util.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#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>
 
namespace armarx::navigation::algorithms
{
 
    SceneBounds computeSceneBounds(const VirtualRobot::SceneObjectSetPtr& obstacles,
                                   const std::vector<VirtualRobot::RobotPtr>& articulatedObjects,
                                   const SceneBounds& init = SceneBounds(),
                                   const std::vector<Room>& rooms = {},
                                   float margin = 0,
                                   bool restrictToRooms = false);
 
 
    SceneBounds computeSceneBounds(const std::vector<Eigen::Vector2f>& points,
                                   const SceneBounds& init,
                                   float margin);
 
    SceneBounds toSceneBounds(const VirtualRobot::WorkspaceGrid::Extends& extends);
 
    SceneBounds merge(const std::vector<SceneBounds>& sceneBounds);
 
 
    Costmap toCostmap(const VirtualRobot::WorkspaceGrid& workspaceGrid);
 
 
    // Costmap mergeUnaligned(const std::vector<Costmap>& costmaps,
    //                        const std::vector<float>& weights,
    //                        float cellSize = -1,
    //                        const Eigen::Array2f& offset = Eigen::Array2f::Zero());
 
    void checkSameSize(const std::vector<Costmap>& costmaps);
 
    /**
    * @brief Defines how the 
    * 
    */
    enum class CostmapMergeMode
    {
        MAX,
        MIN,
        AVERAGE
    };
 
    Costmap mergeAligned(const std::vector<Costmap>& costmaps, CostmapMergeMode mode);
    Costmap mergeAligned(const std::vector<Costmap>& costmaps, const std::vector<float>& weights);
 
    Costmap scaleCostmap(const Costmap& costmap, float cellSize);
 
    std::optional<core::Pose2D> sampleValidPositionInMap(const algorithms::Costmap& costmap);
 
 
    void invalidateOutsideRooms(const std::vector<Room>& rooms, Costmap& costmap);
    void invalidateOutsideRooms(const std::vector<Room>& rooms,
                                orientation_aware::Costmap3D& costmap);
 
    /*!
     * Dilate the costmap mask to bridge over small gaps in the mask
     */
    Costmap::Mask dilateMask(const Costmap::Mask& mask, int numIterations);
 
} // namespace armarx::navigation::algorithms