add coordinate system definition to query

DFKI-NI · Aug 23, 2024 · 54ddb0f · 54ddb0f
1 parent 469c570
commit 54ddb0f
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Showing 7 changed files with 30 additions and 0 deletions.
diff --git a/seerep_msgs/core/query.h b/seerep_msgs/core/query.h
@@ -25,6 +25,8 @@ struct Query
                            // polygon defined above
   bool inMapFrame;  // if false the query polygon is in geodetic coordinates,
                     // otherwise in map frame
+  std::string
+      coordinateSystem;  // the geodetic coordinate system in which the polygon is defined
   std::optional<Timeinterval> timeinterval;  ///< only do temporal query if set
   std::optional<std::unordered_map<std::string, std::vector<std::string>>>
       label;  ///< only do semantic query if set

diff --git a/seerep_msgs/fbs/query.fbs b/seerep_msgs/fbs/query.fbs
@@ -9,6 +9,7 @@ table Query {
   polygon:Polygon2D;
   polygonSensorPosition:Polygon2D;
   fullyEncapsulated:bool;
+  coordinateSystem:string;
   inMapFrame:bool;
   timeinterval:TimeInterval;
   label:[LabelCategory];

diff --git a/seerep_msgs/protos/query.proto b/seerep_msgs/protos/query.proto
@@ -20,4 +20,5 @@ message Query
   bool withoutdata = 10;
   uint32 maxNumData = 11;
   bool sortByTime = 12;
+  string coordinateSystem = 13;
 }
diff --git a/seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h b/seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h
@@ -304,6 +304,8 @@ class CoreFbConversion
    */
   static bool fromFbQueryInMapFrame(const seerep::fb::Query* query);
 
+  static std::string fromFbQueryCoordinateSystem(const seerep::fb::Query* query);
+
   /**
    * @brief extracts the fullyEncapsulated flag of the flatbuffer query message
    * @param query the flatbuffer message

diff --git a/seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp b/seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp
@@ -50,6 +50,7 @@ CoreFbConversion::fromFb(const seerep::fb::Query* query,
   queryCore.polygon = fromFbQueryPolygon(query);
   queryCore.polygonSensorPos = fromFbQueryPolygonSensorPosition(query);
   queryCore.fullyEncapsulated = fromFbQueryFullyEncapsulated(query);
+  queryCore.coordinateSystem = fromFbQueryCoordinateSystem(query);
   queryCore.inMapFrame = fromFbQueryInMapFrame(query);
   queryCore.sortByTime = query->sortByTime();
 
@@ -562,6 +563,16 @@ CoreFbConversion::fromFbSparqlQuery(const seerep::fb::Query* query)
   return std::nullopt;
 }
 
+std::string CoreFbConversion::fromFbQueryCoordinateSystem(const seerep::fb::Query* query)
+{
+  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_COORDINATESYSTEM))
+  {
+    return query->coordinateSystem()->str();
+  }
+
+  return "";
+}
+
 std::optional<std::string>
 CoreFbConversion::fromFbOntologyURI(const seerep::fb::Query* query)
 {

diff --git a/seerep_srv/seerep_core_pb/include/seerep_core_pb/core_pb_conversion.h b/seerep_srv/seerep_core_pb/include/seerep_core_pb/core_pb_conversion.h
@@ -185,6 +185,12 @@ class CorePbConversion
    * @param queryCore query message in seerep core format
    */
   static void fromPbInMapFrame(const seerep::pb::Query& query, seerep_core_msgs::Query& queryCore);
+  /**
+   * @brief converts the coordinate systen string of the protobuf query message to seerep core specific message
+   * @param query the protobuf query message
+   * @param queryCore query message in seerep core format
+   */
+  static void fromPbCoordinateSystem(const seerep::pb::Query& query, seerep_core_msgs::Query& queryCore);
   /**
    * @brief converts the fullyEncapsulated flag of the protobuf query message to seerep core specific message
 >>>>>>> bool inMapFrame in query

diff --git a/seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp b/seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp
@@ -20,6 +20,7 @@ CorePbConversion::fromPb(const seerep::pb::Query& query,
   fromPbWithOutData(query, queryCore);
   fromFbQueryMaxNumData(query, queryCore);
   fromPbFullyEncapsulated(query, queryCore);
+  fromPbCoordinateSystem(query, queryCore);
   fromPbInMapFrame(query, queryCore);
   queryCore.sortByTime = query.sortbytime();
 
@@ -378,6 +379,12 @@ void CorePbConversion::fromPbInMapFrame(const seerep::pb::Query& query,
   queryCore.inMapFrame = query.inmapframe();
 }
 
+void CorePbConversion::fromPbCoordinateSystem(const seerep::pb::Query& query,
+                                              seerep_core_msgs::Query& queryCore)
+{
+  queryCore.coordinateSystem = query.coordinatesystem();
+}
+
 void CorePbConversion::fromPbFullyEncapsulated(
     const seerep::pb::Query& query, seerep_core_msgs::Query& queryCore)
 {