List of usage examples for com.mongodb BasicDBList BasicDBList
BasicDBList
From source file:org.knowrob.knowrob_robcog.MongoRobcogQueries.java
License:Open Source License
/** * Query the Pose of the actors bone at the given timepoint (or the most recent one) *//*from ww w. j av a 2s.c o m*/ public double[] GetBonePoseAt(String actorName, String boneName, String timestampStr) { final double timestamp = (double) Math.round(parseTime_d(timestampStr) * 1000) / 1000; // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the actor name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("actors.name", actorName)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind actors in order to output only the queried actor DBObject unwind_actors = new BasicDBObject("$unwind", "$actors"); // $match for the given actor name from the unwinded actors DBObject match_actor = new BasicDBObject("$match", new BasicDBObject("actors.name", actorName)); // build the $projection operation DBObject proj_bone_fields = new BasicDBObject("_id", 0); proj_bone_fields.put("timestamp", 1); proj_bone_fields.put("actors.bones", 1); DBObject project_bones = new BasicDBObject("$project", proj_bone_fields); // $unwind the bones DBObject unwind_bones = new BasicDBObject("$unwind", "$actors.bones"); // $match for the given bone name from the unwinded bones DBObject match_bone = new BasicDBObject("$match", new BasicDBObject("actors.bones.name", boneName)); // build the final $projection operation DBObject proj_fields = new BasicDBObject("timestamp", 1); proj_fields.put("pos", "$actors.bones.pos"); proj_fields.put("rot", "$actors.bones.rot"); DBObject project = new BasicDBObject("$project", proj_fields); // run aggregation List<DBObject> pipeline = Arrays.asList(match_time_and_name, sort_desc, limit_result, unwind_actors, match_actor, project_bones, unwind_bones, match_bone, project); AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100) .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build(); // get results Cursor cursor = this.MongoRobcogConn.coll.aggregate(pipeline, aggregationOptions); // if query has a response, return the pose if (cursor.hasNext()) { // get the first document as the next cursor and append the metadata to it BasicDBObject first_doc = (BasicDBObject) cursor.next(); // close cursor since we only care about one value cursor.close(); // get the pose return new double[] { ((BasicDBObject) first_doc.get("pos")).getDouble("x"), ((BasicDBObject) first_doc.get("pos")).getDouble("y"), ((BasicDBObject) first_doc.get("pos")).getDouble("z"), ((BasicDBObject) first_doc.get("rot")).getDouble("w"), ((BasicDBObject) first_doc.get("rot")).getDouble("x"), ((BasicDBObject) first_doc.get("rot")).getDouble("y"), ((BasicDBObject) first_doc.get("rot")).getDouble("z") }; } else { System.out.println("Java - GetBonePose - No results found, returning empty list.."); return new double[0]; } }
From source file:org.knowrob.knowrob_robcog.MongoRobcogQueries.java
License:Open Source License
/** * Query the Poses of the actor bones at the given timepoint (or the most recent one) *///from w w w . ja va 2 s. com public double[][] GetBonesPosesAt(String actorName, String timestampStr) { // transform the knowrob time to double with 3 decimal precision final double timestamp = (double) Math.round(parseTime_d(timestampStr) * 1000) / 1000; // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the actor name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("actors.name", actorName)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind actors in order to output only the queried actor DBObject unwind_actors = new BasicDBObject("$unwind", "$actors"); // $match for the given actor name from the unwinded actors DBObject match_actor = new BasicDBObject("$match", new BasicDBObject("actors.name", actorName)); // build the $projection operation DBObject proj_fields = new BasicDBObject("_id", 0); proj_fields.put("timestamp", 1); proj_fields.put("bones_pos", "$actors.bones.pos"); proj_fields.put("bones_rot", "$actors.bones.rot"); DBObject project = new BasicDBObject("$project", proj_fields); // run aggregation List<DBObject> pipeline = Arrays.asList(match_time_and_name, sort_desc, limit_result, unwind_actors, match_actor, project); AggregationOptions aggregationOptions = AggregationOptions.builder().batchSize(100) .outputMode(AggregationOptions.OutputMode.CURSOR).allowDiskUse(true).build(); // get results Cursor cursor = this.MongoRobcogConn.coll.aggregate(pipeline, aggregationOptions); // Poses as dynamic array ArrayList<double[]> pose_list = new ArrayList<double[]>(); // if query has a response, return the pose if (cursor.hasNext()) { // get the first document as the next cursor and append the metadata to it BasicDBObject first_doc = (BasicDBObject) cursor.next(); // close cursor since we only care about one value cursor.close(); // get the pose BasicDBList pos_list = (BasicDBList) first_doc.get("bones_pos"); BasicDBList rot_list = (BasicDBList) first_doc.get("bones_rot"); // pos_list and rot_list length should be always the same for (int i = 0; i < pos_list.size(); ++i) { pose_list.add(new double[] { ((BasicDBObject) pos_list.get(i)).getDouble("x"), ((BasicDBObject) pos_list.get(i)).getDouble("y"), ((BasicDBObject) pos_list.get(i)).getDouble("z"), ((BasicDBObject) rot_list.get(i)).getDouble("w"), ((BasicDBObject) rot_list.get(i)).getDouble("x"), ((BasicDBObject) rot_list.get(i)).getDouble("y"), ((BasicDBObject) rot_list.get(i)).getDouble("z") }); } // cast from dynamic array to standard array return pose_list.toArray(new double[pose_list.size()][7]); } else { System.out.println("Java - GetBonesPoses - No results found, returning empty list.."); return new double[0][0]; } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given model at the given timepoint (or the most recent one) * save result to MongoDB//from www . j a v a2 s . c om */ public void WriteModelPoseAt(double timestamp, String model_name, String pose_traj_db_name, String pose_traj_coll_name) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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 pose_traj_db = mongoClient.getDB(pose_traj_db_name); // check if the collection already exists if (pose_traj_db.collectionExists(pose_traj_coll_name)) { System.out.println("!!! Collection: \'" + pose_traj_coll_name + "\' already exists!"); } // create the collection else { // create collection DBCollection pose_traj_coll = pose_traj_db.getCollection(pose_traj_coll_name); System.out.println("Writing most recent pose to \'" + pose_traj_coll_name + "\'"); // if query has a response, append metadata to it if (cursor.hasNext()) { // create metadata doc BasicDBObject meta_data = new BasicDBObject("name", pose_traj_coll_name) .append("type", "trajectory").append("timestamp", timestamp) .append("description", "Model pose query.."); // 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 pose_traj_coll.insert(first_doc); } } } catch (UnknownHostException e) { e.printStackTrace(); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given model at the given timepoint (or the most recent one) * view results as rviz markers /* w w w. ja va2s . c o m*/ */ public void ViewModelPoseAt(double timestamp, String model_name, String markerID, String markerType, String color, float scale) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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); System.out.println("Java - ViewModelPoseAt"); if (cursor.hasNext()) { // Traj as dynamic array ArrayList<Vector3d> pos = new ArrayList<Vector3d>(); // get the first document as the next cursor BasicDBObject first_doc = (BasicDBObject) cursor.next(); pos.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"), ((BasicDBObject) first_doc.get("pos")).getDouble("y"), ((BasicDBObject) first_doc.get("pos")).getDouble("z"))); this.CreateMarkers(pos, markerID, markerType, color, scale); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given model at the given timepoint (or the most recent one) * view results as rviz mesh marker // w ww . j a v a2s. co m */ public void ViewModelMeshAt(double timestamp, String model_name, String meshPath, String markerID) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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); if (cursor.hasNext()) { // Traj as dynamic array ArrayList<Vector3d> pos = new ArrayList<Vector3d>(); // get the first document as the next cursor BasicDBObject curr_doc = (BasicDBObject) cursor.next(); 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")); this.CreateMeshMarker(translation, orientation, meshPath, markerID); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Get the poses of the model links meshes at the given timestamp * view results as rviz markers/*from ww w . ja v a 2s .c o m*/ */ public void ViewNestedMeshesAt(double timestamp, String model_name, String meshFolderPath, String markerID) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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 $projection operation DBObject proj_fields = new BasicDBObject("_id", 0); proj_fields.put("timestamp", 1); proj_fields.put("links_pos", "$models.links.pos"); proj_fields.put("links_rot", "$models.links.rot"); proj_fields.put("links_name", "$models.links.name"); DBObject project = new BasicDBObject("$project", proj_fields); // run aggregation List<DBObject> pipeline = Arrays.asList(match_time_and_name, sort_desc, limit_result, 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); // get the result of the query if (cursor.hasNext()) { // get the first document as the next cursor BasicDBObject curr_doc = (BasicDBObject) cursor.next(); System.out.println(curr_doc); // get the list of links pos BasicDBList pos_list = (BasicDBList) curr_doc.get("links_pos"); BasicDBList rot_list = (BasicDBList) curr_doc.get("links_rot"); BasicDBList names_list = (BasicDBList) curr_doc.get("links_name"); // Dynamic arrays of the links positions, rotations and names List<double[]> translations = new ArrayList<double[]>(); List<double[]> orientations = new ArrayList<double[]>(); List<String> names = new ArrayList<String>(); // pos_list and rot_list and names_list length should be always the same for (int i = 0; i < pos_list.size(); ++i) { // add the pos's translations.add(new double[] { ((BasicDBObject) pos_list.get(i)).getDouble("x"), ((BasicDBObject) pos_list.get(i)).getDouble("y"), ((BasicDBObject) pos_list.get(i)).getDouble("z") }); // add the rots orientations.add(this.quatFromEulerRad(((BasicDBObject) rot_list.get(i)).getDouble("x"), ((BasicDBObject) rot_list.get(i)).getDouble("y"), ((BasicDBObject) rot_list.get(i)).getDouble("z"))); // add the names names.add((String) names_list.get(i)); } // create the nested mesh markers this.CreateNestedMeshMarkers(translations, orientations, names, meshFolderPath, markerID); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given link at the given timepoint (or the most recent one) * save result in MongoDB/* w ww. j a v a 2s . co m*/ */ public void WriteLinkPoseAt(double timestamp, String model_name, String link_name, String pose_traj_db_name, String pose_traj_coll_name) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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); // writing results to a mongo collection try { // connect to client MongoClient mongoClient = new MongoClient(this.dbHost, 27017); // get the db DB pose_traj_db = mongoClient.getDB(pose_traj_db_name); // check if the collection already exists if (pose_traj_db.collectionExists(pose_traj_coll_name)) { System.out.println("!!! Collection: \'" + pose_traj_coll_name + "\' already exists!"); } // create the collection else { // create collection DBCollection pose_traj_coll = pose_traj_db.getCollection(pose_traj_coll_name); System.out.println("Writing most recent pose to \'" + pose_traj_coll_name + "\'"); // if query has a response, append metadata to it if (cursor.hasNext()) { // create metadata doc BasicDBObject meta_data = new BasicDBObject("name", pose_traj_coll_name) .append("type", "trajectory").append("timestamp", timestamp) .append("description", "Link pose query.."); // 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 pose_traj_coll.insert(first_doc); } } } catch (UnknownHostException e) { e.printStackTrace(); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given link at the given timepoint (or the most recent one) * save result in MongoDB/*from w ww . j av a 2s . c om*/ */ public void ViewLinkPoseAt(double timestamp, String model_name, String link_name, String markerID, String markerType, String color, float scale) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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); if (cursor.hasNext()) { // Traj as dynamic array ArrayList<Vector3d> pose = new ArrayList<Vector3d>(); // get the first document as the next cursor BasicDBObject first_doc = (BasicDBObject) cursor.next(); pose.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"), ((BasicDBObject) first_doc.get("pos")).getDouble("y"), ((BasicDBObject) first_doc.get("pos")).getDouble("z"))); this.CreateMarkers(pose, markerID, markerType, color, scale); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given collision at the given timepoint (or the most recent one) * save result in MongoDB/*from w ww.ja va 2s . c om*/ */ public void WriteCollisionPoseAt(double timestamp, String model_name, String link_name, String collision_name, String pose_traj_db_name, String pose_traj_coll_name) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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); // writing results to a mongo collection try { // connect to client MongoClient mongoClient = new MongoClient(this.dbHost, 27017); // get the db DB pose_traj_db = mongoClient.getDB(pose_traj_db_name); // check if the collection already exists if (pose_traj_db.collectionExists(pose_traj_coll_name)) { System.out.println("!!! Collection: \'" + pose_traj_coll_name + "\' already exists!"); } // create the collection else { // create collection DBCollection pose_traj_coll = pose_traj_db.getCollection(pose_traj_coll_name); System.out.println("Writing most recent pose to \'" + pose_traj_coll_name + "\'"); // if query has a response, append metadata to it if (cursor.hasNext()) { // create metadata doc BasicDBObject meta_data = new BasicDBObject("name", pose_traj_coll_name) .append("type", "trajectory").append("timestamp", timestamp) .append("description", "Collision pose query.."); // 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 pose_traj_coll.insert(first_doc); } } } catch (UnknownHostException e) { e.printStackTrace(); } }
From source file:org.knowrob.knowrob_sim_games.MongoSimGames.java
License:Open Source License
/** * Query the Pose of the given collision at the given timepoint (or the most recent one) * view results as rviz markers//from w w w . j a v a 2 s. c om */ public void ViewCollisionPoseAt(double timestamp, String model_name, String link_name, String collision_name, String markerID, String markerType, String color, float scale) { // $and list for querying the $match in the aggregation BasicDBList time_and_name = new BasicDBList(); // add the timestamp and the model name time_and_name.add(new BasicDBObject("timestamp", new BasicDBObject("$lte", timestamp))); time_and_name.add(new BasicDBObject("models.name", model_name)); // create the pipeline operations, first the $match DBObject match_time_and_name = new BasicDBObject("$match", new BasicDBObject("$and", time_and_name)); // sort the results in descending order on the timestamp (keep most recent result first) DBObject sort_desc = new BasicDBObject("$sort", new BasicDBObject("timestamp", -1)); // $limit the result to 1, we only need one pose DBObject limit_result = new BasicDBObject("$limit", 1); // $unwind models in order to output only the queried model DBObject unwind_models = new BasicDBObject("$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_and_name, sort_desc, limit_result, 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); if (cursor.hasNext()) { // Traj as dynamic array ArrayList<Vector3d> pose = new ArrayList<Vector3d>(); // get the first document as the next cursor BasicDBObject first_doc = (BasicDBObject) cursor.next(); pose.add(new Vector3d(((BasicDBObject) first_doc.get("pos")).getDouble("x"), ((BasicDBObject) first_doc.get("pos")).getDouble("y"), ((BasicDBObject) first_doc.get("pos")).getDouble("z"))); this.CreateMarkers(pose, markerID, markerType, color, scale); } }