io.h

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/**
 * 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       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <filesystem>
#include <optional>
 
#include <SimoxUtility/json/json.hpp>
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/ObstacleAwareVelocityLimit.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
 
#include "Scene.h"
#include "reparametrization.h"
 
namespace armarx::navigation::analysis
{
 
    /**
     * @brief Write scene, costmap and planning result as JSON for the python plotting tool.
     *
     * The costmap grid is written row-major with rows corresponding to x and columns to y.
     * Only the bounds and the cell size are written, not per-cell coordinates: the grid is
     * uniform and axis-aligned, so the reader can reconstruct them.
     *
     * An empty result means planning failed; the costmap is written either way so that failures
     * can still be inspected.
     *
     * Every trajectory point additionally carries the maximum permissible velocity that `limit`
     * reports for its position. Comparing the two is the verification step: if the planner's
     * post-processing deformed the path without updating the velocities, the actual velocity
     * exceeds the limit and the point is reported as a violation.
     */
    void writeResult(
        const std::filesystem::path& filename,
        const Config& config,
        const algorithms::Costmap& costmap,
        const std::optional<global_planning::GlobalPlannerResult>& result,
        const algorithms::ObstacleAwareVelocityLimit& limit,
        const std::optional<simulation::TrajectoryFollowingSimulation::Result>& simulated,
        /// TOPPRA's time-parametrized reference, or null for the other parametrization modes.
        const nlohmann::json& reference,
        const CommandRampCheck& rampCheck,
        /// Wall-clock seconds the parametrization took. Reported separately from the planner's
        /// stage timings, which stop at `plan()` and would otherwise hide it.
        double parametrizationSeconds);
 
} // namespace armarx::navigation::analysis