armarx::navigation::safety_guard Namespace Reference

This file is part of ArmarX. More...

Classes
class	LaserBasedProximity
struct	LaserBasedProximityParams
struct	ProximityFieldParams
class	SafetyGuard
struct	SafetyGuardParams
struct	SafetyGuardResult

Typedefs
using	SafetyGuardPtr = std::shared_ptr<SafetyGuard>

Enumerations
enum class	Algorithms { LaserBasedProximity }
enum class	FilterReason : std::uint8_t {   None , NoPoints , IgnoredRegion , AttachedObject ,   NearFieldArtifact , TooFarAway , MovingAway , Tangential }
	Why a laser scanner feature does not constrain the velocity. More...

Functions
void	fromAron (const arondto::LaserBasedProximityMode &dto, ProximityFieldParams::Mode &bo)
void	fromAron (const arondto::LaserBasedProximityParams &dto, LaserBasedProximityParams &bo)
void	fromAron (const arondto::ProximityFieldParams &dto, ProximityFieldParams &bo)
void	toAron (arondto::LaserBasedProximityMode &dto, const ProximityFieldParams::Mode &bo)
void	toAron (arondto::LaserBasedProximityParams &dto, const LaserBasedProximityParams &bo)
void	toAron (arondto::ProximityFieldParams &dto, const ProximityFieldParams &bo)

Variables
const simox::meta::EnumNames< Algorithms >	AlgorithmNames

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

2022

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

Typedef Documentation

SafetyGuardPtr

typedef std::shared_ptr< SafetyGuard > SafetyGuardPtr = std::shared_ptr<SafetyGuard>

Definition at line 57 of file fwd.h.

Enumeration Type Documentation

Algorithms

enum class Algorithms

strong

Enumerator
LaserBasedProximity

Definition at line 30 of file core.h.

FilterReason

enum class FilterReason : std::uint8_t

strong

Why a laser scanner feature does not constrain the velocity.

Enumerator
None	The feature constrains, or is a candidate to constrain, the velocity.
NoPoints	The feature has no points.
IgnoredRegion	The feature lies fully inside one of the ignored regions.
AttachedObject	The feature lies fully inside the inflated OOBB of an attached object.
NearFieldArtifact	Small feature close to the robot, most likely a measuring artifact of the sensor.
TooFarAway	The feature is outside the influence distance.
MovingAway	The robot is moving away from the feature.
Tangential	The robot passes the feature exactly tangentially.

Definition at line 71 of file LaserBasedProximity.h.

Function Documentation

fromAron() [1/3]

void fromAron	(	const arondto::LaserBasedProximityMode &	dto,
		ProximityFieldParams::Mode &	bo )

Definition at line 119 of file aron_conversions.cpp.

fromAron() [2/3]

void fromAron	(	const arondto::LaserBasedProximityParams &	dto,
		LaserBasedProximityParams &	bo )

Definition at line 61 of file aron_conversions.cpp.

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fromAron() [3/3]

void fromAron	(	const arondto::ProximityFieldParams &	dto,
		ProximityFieldParams &	bo )

Definition at line 39 of file aron_conversions.cpp.

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toAron() [1/3]

void toAron	(	arondto::LaserBasedProximityMode &	dto,
		const ProximityFieldParams::Mode &	bo )

Definition at line 138 of file aron_conversions.cpp.

toAron() [2/3]

void toAron	(	arondto::LaserBasedProximityParams &	dto,
		const LaserBasedProximityParams &	bo )

Definition at line 90 of file aron_conversions.cpp.

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toAron() [3/3]

void toAron	(	arondto::ProximityFieldParams &	dto,
		const ProximityFieldParams &	bo )

Definition at line 50 of file aron_conversions.cpp.

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Variable Documentation

AlgorithmNames

const simox::meta::EnumNames<Algorithms> AlgorithmNames

inline

Initial value:

{
        {Algorithms::LaserBasedProximity, "LaserBasedProximity"}}

Definition at line 35 of file core.h.