Planner2D.cpp

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#include "Planner2D.h"
 
#include <algorithm>
#include <cmath>
 
#include <VirtualRobot/CollisionDetection/CollisionModel.h>
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx::navigation::algorithm::astar
{
 
    Planner2D::Planner2D(VirtualRobot::RobotPtr robot, VirtualRobot::SceneObjectSetPtr obstacles)
    {
        sceneBoundsMin.setZero();
        sceneBoundsMax.setZero();
        setRobot(robot);
        setObstacles(obstacles);
    }
 
    void
    Planner2D::setObstacles(VirtualRobot::SceneObjectSetPtr obstacles)
    {
        this->obstacles = obstacles;
        if (obstacles)
        {
            for (size_t i = 0; i < obstacles->getCollisionModels().size(); i++)
            {
                VirtualRobot::BoundingBox bb = obstacles->getCollisionModels()[i]->getBoundingBox();
                sceneBoundsMin.x() = std::min(bb.getMin().x(), sceneBoundsMin.x());
                sceneBoundsMin.y() = std::min(bb.getMin().y(), sceneBoundsMin.y());
                sceneBoundsMax.x() = std::max(bb.getMax().x(), sceneBoundsMax.x());
                sceneBoundsMax.y() = std::max(bb.getMax().y(), sceneBoundsMax.y());
            }
        }
    }
 
    void
    Planner2D::setRobot(VirtualRobot::RobotPtr robot)
    {
        this->robot = robot;
    }
 
    void
    Planner2D::setRobotColModel(const std::string& robotColModelName)
    {
        this->robotColModelName = robotColModelName;
    }
 
    Eigen::Matrix4f
    Planner2D::positionToMatrix4f(Eigen::Vector2f pos)
    {
        Eigen::Matrix4f result = Eigen::Matrix4f::Identity();
        result(0, 3) = pos.x();
        result(1, 3) = pos.y();
        return result;
    }
 
    void
    Planner2D::setParameter(const std::string& s, float p)
    {
        parameters[s] = p;
    }
 
    bool
    Planner2D::hasParameter(const std::string& s)
    {
        return (parameters.find(s) != parameters.end());
    }
 
    float
    Planner2D::getParameter(const std::string& s)
    {
        if (!hasParameter(s))
        {
            ARMARX_WARNING << "Parameter " << s << " not set, returning 0";
            return 0.0f;
        }
        return parameters[s];
    }
 
} // namespace armarx::navigation::algorithm::astar