CollisionAvoidanceHelper.h

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#pragma once
 
#include <experimental/memory>
#include <vector>
 
#include <armarx/control/common/control_law/aron/CollisionPrimitives.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/client/class/ClassReader.h>
#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <simox/control/environment/collision.h>
 
namespace armarx::control::collision_avoidance::helpers
{
 
    armarx::control::common::control_law::arondto::CollisionScene
    getCollisionSceneFromMemory(const std::vector<armarx::ObjectID>& objectIDs,
        armarx::armem::obj::clazz::ClassReader& objectClassReader,
        armarx::armem::obj::instance::Reader& objectInstanceReader,
        armarx::armem::articulated_object::ArticulatedObjectReader& articulatedObjectReader);
 
    armarx::control::common::control_law::arondto::CollisionScene
    getCollisionSceneFromMemory(const std::vector<std::string>& objectIDs,
        armarx::armem::obj::clazz::ClassReader& objectClassReader,
        armarx::armem::obj::instance::Reader& objectInstanceReader,
        armarx::armem::articulated_object::ArticulatedObjectReader& articulatedObjectReader);
 
    armarx::control::common::control_law::arondto::CollisionScene
    getCollisionSceneFromCollisionObjects(const std::map<std::string,
        std::vector<simox::control::environment::TransformedCollisionObject>>& collisionObjects);
 
}