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>

Include dependency graph for Scene.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	Box
	A box obstacle in the ground plane, optionally rotated about its own centre. 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.