The room as the planner sees it, assembled from PriorKnowledgeData. More...

#include <armarx/navigation/applications/global_planning_evaluation/RoomScene.h>

Public Attributes
std::optional< algorithms::SceneBounds >	corridor
	Set when the scene is a corridor, so requests can be drawn as exits from it.

std::vector< std::string >	importWarnings
	Import problems: objects and locations dropped, and objects kept with an approximated footprint.

std::vector< NamedPose >	locations
	Poses from `navigation-graphs/<room>/locations.json`.

analysis::Scene	scene
	The first `roomWallCount` obstacles are always the room walls, which is what lets the synthetic scenes below strip the furniture and keep the room.

Detailed Description

The room as the planner sees it, assembled from PriorKnowledgeData.

Member Data Documentation

std::optional<algorithms::SceneBounds> corridor

Set when the scene is a corridor, so requests can be drawn as exits from it.

std::vector<std::string> importWarnings

Import problems: objects and locations dropped, and objects kept with an approximated footprint.

Reported so a reader knows what is actually in the costmap.

std::vector<NamedPose> locations

Poses from navigation-graphs/<room>/locations.json.

The first roomWallCount obstacles are always the room walls, which is what lets the synthetic scenes below strip the furniture and keep the room.

The documentation for this struct was generated from the following file: