feature_contribution_model.h

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#ifndef AUBO_SCOPE_FEATURE_CONTRIBUTION_MODEL_H
#define AUBO_SCOPE_FEATURE_CONTRIBUTION_MODEL_H
 
#include <aubo_caps/domain/feature/feature.h>
 
namespace arcs {
namespace aubo_scope {
 
ARCS_CLASS_FORWARD(FeatureContributionModel);
 
/**
 * @ingroup InstallationApi
 * \chinese
 * 特征贡献模型
 * 此接口提供在 AuboScope 中添加、更新和删除特征的功能。
 *
 * <b>注意：</b>此接口只能在安装贡献中使用。
 * \endchinese
 * \english
 * FeatureContributionModel
 * This interface provides functionality for adding, updating and removing
 * features in AuboScope.
 *
 * <b>Note:</b> This interface must only be used in an installation
 * contribution.
 * \endenglish
 */
class ARCS_ABI_EXPORT FeatureContributionModel
{
public:
    FeatureContributionModel(FeatureContributionModel &f);
    FeatureContributionModel(FeatureContributionModel &&f);
    ~FeatureContributionModel();
 
    /**
     * \chinese
     * 向当前AuboScope安装中添加一个特征。添加后终端用户可选择该特征，但不可修改。
     *
     * @param idKey 用于标识此特征的键。该键仅对此AuboCap有效。
     * @param suggestedName 建议的特征名称。有效名称必须匹配正则表达式
     * [a-zA-Z][a-zA-Z0-9_]{0,14}。
     * @param pose 特征相对于机器人基座的位姿。
     * @return 在AuboScope中创建并注册的特征。
     * @throws FeatureAlreadyAddedException 如果之前已用相同idKey添加过特征。
     * @throws IllegalFeatureNameException 如果建议的名称不匹配所需正则表达式。
     * \endchinese
     * \english
     * Add a feature to the current AuboScope installation. This makes it
     * selectable by the end user. The feature is not modifiable by the end
     * user.
     *
     * @param idKey The key to identify this feature by.
     * @param suggestedName Suggested name for the feature.
     * @param pose The pose of the feature with respect to the robot base.
     * @return The feature created and registered in AuboScope.
     * @throws FeatureAlreadyAddedException If a feature has previously been
     * added the same <code>idKey</code> identifier.
     * @throws IllegalFeatureNameException If the suggested name does not match
     * required regex.
     * \endenglish
     */
    FeaturePtr addFeature(const std::string &idKey,
                          const std::string &suggestedName,
                          const std::vector<double> &pose);
    /**
     * \chinese
     * 返回此前由此AuboCap使用相同idKey标识符添加的特征。用于验证特征是否存在。
     * @param idKey 用于标识特征的键。
     * @return 此前添加的特征，如果不存在则返回<code>null</code>。
     * \endchinese
     * \english
     * Returns the feature previously added by this AuboCap using the same
     * <code>idKey</code> identifier. Use this to verify if the feature is
     * present in the current installation.
     *
     * @param idKey The key to identify this feature by.
     * @return The feature previously added by this AuboCap.
     *         Returns <code>null</code> if no feature exists in the current
     * installation.
     * \endenglish
     */
    FeaturePtr getFeature(const std::string &idKey);
 
    /**
     * \chinese
     * 更新此AuboCap已添加特征的位姿。
     * @param idKey 用于标识特征的键。
     * @param newPose 特征的新位姿。
     * @throws FeatureNotFoundException 如果不存在对应idKey的特征。
     * \endchinese
     * \english
     * Update the pose of an existing feature added by this AuboCap.
     *
     * @param idKey The key to identify the feature.
     * @param newPose The new pose to set for the feature.
     * @throws FeatureNotFoundException If no feature exists with the provided
     * <code>idKey</code>.
     * \endenglish
     */
    void updateFeature(const std::string &idKey,
                       const std::vector<double> &newPose);
    void renameFeature(const std::string &idKey, const std::string &newName);
 
    /**
     * \chinese
     * 从此AuboCap中移除已添加的特征。使用该特征的程序节点将变为未定义。
     * @param idKey 添加特征时使用的键。
     * @throws FeatureNotFoundException 如果不存在对应idKey的特征。
     * \endchinese
     * \english
     * Remove a feature added by this AuboCap from AuboScope. Program nodes
     * using the feature will be become undefined because the feature is no
     * longer resolvable.
     *
     * @param idKey The key used to add the feature with.
     * @throws FeatureNotFoundException If no feature exists with the provided
     * <code>idKey</code>.
     * \endenglish
     */
    void removeFeature(const std::string &idKey);
 
private:
    friend class DataSwitch;
    FeatureContributionModel();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif // AUBO_SCOPE_FEATURE_CONTRIBUTION_MODEL_H