Example usage for com.mongodb AggregationOptions builder

Introduction

In this page you can find the example usage for com.mongodb AggregationOptions builder.

Prototype

public static Builder builder() 

Source Link

Document

Creates a new Builder for AggregationOptions .

Usage

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given model with double timestamps
 * save result in MongoDB/*from  w w w  .j  a  v a  2  s. c o  m*/
 */
public void WriteModelTrajectory(double start_ts, double end_ts, String model_name, String traj_db_name,
        String traj_coll_name) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_fields = new BasicDBObject("_id", 0);
    proj_fields.put("timestamp", 1);
    proj_fields.put("pos", "$models.pos");
    proj_fields.put("rot", "$models.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // writing results to a mongo collection
    try {

        // connect to client
        MongoClient mongoClient = new MongoClient(this.dbHost, 27017);

        // get the db
        DB traj_db = mongoClient.getDB(traj_db_name);

        // check if the collection already exists
        if (traj_db.collectionExists(traj_coll_name)) {
            System.out.println("!!! Collection: \'" + traj_coll_name + "\' already exists!");
        }
        // create the collection
        else {
            // create collection
            DBCollection traj_coll = traj_db.getCollection(traj_coll_name);

            System.out.println("Java - Writing to \'" + traj_db_name + "." + traj_coll_name + "\'");

            // if cursor not empty, append matadata to the first doc
            if (cursor.hasNext()) {
                // create metadata doc
                BasicDBObject meta_data = new BasicDBObject("name", traj_coll_name).append("type", "trajectory")
                        .append("start", start_ts).append("end", end_ts)
                        .append("description", "Model trajectory..");

                // get the first document as the next cursor and append the metadata to it
                BasicDBObject first_doc = (BasicDBObject) cursor.next();

                first_doc.append("metadata", meta_data);

                // insert document with metadata
                traj_coll.insert(first_doc);
            }
            // if query returned no values for these timestamps, get the pose at the nearest timestamp
            else {
                // write the pose to the given db and coll
                this.WriteModelPoseAt(start_ts, model_name, traj_db_name, traj_coll_name);
            }

            // insert rest of trajectory
            while (cursor.hasNext()) {
                traj_coll.insert(cursor.next());
            }
        }
    } catch (UnknownHostException e) {
        e.printStackTrace();
    }
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given model with double timestamps
 * view as rviz markers//from  ww  w  . j a v a 2  s  .c om
 */
public ArrayList<Vector3d> ViewModelTrajectory(double start_ts, double end_ts, String model_name,
        String markerID) {
    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_fields = new BasicDBObject("_id", 0);
    proj_fields.put("timestamp", 1);
    proj_fields.put("pos", "$models.pos");
    proj_fields.put("rot", "$models.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // Traj as dynamic array
    ArrayList<Vector3d> traj = new ArrayList<Vector3d>();

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));

        if (markerID != null) {
            traj.add(new Vector3d(((BasicDBObject) first_doc.get("rot")).getDouble("x"),
                    ((BasicDBObject) first_doc.get("rot")).getDouble("y"),
                    ((BasicDBObject) first_doc.get("rot")).getDouble("z")));
        }

    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewModelPoseAt(start_ts, model_name, markerID);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject first_doc = (BasicDBObject) cursor.next();
        // add position to trajectory
        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));

        if (markerID != null) {
            traj.add(new Vector3d(((BasicDBObject) first_doc.get("rot")).getDouble("x"),
                    ((BasicDBObject) first_doc.get("rot")).getDouble("y"),
                    ((BasicDBObject) first_doc.get("rot")).getDouble("z")));
        }
    }

    // create the markers
    if (markerID != null)
        this.CreateMarkers(traj, markerID);
    return traj;
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given model with double timestamps
 * view as rviz markers/*ww w  .ja  va  2s  .  c o m*/
 */
public void ViewModelTrajectory(double start_ts, double end_ts, String model_name, String markerID,
        String markerType, String color, float scale, double deltaT) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_fields = new BasicDBObject("_id", 0);
    proj_fields.put("timestamp", 1);
    proj_fields.put("pos", "$models.pos");
    proj_fields.put("rot", "$models.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // Traj as dynamic array
    ArrayList<Vector3d> traj = new ArrayList<Vector3d>();

    // timestamp used for deltaT
    double prev_ts = 0;

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
        // set the timestamp
        prev_ts = first_doc.getDouble("timestamp");
    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewModelPoseAt(start_ts, model_name, markerID, markerType, color, scale);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject curr_doc = (BasicDBObject) cursor.next();

        double curr_ts = curr_doc.getDouble("timestamp");

        // if time diff > then deltaT add position to trajectory
        if (curr_ts - prev_ts > deltaT) {
            traj.add(new Vector3d(((BasicDBObject) curr_doc.get("pos")).getDouble("x"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("y"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("z")));
            prev_ts = curr_ts;
        }
    }

    // create the markers
    this.CreateMarkers(traj, markerID, markerType, color, scale);
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given model with double timestamps
 * view as rviz markers//from   www . j  a v a 2  s . c  o  m
 */
public void ViewModelMeshTrajectory(double start_ts, double end_ts, String model_name, String meshPath,
        String markerID, double deltaT) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_fields = new BasicDBObject("_id", 0);
    proj_fields.put("timestamp", 1);
    proj_fields.put("pos", "$models.pos");
    proj_fields.put("rot", "$models.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // timestamp used for deltaT
    double prev_ts = 0;

    // marker ID suffix
    int marker_suff = 0;

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        double[] translation = new double[] { ((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z") };
        double[] orientation = this.quatFromEulerRad(((BasicDBObject) first_doc.get("rot")).getDouble("x"),
                ((BasicDBObject) first_doc.get("rot")).getDouble("y"),
                ((BasicDBObject) first_doc.get("rot")).getDouble("z"));
        // create the markers
        this.CreateMeshMarker(translation, orientation, meshPath, markerID);

        // set the timestamp
        prev_ts = first_doc.getDouble("timestamp");
    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewModelMeshAt(start_ts, model_name, markerID, meshPath);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject curr_doc = (BasicDBObject) cursor.next();

        double curr_ts = curr_doc.getDouble("timestamp");

        // if time diff > then deltaT add position to trajectory
        if (curr_ts - prev_ts > deltaT) {
            double[] translation = new double[] { ((BasicDBObject) curr_doc.get("pos")).getDouble("x"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("y"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("z") };
            double[] orientation = this.quatFromEulerRad(((BasicDBObject) curr_doc.get("rot")).getDouble("x"),
                    ((BasicDBObject) curr_doc.get("rot")).getDouble("y"),
                    ((BasicDBObject) curr_doc.get("rot")).getDouble("z"));
            // create the markers
            this.CreateMeshMarker(translation, orientation, meshPath, markerID + marker_suff);

            // update current ts
            prev_ts = curr_ts;

            // append to marker suffix
            marker_suff++;
        }
    }
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given link of the given model with double timestamps
 * save result in MongoDB/*from  www  .  ja  va 2s.com*/
 */
public void WriteLinkTrajectory(double start_ts, double end_ts, String model_name, String link_name,
        String traj_db_name, String traj_coll_name) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_links_fields = new BasicDBObject("_id", 0);
    proj_links_fields.put("timestamp", 1);
    proj_links_fields.put("models.links", 1);
    DBObject project_links = new BasicDBObject("$project", proj_links_fields);

    // $unwind the links
    DBObject unwind_links = new BasicDBObject("$unwind", "$models.links");

    // $match for the given link name from the unwinded links
    DBObject match_link = new BasicDBObject("$match", new BasicDBObject("models.links.name", link_name));

    // build the final $projection operation
    DBObject proj_fields = new BasicDBObject("timestamp", 1);
    proj_fields.put("pos", "$models.links.pos");
    proj_fields.put("rot", "$models.links.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project_links, unwind_links,
            match_link, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    try {

        MongoClient mongoClient = new MongoClient(this.dbHost, 27017);

        DB traj_db = mongoClient.getDB(traj_db_name);

        // check if the collection already exists
        if (traj_db.collectionExists(traj_coll_name)) {
            System.out
                    .println("!!! Collection: \'" + traj_db_name + "." + traj_coll_name + "\' already exists!");
        }
        // create the collection
        else {
            // create collection
            DBCollection traj_coll = traj_db.getCollection(traj_coll_name);

            System.out.println("Java - Writing to \'" + traj_db_name + "." + traj_coll_name + "\'");

            // if cursor not empty, append matadata to the first doc
            if (cursor.hasNext()) {
                // create metadata doc
                BasicDBObject meta_data = new BasicDBObject("name", traj_coll_name).append("type", "trajectory")
                        .append("start", start_ts).append("end", end_ts)
                        .append("description", "Link trajectory..");

                // get the first document as the next cursor and append the metadata to it
                BasicDBObject first_doc = (BasicDBObject) cursor.next();

                first_doc.append("metadata", meta_data);

                // insert document with metadata
                traj_coll.insert(first_doc);
            }
            // if query returned no values for these timestamps, get the pose at the nearest timestamp
            else {
                // write the pose to the given db and coll
                this.WriteLinkPoseAt(start_ts, model_name, link_name, traj_db_name, traj_coll_name);
            }

            // insert rest of trajectory
            while (cursor.hasNext()) {
                traj_coll.insert(cursor.next());
            }
        }
    } catch (UnknownHostException e) {
        e.printStackTrace();
    }
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given link of the given model with double timestamps
 * save result in MongoDB/* w ww .  j  a  va  2s.  c o  m*/
 */
public void ViewLinkTrajectory(double start_ts, double end_ts, String model_name, String link_name,
        String markerID) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_links_fields = new BasicDBObject("_id", 0);
    proj_links_fields.put("timestamp", 1);
    proj_links_fields.put("models.links", 1);
    DBObject project_links = new BasicDBObject("$project", proj_links_fields);

    // $unwind the links
    DBObject unwind_links = new BasicDBObject("$unwind", "$models.links");

    // $match for the given link name from the unwinded links
    DBObject match_link = new BasicDBObject("$match", new BasicDBObject("models.links.name", link_name));

    // build the final $projection operation
    DBObject proj_fields = new BasicDBObject("timestamp", 1);
    proj_fields.put("pos", "$models.links.pos");
    proj_fields.put("rot", "$models.links.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project_links, unwind_links,
            match_link, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // Traj as dynamic array
    ArrayList<Vector3d> traj = new ArrayList<Vector3d>();

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewLinkPoseAt(start_ts, model_name, link_name, markerID);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject first_doc = (BasicDBObject) cursor.next();
        // add position to trajectory
        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
    }

    // create the markers
    this.CreateMarkers(traj, markerID);
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given link of the given model with double timestamps
 * save result in MongoDB//from www .j av  a 2  s  .co  m
 */
public void ViewLinkTrajectory(double start_ts, double end_ts, String model_name, String link_name,
        String markerID, String markerType, String color, float scale, double deltaT) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_links_fields = new BasicDBObject("_id", 0);
    proj_links_fields.put("timestamp", 1);
    proj_links_fields.put("models.links", 1);
    DBObject project_links = new BasicDBObject("$project", proj_links_fields);

    // $unwind the links
    DBObject unwind_links = new BasicDBObject("$unwind", "$models.links");

    // $match for the given link name from the unwinded links
    DBObject match_link = new BasicDBObject("$match", new BasicDBObject("models.links.name", link_name));

    // build the final $projection operation
    DBObject proj_fields = new BasicDBObject("timestamp", 1);
    proj_fields.put("pos", "$models.links.pos");
    proj_fields.put("rot", "$models.links.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project_links, unwind_links,
            match_link, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // Traj as dynamic array
    ArrayList<Vector3d> traj = new ArrayList<Vector3d>();

    // timestamp used for deltaT
    double prev_ts = 0;

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
        // set the timestamp
        prev_ts = first_doc.getDouble("timestamp");
    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewLinkPoseAt(start_ts, model_name, link_name, markerID, markerType, color, scale);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject curr_doc = (BasicDBObject) cursor.next();

        double curr_ts = curr_doc.getDouble("timestamp");

        // if time diff > then deltaT add position to trajectory
        if (curr_ts - prev_ts > deltaT) {
            traj.add(new Vector3d(((BasicDBObject) curr_doc.get("pos")).getDouble("x"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("y"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("z")));
            prev_ts = curr_ts;
        }
    }

    // create the markers
    this.CreateMarkers(traj, markerID, markerType, color, scale);
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given collision of the given link of the given model from double timestamps
 * save result in MongoDB//from  w w  w . j a  va  2 s .  c om
 */
public void WriteCollisionTrajectory(double start_ts, double end_ts, String model_name, String link_name,
        String collision_name, String traj_db_name, String traj_coll_name) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_links_fields = new BasicDBObject("_id", 0);
    proj_links_fields.put("timestamp", 1);
    proj_links_fields.put("models.links", 1);
    DBObject project_links = new BasicDBObject("$project", proj_links_fields);

    // $unwind the links
    DBObject unwind_links = new BasicDBObject("$unwind", "$models.links");

    // $match for the given link name from the unwinded links
    DBObject match_link = new BasicDBObject("$match", new BasicDBObject("models.links.name", link_name));

    // build the final $projection operation
    DBObject proj_collision_fields = new BasicDBObject("timestamp", 1);
    proj_collision_fields.put("models.links.collisions", 1);
    DBObject project_collisions = new BasicDBObject("$project", proj_collision_fields);

    // $unwind the collisions
    DBObject unwind_collisions = new BasicDBObject("$unwind", "$models.links.collisions");

    // $match for the given collision name from the unwinded collisions
    DBObject match_collision = new BasicDBObject("$match",
            new BasicDBObject("models.links.collisions.name", collision_name));

    // build the final $projection operation
    DBObject proj_fields = new BasicDBObject("timestamp", 1);
    proj_fields.put("pos", "$models.links.collisions.pos");
    proj_fields.put("rot", "$models.links.collisions.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project_links, unwind_links,
            match_link, project_collisions, unwind_collisions, match_collision, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    try {

        MongoClient mongoClient = new MongoClient(this.dbHost, 27017);

        DB traj_db = mongoClient.getDB(traj_db_name);

        // check if the collection already exists
        if (traj_db.collectionExists(traj_coll_name)) {
            System.out
                    .println("!!! Collection: \'" + traj_db_name + "." + traj_coll_name + "\' already exists!");
        }
        // create the collection
        else {
            // create collection
            DBCollection traj_coll = traj_db.getCollection(traj_coll_name);

            System.out.println("Java  - Writing to \'" + traj_db_name + "." + traj_coll_name + "\'");

            // if cursor not empty, append matadata to the first doc
            if (cursor.hasNext()) {
                // create metadata doc
                BasicDBObject meta_data = new BasicDBObject("name", traj_coll_name).append("type", "trajectory")
                        .append("start", start_ts).append("end", end_ts)
                        .append("description", "Collision trajectory..");

                // get the first document as the next cursor and append the metadata to it
                BasicDBObject first_doc = (BasicDBObject) cursor.next();

                first_doc.append("metadata", meta_data);

                // insert document with metadata
                traj_coll.insert(first_doc);
            }
            // if query returned no values for these timestamps, get the pose at the nearest timestamp
            else {
                // write the pose to the given db and coll
                this.WriteCollisionPoseAt(start_ts, model_name, link_name, collision_name, traj_db_name,
                        traj_coll_name);
            }

            // insert rest of trajectory
            while (cursor.hasNext()) {
                traj_coll.insert(cursor.next());
            }
        }
    } catch (UnknownHostException e) {
        e.printStackTrace();
    }

}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given collision of the given link of the given model from double timestamps
 * view results as rviz markers/*from w ww.  j av  a  2s  . com*/
 */
public void ViewCollisionTrajectory(double start_ts, double end_ts, String model_name, String link_name,
        String collision_name, String markerID) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_links_fields = new BasicDBObject("_id", 0);
    proj_links_fields.put("timestamp", 1);
    proj_links_fields.put("models.links", 1);
    DBObject project_links = new BasicDBObject("$project", proj_links_fields);

    // $unwind the links
    DBObject unwind_links = new BasicDBObject("$unwind", "$models.links");

    // $match for the given link name from the unwinded links
    DBObject match_link = new BasicDBObject("$match", new BasicDBObject("models.links.name", link_name));

    // build the final $projection operation
    DBObject proj_collision_fields = new BasicDBObject("timestamp", 1);
    proj_collision_fields.put("models.links.collisions", 1);
    DBObject project_collisions = new BasicDBObject("$project", proj_collision_fields);

    // $unwind the collisions
    DBObject unwind_collisions = new BasicDBObject("$unwind", "$models.links.collisions");

    // $match for the given collision name from the unwinded collisions
    DBObject match_collision = new BasicDBObject("$match",
            new BasicDBObject("models.links.collisions.name", collision_name));

    // build the final $projection operation
    DBObject proj_fields = new BasicDBObject("timestamp", 1);
    proj_fields.put("pos", "$models.links.collisions.pos");
    proj_fields.put("rot", "$models.links.collisions.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project_links, unwind_links,
            match_link, project_collisions, unwind_collisions, match_collision, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // Traj as dynamic array
    ArrayList<Vector3d> traj = new ArrayList<Vector3d>();

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewCollisionPoseAt(start_ts, model_name, link_name, collision_name, markerID);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject first_doc = (BasicDBObject) cursor.next();
        // add position to trajectory
        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
    }

    // create the markers
    this.CreateMarkers(traj, markerID);
}

---

From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java

License:Open Source License

/**
 * Query the trajectory of the given collision of the given link of the given model from double timestamps
 * view results as rviz markers//from   www.j ava2  s. co  m
 */
public void ViewCollisionTrajectory(double start_ts, double end_ts, String model_name, String link_name,
        String collision_name, String markerID, String markerType, String color, float scale, double deltaT) {

    // create the pipeline operations, first with the $match check the times
    DBObject match_time = new BasicDBObject("$match",
            new BasicDBObject("timestamp", new BasicDBObject("$gte", start_ts).append("$lte", end_ts)));

    // $unwind the models
    DBObject unwind_models = new BasicDBObject("$unwind", "$models");

    // $match for the given model name from the unwinded models
    DBObject match_model = new BasicDBObject("$match", new BasicDBObject("models.name", model_name));

    // build the $projection operation
    DBObject proj_links_fields = new BasicDBObject("_id", 0);
    proj_links_fields.put("timestamp", 1);
    proj_links_fields.put("models.links", 1);
    DBObject project_links = new BasicDBObject("$project", proj_links_fields);

    // $unwind the links
    DBObject unwind_links = new BasicDBObject("$unwind", "$models.links");

    // $match for the given link name from the unwinded links
    DBObject match_link = new BasicDBObject("$match", new BasicDBObject("models.links.name", link_name));

    // build the final $projection operation
    DBObject proj_collision_fields = new BasicDBObject("timestamp", 1);
    proj_collision_fields.put("models.links.collisions", 1);
    DBObject project_collisions = new BasicDBObject("$project", proj_collision_fields);

    // $unwind the collisions
    DBObject unwind_collisions = new BasicDBObject("$unwind", "$models.links.collisions");

    // $match for the given collision name from the unwinded collisions
    DBObject match_collision = new BasicDBObject("$match",
            new BasicDBObject("models.links.collisions.name", collision_name));

    // build the final $projection operation
    DBObject proj_fields = new BasicDBObject("timestamp", 1);
    proj_fields.put("pos", "$models.links.collisions.pos");
    proj_fields.put("rot", "$models.links.collisions.rot");
    DBObject project = new BasicDBObject("$project", proj_fields);

    // run aggregation
    List<DBObject> pipeline = Arrays.asList(match_time, unwind_models, match_model, project_links, unwind_links,
            match_link, project_collisions, unwind_collisions, match_collision, project);

    AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100)
            .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build();

    Cursor cursor = this.coll.aggregate(pipeline, aggregationOptions);

    // Traj as dynamic array
    ArrayList<Vector3d> traj = new ArrayList<Vector3d>();

    // timestamp used for deltaT
    double prev_ts = 0;

    // if cursor not empty, append matadata to the first doc
    if (cursor.hasNext()) {
        // get the first document as the next cursor
        BasicDBObject first_doc = (BasicDBObject) cursor.next();

        traj.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("y"),
                ((BasicDBObject) first_doc.get("pos")).getDouble("z")));
        // set the timestamp
        prev_ts = first_doc.getDouble("timestamp");
    }
    // if query returned no values for these timestamps, get the pose at the nearest timestamp
    else {
        // write the pose to the given db and coll
        this.ViewCollisionPoseAt(start_ts, model_name, link_name, collision_name, markerID, markerType, color,
                scale);
    }
    // insert rest of trajectory
    while (cursor.hasNext()) {
        // get the current document
        BasicDBObject curr_doc = (BasicDBObject) cursor.next();

        double curr_ts = curr_doc.getDouble("timestamp");

        // if time diff > then deltaT add position to trajectory
        if (curr_ts - prev_ts > deltaT) {
            traj.add(new Vector3d(((BasicDBObject) curr_doc.get("pos")).getDouble("x"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("y"),
                    ((BasicDBObject) curr_doc.get("pos")).getDouble("z")));
            prev_ts = curr_ts;
        }
    }

    // create the markers
    this.CreateMarkers(traj, markerID, markerType, color, scale);
}

---

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