armarx::navigation::core Namespace Reference

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

Direction

using Direction = Eigen::Vector3f

GlobalTrajectoryPoints

using GlobalTrajectoryPoints = std::vector<GlobalTrajectoryPoint>

GlobalTrajectoryPtr

using GlobalTrajectoryPtr = std::shared_ptr<class GlobalTrajectory>

GraphPath

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

Graphs

using Graphs = std::vector<Graph>

LinearVelocity

using LinearVelocity = Eigen::Vector3f

LocalTrajectoryPoints

using LocalTrajectoryPoints = std::vector<LocalTrajectoryPoint>

Path

using Path = std::vector<Pose>

Pose

using Pose = Eigen::Isometry3f

Pose2D

using Pose2D = Eigen::Isometry2f

Pose_d

using Pose_d = Eigen::Isometry3d

Position

using Position = Eigen::Vector3f

Positions

using Positions = std::vector<Position>

Rotation

using Rotation = Eigen::Matrix3f

Enumeration Type Documentation

NavigationFrame

enum class NavigationFrame

strong

Enumerator
Relative
Absolute

StackLayer

enum class StackLayer : std::uint8_t

strong

Enumerator
GeneralConfig
GlobalPlanner
LocalPlanner
TrajectoryController
SafetyGuard
GoalReachedConfig

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.

VelocityInterpolation

enum class VelocityInterpolation

strong

Enumerator
LinearInterpolation
LastWaypoint

Function Documentation

findPathsTo()

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

fromAron() [1/23]

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

fromAron() [2/23]

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

fromAron() [3/23]

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

fromAron() [4/23]

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

fromAron() [5/23]

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

fromAron() [6/23]

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

fromAron() [7/23]

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

fromAron() [8/23]

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

fromAron() [9/23]

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

fromAron() [10/23]

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

fromAron() [11/23]

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

fromAron() [12/23]

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

fromAron() [13/23]

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

fromAron() [14/23]

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

fromAron() [15/23]

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

fromAron() [16/23]

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

fromAron() [17/23]

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

fromAron() [18/23]

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

fromAron() [19/23]

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

fromAron() [20/23]

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

fromAron() [21/23]

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

fromAron() [22/23]

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

fromAron() [23/23]

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

getSubgraph()

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

getVertexByName()

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

hasVertex()

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

overload()

template<typename... Ts>

overload

(

Ts...

)

-> overload< Ts... >

resamplePath()

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

resolveArticulated()

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

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.

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.

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.

resolveLocation() [3/4]

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

resolveLocation() [4/4]

template<class MemoryContainerT>

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

resolveLocations()

template<class MemoryContainerT>

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

toAron() [1/24]

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

toAron() [2/24]

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

toAron() [3/24]

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

toAron() [4/24]

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

toAron() [5/24]

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

toAron() [6/24]

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

toAron() [7/24]

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

toAron() [8/24]

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

toAron() [9/24]

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

toAron() [10/24]

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

toAron() [11/24]

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

toAron() [12/24]

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

toAron() [13/24]

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

toAron() [14/24]

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

toAron() [15/24]

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

toAron() [16/24]

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

toAron() [17/24]

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

toAron() [18/24]

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

toAron() [19/24]

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

toAron() [20/24]

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

toAron() [21/24]

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

toAron() [22/24]

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

toAron() [23/24]

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

toAron() [24/24]

template<class DtoT, class BoT>

DtoT toAron

(

const BoT &

bo

)

ToString()

std::string ToString

(

const TrajectoryParametrization

parametrization

)

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

Variable Documentation

NAME_KEY

const std::string NAME_KEY = "name"

inline

NavigationFrameNames

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

inline

Initial value:

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

PARAMS_KEY

const std::string PARAMS_KEY = "params"

inline

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"}}