util.h File Reference

#include <optional>
#include <vector>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Workspace/WorkspaceGrid.h>
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/Room.h>
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
#include <armarx/navigation/algorithms/types.h>
#include <armarx/navigation/core/basic_types.h>

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Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.
namespace	armarx::navigation
	This file is part of ArmarX.
namespace	armarx::navigation::algorithms
	This file is part of ArmarX.

Enumerations
enum class	CostmapMergeMode { MAX , MIN , AVERAGE }
	Defines how the. More...

Functions
void	checkSameSize (const std::vector< Costmap > &costmaps)
SceneBounds	computeSceneBounds (const std::vector< Eigen::Vector2f > &points, const SceneBounds &init, const float margin)
SceneBounds	computeSceneBounds (const VirtualRobot::SceneObjectSetPtr &obstacles, const std::vector< VirtualRobot::RobotPtr > &articulatedObjects, const SceneBounds &init, const std::vector< Room > &rooms, const float margin, const bool restrictToRooms)
Costmap::Mask	dilateMask (const Costmap::Mask &mask, int numIterations)
void	invalidateOutsideRooms (const std::vector< Room > &rooms, Costmap &costmap)
void	invalidateOutsideRooms (const std::vector< Room > &rooms, orientation_aware::Costmap3D &costmap)
SceneBounds	merge (const std::vector< SceneBounds > &sceneBounds)
Costmap	mergeAligned (const std::vector< Costmap > &costmaps, const std::vector< float > &weights)
Costmap	mergeAligned (const std::vector< Costmap > &costmaps, CostmapMergeMode mode)
std::optional< core::Pose2D >	sampleValidPositionInMap (const algorithms::Costmap &costmap)
Costmap	scaleCostmap (const Costmap &costmap, float cellSize)
Costmap	toCostmap (const VirtualRobot::WorkspaceGrid &workspaceGrid)
SceneBounds	toSceneBounds (const VirtualRobot::WorkspaceGrid::Extends &extends)