Scene.h File Reference

#include <filesystem>
#include <vector>
#include <Eigen/Core>
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/types.h>
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/global_planning/SPFA.h>
#include <armarx/navigation/simulation/TrajectoryFollowingSimulation.h>

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Classes
struct	Box
	An axis-aligned box obstacle in the ground plane. More...
struct	Config
	Everything the application needs, as read from the scene description file. More...
struct	Scene
	The synthetic scene: what the world looks like, independent of the planner. More...

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::analysis
	This file is part of ArmarX.

Functions
algorithms::Costmap	buildCostmap (const Config &config)
	Build a costmap holding, per cell, the distance to the closest obstacle reduced by the robot radius (clipped to [0, costmapMaxDistance]).
Config	readConfig (const std::filesystem::path &filename)
	Read the scene description. Throws on malformed input.