RoomScene.h File Reference

#include <cstddef>
#include <filesystem>
#include <optional>
#include <random>
#include <string>
#include <vector>
#include <Eigen/Core>
#include <armarx/navigation/core/basic_types.h>
#include "../global_planning_analysis/Scene.h"

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Classes
struct	ClutterParameters
struct	CorridorParameters
struct	NamedPose
	A pose from the room's navigation graph, kept with its name so a failing request can be reported as something a reader recognises rather than a pair of coordinates. More...
struct	RoomScene
	The room as the planner sees it, assembled from PriorKnowledgeData. More...
struct	SerpentineParameters

Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.
namespace	armarx::navigation
	This file is part of ArmarX.
namespace	armarx::navigation::evaluation
	This file is part of ArmarX.

Functions
int	addClutter (analysis::Scene &scene, const ClutterParameters &parameters, std::mt19937 &rng)
	Scatter boxes through the room to create tight passages.
RoomScene	buildRoomScene (const std::filesystem::path &priorKnowledge, const std::string &room, const std::vector< std::string > &sceneFiles, float wallThickness=200.F)
	Build the scene for a room from PriorKnowledgeData.
bool	contains (const algorithms::SceneBounds &bounds, const Eigen::Vector2f &point)
	Whether a point lies within the bounds, edges included.
algorithms::SceneBounds	makeCorridor (analysis::Scene &scene, const CorridorParameters &parameters)
	A dead-end corridor opening into the rest of the room.
float	makeSerpentine (analysis::Scene &scene, const SerpentineParameters &parameters, float robotRadius)
	Replace the room's contents with transverse walls whose openings alternate sides.

Variables
constexpr std::size_t	roomWallCount = 4
	Number of wall boxes buildRoomScene puts at the front of the obstacle list.