armarx::navigation::components::adaptive_distance_to_obstacle_costmap_provider Namespace Reference

Classes
struct	CachedObjectCostmap
class	Component
interface	ComponentInterface
class	ObjectCostmapStorage

Typedefs
using	JointValuesT = std::map<std::string, float>

Functions
	ARMARX_REGISTER_COMPONENT_EXECUTABLE (Component, Component::GetDefaultName())
float	bbDiameter (const simox::OrientedBoxf &bb)
void	drawCostmap (viz::Client &arviz, const armarx::navigation::algorithms::Costmap &costmap, const std::string &name, const float heightOffset)
VirtualRobot::RobotPtr	getRobotModelForCostmap (const std::string &primitiveModelIdsCommaSeparated, const std::string &robotName, armem::robot_state::VirtualRobotReader &virtualRobotReader)
bool	jointValuesMatch (const JointValuesT &a, const JointValuesT &b, float tolerance)
std::optional< std::tuple< VirtualRobot::SceneObjectSetPtr, std::vector< VirtualRobot::RobotPtr > > >	prepareObstaclesForCostmapGeneration (const VirtualRobot::SceneObjectSetPtr &existingSceneObjectSet, const objpose::ObjectPoseSeq &objectPoses, armem::articulated_object::ArticulatedObjectReader &articulatedObjectsReader)
	Returns std::nullopt if not all articulated objects are available (yet).

Typedef Documentation

JointValuesT

using JointValuesT = std::map<std::string, float>

Function Documentation

ARMARX_REGISTER_COMPONENT_EXECUTABLE()

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	Component	,
		Component::GetDefaultName()	)

bbDiameter()

float bbDiameter

(

const simox::OrientedBoxf &

bb

)

drawCostmap()

void drawCostmap	(	viz::Client &	arviz,
		const armarx::navigation::algorithms::Costmap &	costmap,
		const std::string &	name,
		const float	heightOffset )

getRobotModelForCostmap()

VirtualRobot::RobotPtr getRobotModelForCostmap	(	const std::string &	primitiveModelIdsCommaSeparated,
		const std::string &	robotName,
		armem::robot_state::VirtualRobotReader &	virtualRobotReader )

jointValuesMatch()

bool jointValuesMatch	(	const JointValuesT &	a,
		const JointValuesT &	b,
		float	tolerance )

prepareObstaclesForCostmapGeneration()

std::optional< std::tuple< VirtualRobot::SceneObjectSetPtr, std::vector< VirtualRobot::RobotPtr > > > prepareObstaclesForCostmapGeneration	(	const VirtualRobot::SceneObjectSetPtr &	existingSceneObjectSet,
		const objpose::ObjectPoseSeq &	objectPoses,
		armem::articulated_object::ArticulatedObjectReader &	articulatedObjectsReader )

Returns std::nullopt if not all articulated objects are available (yet).