This file is part of ArmarX. More...

Namespaces
namespace	conv

namespace	event_names

namespace	util

Classes
struct	DynamicScene

struct	EdgeAttribs

struct	Evaluation

struct	Event

struct	GeneralConfig

struct	GlobalPlanningFailedEvent

class	GlobalTrajectory

struct	GlobalTrajectoryPoint

struct	GlobalTrajectoryUpdatedEvent
	Event describing that the global trajectory was updated. More...

struct	GoalReachedConfig

struct	GoalReachedEvent
	Event describing that the targeted goal was successfully reached. More...

class	Graph

struct	GraphAttribs

struct	InternalErrorEvent
	Event describing the occurance of an internal unhandled error. More...

struct	LocalPlanningFailedEvent

class	LocalTrajectory

struct	LocalTrajectoryPoint

struct	LocalTrajectoryUpdatedEvent
	Event describing that the local trajectory was updated. More...

struct	Location

class	MemoryReferencedElement

struct	MovementStartedEvent

class	NavigatorFactoryInterface
	Navigator factory interface for creating a navigator. More...

class	NavigatorInterface
	Navigator interface for PointGoal navigation (with waypoints) and relative movement. More...

struct	overload

struct	PIDParams

struct	Projection

struct	ResolvedLocation

struct	SafetyStopTriggeredEvent
	Event describing that for security reasons, the robot was stopped completely. More...

struct	SafetyThrottlingTriggeredEvent
	Event desciribing that a significant safety throttling factor was reached. More...

struct	Scene

struct	SceneGraph

struct	StaticScene

struct	TargetAlternative

class	TopologicScene

struct	Twist

struct	TwistLimits

struct	UserAbortTriggeredEvent
	Event describing that the user aborted the current execution. More...

struct	VertexAttribs

struct	Waypoint

struct	WaypointReachedEvent
	Event describing that a user-defined waypoint was successfully reached. More...

Typedefs
using	AngularVelocity = Eigen::Vector3f

using	Direction = Eigen::Vector3f

using	GlobalTrajectoryPoints = std::vector<GlobalTrajectoryPoint>

using	GlobalTrajectoryPtr = std::shared_ptr<class GlobalTrajectory>

using	GraphPath = std::vector<Graph::ConstVertex>

using	Graphs = std::vector<Graph>

using	LinearVelocity = Eigen::Vector3f

using	LocalTrajectoryPoints = std::vector<LocalTrajectoryPoint>

using	Path = std::vector<Pose>

using	Pose = Eigen::Isometry3f

using	Pose2D = Eigen::Isometry2f

using	Pose_d = Eigen::Isometry3d

using	Position = Eigen::Vector3f

using	Positions = std::vector<Position>

using	Rotation = Eigen::Matrix3f

Enumerations
enum class	NavigationFrame { Relative , Absolute }

enum class	StackLayer : std::uint8_t { GeneralConfig , GlobalPlanner , LocalPlanner , TrajectoryController , SafetyGuard , GoalReachedConfig }

enum class	TrajectoryParametrization { None , Ramping , Toppra }
	How the velocities along a planned path are assigned. More...

enum class	VelocityInterpolation { LinearInterpolation , LastWaypoint }

Functions
std::vector< GraphPath >	findPathsTo (Graph::ConstVertex vertex, const Graph &graph)

void	fromAron (const armarx::navigation::core::arondto::BoundingBox2D &dto, Eigen::AlignedBox2f &bo)

void	fromAron (const armarx::navigation::core::arondto::GeneralConfig &dto, armarx::navigation::core::GeneralConfig &bo)

void	fromAron (const armarx::navigation::core::arondto::GlobalPlanningFailedEvent &dto, armarx::navigation::core::GlobalPlanningFailedEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::GlobalTrajectoryUpdatedEvent &dto, armarx::navigation::core::GlobalTrajectoryUpdatedEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::GoalReachedEvent &dto, armarx::navigation::core::GoalReachedEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::InternalErrorEvent &dto, armarx::navigation::core::InternalErrorEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::LocalPlanningFailedEvent &dto, armarx::navigation::core::LocalPlanningFailedEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::LocalTrajectoryUpdatedEvent &dto, armarx::navigation::core::LocalTrajectoryUpdatedEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::MovementStartedEvent &dto, armarx::navigation::core::MovementStartedEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::PIDParams &dto, armarx::navigation::core::PIDParams &bo)

void	fromAron (const armarx::navigation::core::arondto::SafetyStopTriggeredEvent &dto, armarx::navigation::core::SafetyStopTriggeredEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent &dto, armarx::navigation::core::SafetyThrottlingTriggeredEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::TargetAlternative &dto, TargetAlternative &bo)

void	fromAron (const armarx::navigation::core::arondto::TrajectoryParametrization &dto, armarx::navigation::core::TrajectoryParametrization &bo)

void	fromAron (const armarx::navigation::core::arondto::TwistLimits &dto, armarx::navigation::core::TwistLimits &bo)

void	fromAron (const armarx::navigation::core::arondto::UserAbortTriggeredEvent &dto, armarx::navigation::core::UserAbortTriggeredEvent &bo)

void	fromAron (const armarx::navigation::core::arondto::WaypointReachedEvent &dto, armarx::navigation::core::WaypointReachedEvent &bo)

void	fromAron (const arondto::GlobalTrajectory &dto, GlobalTrajectory &bo)

void	fromAron (const arondto::GlobalTrajectoryPoint &dto, GlobalTrajectoryPoint &bo)

void	fromAron (const arondto::Graph &dto, Graph &bo)

void	fromAron (const arondto::LocalTrajectory &dto, LocalTrajectory &bo)

void	fromAron (const arondto::LocalTrajectoryPoint &dto, LocalTrajectoryPoint &bo)

void	fromAron (const arondto::Twist &dto, Twist &bo)

const core::Graph &	getSubgraph (const std::string &vertexName, const Graphs &graphs)

Graph::ConstVertex	getVertexByName (const std::string &vertexName, const Graph &graph)

bool	hasVertex (const std::string &vertexName, const Graph &graph)

template<typename... Ts>
	overload (Ts...) -> overload< Ts... >

core::Positions	resamplePath (const auto &pts, const float eps)

ResolvedLocation	resolveArticulated (const FramedPose &framedPose, const objpose::ObjectPose &pose, const ObjectInfo info)

std::variant< Pose, ObjectID >	resolveGlobal (const FramedPose &framedPose, const std::string &instanceID)
	Resolve the location to it's global pose if it is defined globally or return the ObjectID it is defined relatively to.

ResolvedLocation	resolveLocation (const objpose::ObjectPoseClient &client, const FramedPose &framedPose, const std::string &instanceID="")
	Resolve the FramedPose of a location to a global pose.

ResolvedLocation	resolveLocation (const objpose::ObjectPoseMap &objects, const std::vector< ObjectInfo > &info, const FramedPose &framedPose, const std::string &instanceID="")
	Resolve the FramedPose of a location to a global pose.

void	resolveLocation (Graph::Vertex &vertex, const aron::data::DictPtr &locationData)

template<class MemoryContainerT>
bool	resolveLocation (Graph::Vertex &vertex, const MemoryContainerT &locationContainer)

template<class MemoryContainerT>
void	resolveLocations (Graph &graph, const MemoryContainerT &locationContainer)

void	toAron (armarx::navigation::core::arondto::BoundingBox2D &dto, const Eigen::AlignedBox2f &bo)

void	toAron (armarx::navigation::core::arondto::GeneralConfig &dto, const armarx::navigation::core::GeneralConfig &bo)

void	toAron (armarx::navigation::core::arondto::GlobalPlanningFailedEvent &dto, const armarx::navigation::core::GlobalPlanningFailedEvent &bo)

void	toAron (armarx::navigation::core::arondto::GlobalTrajectoryUpdatedEvent &dto, const armarx::navigation::core::GlobalTrajectoryUpdatedEvent &bo)

void	toAron (armarx::navigation::core::arondto::GoalReachedEvent &dto, const armarx::navigation::core::GoalReachedEvent &bo)

void	toAron (armarx::navigation::core::arondto::InternalErrorEvent &dto, const armarx::navigation::core::InternalErrorEvent &bo)

void	toAron (armarx::navigation::core::arondto::LocalPlanningFailedEvent &dto, const armarx::navigation::core::LocalPlanningFailedEvent &bo)

void	toAron (armarx::navigation::core::arondto::LocalTrajectoryUpdatedEvent &dto, const armarx::navigation::core::LocalTrajectoryUpdatedEvent &bo)

void	toAron (armarx::navigation::core::arondto::MovementStartedEvent &dto, const armarx::navigation::core::MovementStartedEvent &bo)

void	toAron (armarx::navigation::core::arondto::PIDParams &dto, const armarx::navigation::core::PIDParams &bo)

void	toAron (armarx::navigation::core::arondto::SafetyStopTriggeredEvent &dto, const armarx::navigation::core::SafetyStopTriggeredEvent &bo)

void	toAron (armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent &dto, const armarx::navigation::core::SafetyThrottlingTriggeredEvent &bo)

void	toAron (armarx::navigation::core::arondto::TargetAlternative &dto, const TargetAlternative &bo)

void	toAron (armarx::navigation::core::arondto::TrajectoryParametrization &dto, const armarx::navigation::core::TrajectoryParametrization &bo)

void	toAron (armarx::navigation::core::arondto::TwistLimits &dto, const armarx::navigation::core::TwistLimits &bo)

void	toAron (armarx::navigation::core::arondto::UserAbortTriggeredEvent &dto, const armarx::navigation::core::UserAbortTriggeredEvent &bo)

void	toAron (armarx::navigation::core::arondto::WaypointReachedEvent &dto, const armarx::navigation::core::WaypointReachedEvent &bo)

void	toAron (arondto::GlobalTrajectory &dto, const GlobalTrajectory &bo)

void	toAron (arondto::GlobalTrajectoryPoint &dto, const GlobalTrajectoryPoint &bo)

void	toAron (arondto::Graph &dto, const Graph &bo)

void	toAron (arondto::LocalTrajectory &dto, const LocalTrajectory &bo)

void	toAron (arondto::LocalTrajectoryPoint &dto, const LocalTrajectoryPoint &bo)

void	toAron (arondto::Twist &dto, const Twist &bo)

template<class DtoT, class BoT>
DtoT	toAron (const BoT &bo)

std::string	ToString (TrajectoryParametrization parametrization)
	The lowercase name used in configs, logs and the analysis application's results.

Variables
const std::string	NAME_KEY = "name"

const simox::meta::EnumNames< NavigationFrame >	NavigationFrameNames

const std::string	PARAMS_KEY = "params"

const simox::meta::EnumNames< StackLayer >	StackLayerNames

Detailed Description

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: 2021

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

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 ); Christian R. G. Dreher ( c dot dreher at kit dot edu )

Date: 2021

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

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: 2025

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

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: Tobias Gröger ( tobias dot groeger at student dot kit dot edu )

Date: 2023

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

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

Typedef Documentation

◆ AngularVelocity

using AngularVelocity = Eigen::Vector3f

Definition at line 44 of file basic_types.h.

◆ Direction

using Direction = Eigen::Vector3f

Definition at line 39 of file basic_types.h.

◆ GlobalTrajectoryPoints

using GlobalTrajectoryPoints = std::vector<GlobalTrajectoryPoint>

Definition at line 44 of file Trajectory.h.

◆ GlobalTrajectoryPtr

using GlobalTrajectoryPtr = std::shared_ptr<class GlobalTrajectory>

Definition at line 72 of file Trajectory.h.

◆ GraphPath

using GraphPath = std::vector<Graph::ConstVertex>

Definition at line 111 of file Graph.h.

◆ Graphs

using Graphs = std::vector<Graph>

Definition at line 109 of file Graph.h.

◆ LinearVelocity

using LinearVelocity = Eigen::Vector3f

Definition at line 43 of file basic_types.h.

◆ LocalTrajectoryPoints

using LocalTrajectoryPoints = std::vector<LocalTrajectoryPoint>

Definition at line 255 of file Trajectory.h.

◆ Path

using Path = std::vector<Pose>

Definition at line 46 of file basic_types.h.

◆ Pose

using Pose = Eigen::Isometry3f

Definition at line 31 of file basic_types.h.

◆ Pose2D

using Pose2D = Eigen::Isometry2f

Definition at line 34 of file basic_types.h.

◆ Pose_d

using Pose_d = Eigen::Isometry3d

Definition at line 32 of file basic_types.h.

◆ Position

using Position = Eigen::Vector3f

Definition at line 36 of file basic_types.h.

◆ Positions

using Positions = std::vector<Position>

Definition at line 37 of file basic_types.h.

◆ Rotation

using Rotation = Eigen::Matrix3f

Definition at line 41 of file basic_types.h.

Enumeration Type Documentation

◆ NavigationFrame

enum class NavigationFrame

strong

Enumerator
Relative
Absolute

Definition at line 42 of file types.h.

◆ StackLayer

enum class StackLayer : std::uint8_t

strong

Enumerator
GeneralConfig
GlobalPlanner
LocalPlanner
TrajectoryController
SafetyGuard
GoalReachedConfig

Definition at line 36 of file constants.h.

◆ TrajectoryParametrization

enum class TrajectoryParametrization

strong

How the velocities along a planned path are assigned.

The planner produces a spatial trajectory – one linear speed per waypoint, taken from the obstacle-aware limit – and nothing in it knows what the base can dynamically achieve. This selects what happens to that profile before it is executed.

Enumerator

None

Leave the planner's velocities alone.

Ramping

Ramp down at the start, the goal and every corner. The stack's historical behaviour.

Toppra

Time-optimal under per-motor torque and command-ramp limits.

Needs the python package; throws at runtime when it was not available at build time.

Definition at line 38 of file NavigationStackGeneralConfig.h.

◆ VelocityInterpolation

enum class VelocityInterpolation

strong

Enumerator
LinearInterpolation
LastWaypoint

Definition at line 66 of file Trajectory.h.

Function Documentation

◆ findPathsTo()

std::vector< core::GraphPath > findPathsTo	(	Graph::ConstVertex	vertex,
		const Graph &	graph )

Definition at line 182 of file Graph.cpp.

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◆ fromAron() [1/23]

void fromAron	(	const armarx::navigation::core::arondto::BoundingBox2D &	dto,
		Eigen::AlignedBox2f &	bo )

Definition at line 409 of file aron_conversions.cpp.

◆ fromAron() [2/23]

void fromAron	(	const armarx::navigation::core::arondto::GeneralConfig &	dto,
		armarx::navigation::core::GeneralConfig &	bo )

Definition at line 384 of file aron_conversions.cpp.

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◆ fromAron() [3/23]

void fromAron	(	const armarx::navigation::core::arondto::GlobalPlanningFailedEvent &	dto,
		armarx::navigation::core::GlobalPlanningFailedEvent &	bo )

Definition at line 177 of file aron_conversions.cpp.

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◆ fromAron() [4/23]

void fromAron	(	const armarx::navigation::core::arondto::GlobalTrajectoryUpdatedEvent &	dto,
		armarx::navigation::core::GlobalTrajectoryUpdatedEvent &	bo )

Definition at line 302 of file aron_conversions.cpp.

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◆ fromAron() [5/23]

void fromAron	(	const armarx::navigation::core::arondto::GoalReachedEvent &	dto,
		armarx::navigation::core::GoalReachedEvent &	bo )

Definition at line 170 of file aron_conversions.cpp.

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◆ fromAron() [6/23]

void fromAron	(	const armarx::navigation::core::arondto::InternalErrorEvent &	dto,
		armarx::navigation::core::InternalErrorEvent &	bo )

Definition at line 229 of file aron_conversions.cpp.

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◆ fromAron() [7/23]

void fromAron	(	const armarx::navigation::core::arondto::LocalPlanningFailedEvent &	dto,
		armarx::navigation::core::LocalPlanningFailedEvent &	bo )

Definition at line 281 of file aron_conversions.cpp.

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◆ fromAron() [8/23]

void fromAron	(	const armarx::navigation::core::arondto::LocalTrajectoryUpdatedEvent &	dto,
		armarx::navigation::core::LocalTrajectoryUpdatedEvent &	bo )

Definition at line 316 of file aron_conversions.cpp.

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◆ fromAron() [9/23]

void fromAron	(	const armarx::navigation::core::arondto::MovementStartedEvent &	dto,
		armarx::navigation::core::MovementStartedEvent &	bo )

Definition at line 198 of file aron_conversions.cpp.

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◆ fromAron() [10/23]

void fromAron	(	const armarx::navigation::core::arondto::PIDParams &	dto,
		armarx::navigation::core::PIDParams &	bo )

Definition at line 138 of file aron_conversions.cpp.

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◆ fromAron() [11/23]

void fromAron	(	const armarx::navigation::core::arondto::SafetyStopTriggeredEvent &	dto,
		armarx::navigation::core::SafetyStopTriggeredEvent &	bo )

Definition at line 274 of file aron_conversions.cpp.

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◆ fromAron() [12/23]

void fromAron	(	const armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent &	dto,
		armarx::navigation::core::SafetyThrottlingTriggeredEvent &	bo )

Definition at line 259 of file aron_conversions.cpp.

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◆ fromAron() [13/23]

void fromAron	(	const armarx::navigation::core::arondto::TargetAlternative &	dto,
		TargetAlternative &	bo )

Definition at line 423 of file aron_conversions.cpp.

◆ fromAron() [14/23]

void fromAron	(	const armarx::navigation::core::arondto::TrajectoryParametrization &	dto,
		armarx::navigation::core::TrajectoryParametrization &	bo )

Definition at line 343 of file aron_conversions.cpp.

◆ fromAron() [15/23]

void fromAron	(	const armarx::navigation::core::arondto::TwistLimits &	dto,
		armarx::navigation::core::TwistLimits &	bo )

Definition at line 155 of file aron_conversions.cpp.

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◆ fromAron() [16/23]

void fromAron	(	const armarx::navigation::core::arondto::UserAbortTriggeredEvent &	dto,
		armarx::navigation::core::UserAbortTriggeredEvent &	bo )

Definition at line 244 of file aron_conversions.cpp.

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◆ fromAron() [17/23]

void fromAron	(	const armarx::navigation::core::arondto::WaypointReachedEvent &	dto,
		armarx::navigation::core::WaypointReachedEvent &	bo )

Definition at line 213 of file aron_conversions.cpp.

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◆ fromAron() [18/23]

void fromAron	(	const arondto::GlobalTrajectory &	dto,
		GlobalTrajectory &	bo )

Definition at line 55 of file aron_conversions.cpp.

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◆ fromAron() [19/23]

void fromAron	(	const arondto::GlobalTrajectoryPoint &	dto,
		GlobalTrajectoryPoint &	bo )

Definition at line 34 of file aron_conversions.cpp.

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◆ fromAron() [20/23]

void fromAron	(	const arondto::Graph &	dto,
		Graph &	bo )

Definition at line 247 of file Graph.cpp.

◆ fromAron() [21/23]

void fromAron	(	const arondto::LocalTrajectory &	dto,
		LocalTrajectory &	bo )

Definition at line 99 of file aron_conversions.cpp.

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◆ fromAron() [22/23]

void fromAron	(	const arondto::LocalTrajectoryPoint &	dto,
		LocalTrajectoryPoint &	bo )

Definition at line 78 of file aron_conversions.cpp.

◆ fromAron() [23/23]

void fromAron	(	const arondto::Twist &	dto,
		Twist &	bo )

Definition at line 122 of file aron_conversions.cpp.

◆ getSubgraph()

const core::Graph & getSubgraph	(	const std::string &	vertexName,
		const Graphs &	graphs )

Definition at line 234 of file Graph.cpp.

◆ getVertexByName()

core::Graph::ConstVertex getVertexByName	(	const std::string &	vertexName,
		const Graph &	graph )

Definition at line 209 of file Graph.cpp.

◆ hasVertex()

bool hasVertex	(	const std::string &	vertexName,
		const Graph &	graph )

Definition at line 224 of file Graph.cpp.

◆ overload()

template<typename... Ts>

overload ( Ts... ) -> overload< Ts... >

◆ resamplePath()

core::Positions resamplePath	(	const auto &	pts,
		const float	eps )

Definition at line 945 of file Trajectory.cpp.

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◆ resolveArticulated()

ResolvedLocation resolveArticulated	(	const FramedPose &	framedPose,
		const objpose::ObjectPose &	pose,
		const ObjectInfo	info )

Definition at line 36 of file LocationUtils.cpp.

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◆ resolveGlobal()

std::variant< Pose, ObjectID > resolveGlobal	(	const FramedPose &	framedPose,
		const std::string &	instanceID )

Resolve the location to it's global pose if it is defined globally or return the ObjectID it is defined relatively to.

Definition at line 76 of file LocationUtils.cpp.

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◆ resolveLocation() [1/4]

ResolvedLocation resolveLocation	(	const objpose::ObjectPoseClient &	client,
		const FramedPose &	framedPose,
		const std::string &	instanceID = "" )

Resolve the FramedPose of a location to a global pose.

Parameters

instanceID instance to use if the location is relative to an object class

When the location is relative to a specific instance the parameter instanceID is ignored. Otherwise (the location is relative to a object class) it is set as the instance of that class. The object pose and info is fetched through a network call. For a cached version see below.

Definition at line 95 of file LocationUtils.cpp.

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◆ resolveLocation() [2/4]

ResolvedLocation resolveLocation	(	const objpose::ObjectPoseMap &	objects,
		const std::vector< ObjectInfo > &	info,
		const FramedPose &	framedPose,
		const std::string &	instanceID = "" )

Resolve the FramedPose of a location to a global pose.

Parameters

instanceID instance to use if the location is relative to an object class

When the location is relative to a specific instance the parameter instanceID is ignored. Otherwise (the location is relative to a object class) it is set as the instance of that class.

Definition at line 134 of file LocationUtils.cpp.

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◆ resolveLocation() [3/4]

void resolveLocation	(	Graph::Vertex &	vertex,
		const aron::data::DictPtr &	locationData )

Definition at line 267 of file Graph.cpp.

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◆ resolveLocation() [4/4]

template<class MemoryContainerT>

bool resolveLocation	(	Graph::Vertex &	vertex,
		const MemoryContainerT &	locationContainer )

Definition at line 129 of file Graph.h.

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◆ resolveLocations()

template<class MemoryContainerT>

void resolveLocations	(	Graph &	graph,
		const MemoryContainerT &	locationContainer )

Definition at line 145 of file Graph.h.

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◆ toAron() [1/24]

void toAron	(	armarx::navigation::core::arondto::BoundingBox2D &	dto,
		const Eigen::AlignedBox2f &	bo )

Definition at line 402 of file aron_conversions.cpp.

◆ toAron() [2/24]

void toAron	(	armarx::navigation::core::arondto::GeneralConfig &	dto,
		const armarx::navigation::core::GeneralConfig &	bo )

Definition at line 366 of file aron_conversions.cpp.

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◆ toAron() [3/24]

void toAron	(	armarx::navigation::core::arondto::GlobalPlanningFailedEvent &	dto,
		const armarx::navigation::core::GlobalPlanningFailedEvent &	bo )

Definition at line 184 of file aron_conversions.cpp.

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◆ toAron() [4/24]

void toAron	(	armarx::navigation::core::arondto::GlobalTrajectoryUpdatedEvent &	dto,
		const armarx::navigation::core::GlobalTrajectoryUpdatedEvent &	bo )

Definition at line 295 of file aron_conversions.cpp.

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◆ toAron() [5/24]

void toAron	(	armarx::navigation::core::arondto::GoalReachedEvent &	dto,
		const armarx::navigation::core::GoalReachedEvent &	bo )

Definition at line 163 of file aron_conversions.cpp.

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◆ toAron() [6/24]

void toAron	(	armarx::navigation::core::arondto::InternalErrorEvent &	dto,
		const armarx::navigation::core::InternalErrorEvent &	bo )

Definition at line 221 of file aron_conversions.cpp.

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◆ toAron() [7/24]

void toAron	(	armarx::navigation::core::arondto::LocalPlanningFailedEvent &	dto,
		const armarx::navigation::core::LocalPlanningFailedEvent &	bo )

Definition at line 288 of file aron_conversions.cpp.

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◆ toAron() [8/24]

void toAron	(	armarx::navigation::core::arondto::LocalTrajectoryUpdatedEvent &	dto,
		const armarx::navigation::core::LocalTrajectoryUpdatedEvent &	bo )

Definition at line 309 of file aron_conversions.cpp.

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◆ toAron() [9/24]

void toAron	(	armarx::navigation::core::arondto::MovementStartedEvent &	dto,
		const armarx::navigation::core::MovementStartedEvent &	bo )

Definition at line 191 of file aron_conversions.cpp.

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◆ toAron() [10/24]

void toAron	(	armarx::navigation::core::arondto::PIDParams &	dto,
		const armarx::navigation::core::PIDParams &	bo )

Definition at line 129 of file aron_conversions.cpp.

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◆ toAron() [11/24]

void toAron	(	armarx::navigation::core::arondto::SafetyStopTriggeredEvent &	dto,
		const armarx::navigation::core::SafetyStopTriggeredEvent &	bo )

Definition at line 267 of file aron_conversions.cpp.

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◆ toAron() [12/24]

void toAron	(	armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent &	dto,
		const armarx::navigation::core::SafetyThrottlingTriggeredEvent &	bo )

Definition at line 251 of file aron_conversions.cpp.

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◆ toAron() [13/24]

void toAron	(	armarx::navigation::core::arondto::TargetAlternative &	dto,
		const TargetAlternative &	bo )

Definition at line 416 of file aron_conversions.cpp.

◆ toAron() [14/24]

void toAron	(	armarx::navigation::core::arondto::TrajectoryParametrization &	dto,
		const armarx::navigation::core::TrajectoryParametrization &	bo )

Definition at line 323 of file aron_conversions.cpp.

◆ toAron() [15/24]

void toAron	(	armarx::navigation::core::arondto::TwistLimits &	dto,
		const armarx::navigation::core::TwistLimits &	bo )

Definition at line 147 of file aron_conversions.cpp.

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◆ toAron() [16/24]

void toAron	(	armarx::navigation::core::arondto::UserAbortTriggeredEvent &	dto,
		const armarx::navigation::core::UserAbortTriggeredEvent &	bo )

Definition at line 237 of file aron_conversions.cpp.

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◆ toAron() [17/24]

void toAron	(	armarx::navigation::core::arondto::WaypointReachedEvent &	dto,
		const armarx::navigation::core::WaypointReachedEvent &	bo )

Definition at line 205 of file aron_conversions.cpp.

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◆ toAron() [18/24]

void toAron	(	arondto::GlobalTrajectory &	dto,
		const GlobalTrajectory &	bo )

Definition at line 41 of file aron_conversions.cpp.

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◆ toAron() [19/24]

void toAron	(	arondto::GlobalTrajectoryPoint &	dto,
		const GlobalTrajectoryPoint &	bo )

Definition at line 27 of file aron_conversions.cpp.

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◆ toAron() [20/24]

void toAron	(	arondto::Graph &	dto,
		const Graph &	bo )

Definition at line 189 of file Graph.cpp.

◆ toAron() [21/24]

void toAron	(	arondto::LocalTrajectory &	dto,
		const LocalTrajectory &	bo )

Definition at line 85 of file aron_conversions.cpp.

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◆ toAron() [22/24]

void toAron	(	arondto::LocalTrajectoryPoint &	dto,
		const LocalTrajectoryPoint &	bo )

Definition at line 71 of file aron_conversions.cpp.

◆ toAron() [23/24]

void toAron	(	arondto::Twist &	dto,
		const Twist &	bo )

Definition at line 115 of file aron_conversions.cpp.

◆ toAron() [24/24]

template<class DtoT, class BoT>

DtoT toAron ( const BoT & bo )

Definition at line 43 of file aron_conversions.h.

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◆ ToString()

std::string ToString ( const TrajectoryParametrization parametrization )

The lowercase name used in configs, logs and the analysis application's results.

Definition at line 15 of file NavigationStackGeneralConfig.cpp.

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Variable Documentation

◆ NAME_KEY

const std::string NAME_KEY = "name"

inline

Definition at line 33 of file constants.h.

◆ NavigationFrameNames

const simox::meta::EnumNames<NavigationFrame> NavigationFrameNames

inline

Initial value:

{
        {NavigationFrame::Relative, "Relative"},
        {NavigationFrame::Absolute, "Absolute"}}

Definition at line 54 of file types.h.

◆ PARAMS_KEY

const std::string PARAMS_KEY = "params"

inline

Definition at line 34 of file constants.h.

◆ StackLayerNames

const simox::meta::EnumNames<StackLayer> StackLayerNames

inline

Initial value:

{
        {StackLayer::GeneralConfig, "GeneralConfig"},
        {StackLayer::GlobalPlanner, "GlobalPlanner"},
        {StackLayer::LocalPlanner, "LocalPlanner"},
        {StackLayer::TrajectoryController, "TrajectoryController"},
        {StackLayer::SafetyGuard, "SafetyGuard"},
        {StackLayer::GoalReachedConfig, "GoalReachedConfig"}}

Definition at line 46 of file constants.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AngularVelocity

◆ Direction

◆ GlobalTrajectoryPoints

◆ GlobalTrajectoryPtr

◆ GraphPath

◆ Graphs

◆ LinearVelocity

◆ LocalTrajectoryPoints

◆ Path

◆ Pose

◆ Pose2D

◆ Pose_d

◆ Position

◆ Positions

◆ Rotation

Enumeration Type Documentation

◆ NavigationFrame

◆ StackLayer

◆ TrajectoryParametrization

◆ VelocityInterpolation

Function Documentation

◆ findPathsTo()

◆ fromAron() [1/23]

◆ fromAron() [2/23]

◆ fromAron() [3/23]

◆ fromAron() [4/23]

◆ fromAron() [5/23]

◆ fromAron() [6/23]

◆ fromAron() [7/23]

◆ fromAron() [8/23]

◆ fromAron() [9/23]

◆ fromAron() [10/23]

◆ fromAron() [11/23]

◆ fromAron() [12/23]

◆ fromAron() [13/23]

◆ fromAron() [14/23]

◆ fromAron() [15/23]

◆ fromAron() [16/23]

◆ fromAron() [17/23]

◆ fromAron() [18/23]

◆ fromAron() [19/23]

◆ fromAron() [20/23]

◆ fromAron() [21/23]

◆ fromAron() [22/23]

◆ fromAron() [23/23]

◆ getSubgraph()

◆ getVertexByName()

◆ hasVertex()

◆ overload()

◆ resamplePath()

◆ resolveArticulated()

◆ resolveGlobal()

◆ resolveLocation() [1/4]

◆ resolveLocation() [2/4]

◆ resolveLocation() [3/4]

◆ resolveLocation() [4/4]

◆ resolveLocations()

◆ toAron() [1/24]

◆ toAron() [2/24]

◆ toAron() [3/24]

◆ toAron() [4/24]

◆ toAron() [5/24]

◆ toAron() [6/24]

◆ toAron() [7/24]

◆ toAron() [8/24]

◆ toAron() [9/24]

◆ toAron() [10/24]

◆ toAron() [11/24]

◆ toAron() [12/24]

◆ toAron() [13/24]

◆ toAron() [14/24]

◆ toAron() [15/24]