StaticScene.h
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/**
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <map>
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#include <memory>
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#include <VirtualRobot/VirtualRobot.h>
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#include <
RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
>
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#include <
RobotAPI/libraries/ArmarXObjects/ObjectPose.h
>
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#include <
armarx/navigation/core/location.h
>
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#include <
armarx/navigation/algorithms/Costmap.h
>
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namespace
armarx::navigation::core
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{
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struct
StaticScene
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{
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VirtualRobot::SceneObjectSetPtr
objects
;
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objpose::ObjectPoseMap
objectMap
;
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std::vector<ObjectInfo>
objectInfo
;
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std::optional<algorithms::Costmap>
distanceToObstaclesCostmap
;
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std::map<std::string, core::Location>
locations
;
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};
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}
// namespace armarx::navigation::core
armarx::navigation::core
This file is part of ArmarX.
Definition:
aron_conversions.cpp:13
Costmap.h
armarx::navigation::core::StaticScene::objectMap
objpose::ObjectPoseMap objectMap
Definition:
StaticScene.h:43
armarx::navigation::core::StaticScene::objects
VirtualRobot::SceneObjectSetPtr objects
Definition:
StaticScene.h:42
armarx::navigation::core::StaticScene::distanceToObstaclesCostmap
std::optional< algorithms::Costmap > distanceToObstaclesCostmap
Definition:
StaticScene.h:46
ObjectPose.h
ObjectInfo.h
location.h
armarx::navigation::core::StaticScene::objectInfo
std::vector< ObjectInfo > objectInfo
Definition:
StaticScene.h:44
armarx::navigation::core::StaticScene
Definition:
StaticScene.h:40
armarx::navigation::core::StaticScene::locations
std::map< std::string, core::Location > locations
Definition:
StaticScene.h:48
armarx::objpose::ObjectPoseMap
std::map< ObjectID, ObjectPose > ObjectPoseMap
Definition:
forward_declarations.h:21
armarx
navigation
core
StaticScene.h
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