This file is part of ArmarX. More...

Namespaces
namespace	scene_provider

Classes
class	ArvizIntrospector

class	DrawerInterface

class	DummyExecutor
	Executor that doesn't do anything. More...

class	EmergencyStopInterface
	The robot's software emergency stop, as far as navigation needs to know it. More...

class	EventPublishingInterface
	A publisher the server navigator will use to notify others about events. More...

class	ExecutorInterface
	An executer the server navigator will use to send its control commands to. More...

struct	GlobalPathSubdivision

class	GoalReachedMonitor

class	GraphBuilder

class	IceEmergencyStop
	`EmergencyStopInterface` over the emergency-stop master. More...

class	IntrospectorInterface

class	MemoryIntrospector

class	MemoryParameterizationService

class	MemoryPublisher

struct	NavigationStack

class	Navigator

struct	ParametrizationRecord
	One navigation request's velocity profile, before and after parametrization. More...

class	PlatformControllerExecutor
	The PlatformUnitExecutor class. More...

class	PlatformUnitExecutor
	The PlatformUnitExecutor class. More...

struct	StackResult

Typedefs
using	GoalReachedMonitorConfig = core::GoalReachedConfig

using	GraphPath = std::vector<semrel::ShapeID>

Functions
armarx::PackagePath	asPackagePath (const std::string &absfilepath)

GraphPath	findShortestPath (core::Graph graph, const core::Graph::ConstVertex &startVertex, const core::Graph::ConstVertex &goalVertex)

bool	operator== (const core::Graph::VertexAttrib &lhs, const core::Graph::VertexAttrib &rhs)

void	writeParametrizationDump (const ParametrizationRecord &record, const std::string &path)
	Write `record` as JSON, for offline rendering with `plot-navigation-request`.

Variables
const core::arondto::Edge	ARON_UNSET_EDGE_VALUES

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: Niklas Arlt ( niklas dot arlt 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: 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: 2026

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

Typedef Documentation

◆ GoalReachedMonitorConfig

using GoalReachedMonitorConfig = core::GoalReachedConfig

Definition at line 36 of file GoalReachedMonitor.h.

◆ GraphPath

using GraphPath = std::vector<semrel::ShapeID>

Definition at line 401 of file Navigator.cpp.

Function Documentation

◆ asPackagePath()

armarx::PackagePath asPackagePath ( const std::string & absfilepath )

inline

Definition at line 92 of file ArvizIntrospector.cpp.

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◆ findShortestPath()

GraphPath findShortestPath	(	core::Graph	graph,
		const core::Graph::ConstVertex &	startVertex,
		const core::Graph::ConstVertex &	goalVertex )

Definition at line 404 of file Navigator.cpp.

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◆ operator==()

bool operator==	(	const core::Graph::VertexAttrib &	lhs,
		const core::Graph::VertexAttrib &	rhs )

Definition at line 111 of file GraphBuilder.cpp.

◆ writeParametrizationDump()

void writeParametrizationDump	(	const ParametrizationRecord &	record,
		const std::string &	path )

Write record as JSON, for offline rendering with plot-navigation-request.

The navigator writes data, never pixels: plotting would put matplotlib into the process that drives the robot, and the embedded interpreter is in any case private to the algorithms target.

Writes path and a timestamped sibling, so the latest is always at a predictable location while a sequence of requests remains available for comparison.

Never throws: a debugging aid must not be able to abort a navigation request. Failures are logged and swallowed.

The schema deliberately reuses the key names of global_planning_analysis's result.json where the two overlap, so the same plotting functions read both.

Definition at line 112 of file ParametrizationDump.cpp.

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Variable Documentation

◆ ARON_UNSET_EDGE_VALUES

const core::arondto::Edge ARON_UNSET_EDGE_VALUES

Initial value:

= []()
    {
        core::arondto::Edge edge;
        edge.sourceVertexID = -1;
        edge.targetVertexID = -1;
        return edge;
    }()

Definition at line 23 of file GraphBuilder.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ GoalReachedMonitorConfig

◆ GraphPath

Function Documentation

◆ asPackagePath()

◆ findShortestPath()

◆ operator==()

◆ writeParametrizationDump()

Variable Documentation

◆ ARON_UNSET_EDGE_VALUES