aron_conversions.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       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/Room.h>
#include <armarx/navigation/algorithms/aron/Costmap3D.aron.generated.h>
#include <armarx/navigation/algorithms/aron/Room.aron.generated.h>
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
#include <armarx/navigation/algorithms/spfa/ShortestPathFasterAlgorithm.h>
 
namespace armarx::navigation::algorithms
{
    // TODO fix ADL and remove this function
    template <class DtoT, class BoT>
    DtoT
    toAron(const BoT& bo)
    {
        DtoT dto;
        toAron(dto, bo);
        return dto;
    }
 
    // aron xml definition is not complete. "grid" and "mask" fields will be added
    armarx::aron::data::DictPtr toAron(const Costmap& bo);
 
    // Costmap does not provide a default c'tor
    Costmap fromAron(const armem::wm::EntityInstance& entityInstance);
 
    Costmap costmapFromAron(const aron::data::DictPtr& dto);
 
    armarx::aron::data::DictPtr toAron(const orientation_aware::Costmap3D& bo);
 
    orientation_aware::Costmap3D costmap3dFromAron(const armem::wm::EntityInstance& entityInstance);
 
    namespace arondto
    {
        class ShortestPathFasterAlgorithmParams;
    }
 
    void toAron(arondto::ShortestPathFasterAlgorithmParams& dto,
                const spfa::ShortestPathFasterAlgorithm::Parameters& bo);
 
    void fromAron(const arondto::ShortestPathFasterAlgorithmParams& dto,
                  spfa::ShortestPathFasterAlgorithm::Parameters& bo);
 
 
    void toAron(arondto::Room& dto, const Room& bo);
    void fromAron(const arondto::Room& dto, Room& bo);
 
 
} // namespace armarx::navigation::algorithms