	The name of the Surface (case is not important).

Returns:: Returns true if the Item has ever been observed on a given Surface.

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

Mark the given Item on the given Surface as being removed.

Mark the given Item on the given Surface as being removed. This will set the observed removal time for all current observations to now and set an estimated time for removal for the longest observation. If no connection is made, or if the Item was not currently on the Surface, no effect is made.

Parameters:

Item	The Item.
surface	The Surface.
removed_observed	The time the Item was observed removed (defaults to now).

Definition at line 255 of file SpatialWorldClient.cpp.

void rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient::markObservationsAsRemoved	(	const std::string &	item_name,
		const std::string &	surface_name,
		const ros::Time &	removed_observed = `ros::Time::now()`
	)

Mark the given Item on the given Surface as being removed.

Mark the given Item on the given Surface as being removed. This will set the observed removal time for all current observations to now and set an estimated time for removal for the longest observation. If no connection is made, or if the Item was not currently on the Surface, no effect is made.

Parameters:

item_name	The name of the Item (case is not important).
surface_name	The name of the Surface (case is not important).
removed_observed	The time the Item was observed removed (defaults to now).

void SpatialWorldClient::updateObservation ( const SpatialWorldObservation & observation ) const

Update the given observation.

Update the given observation in the database with its current fields. If no connection is made, no effect is made.

Parameters:

observation The SpatialWorldObservation to update in the database.

Definition at line 188 of file SpatialWorldClient.cpp.

Member Data Documentation

boost::mt19937 rail::spatial_temporal_learning::worldlib::remote::SpatialWorldClient::random_ [private]

Random number generator.

Definition at line 292 of file SpatialWorldClient.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation