armarx::navigation::skills Namespace Reference

Namespaces
namespace	constants
	This file is part of ArmarX.
namespace	detail
namespace	skill_ids

Classes
class	GuideHumanToRoom
struct	LocationNameResolverServices
	Everything needed to turn a spoken place into a location. More...
class	MoveRelativePlanar
class	MoveXMeters
class	NavigateRelativeSkill
class	NavigateTo
class	NavigateToAlternatives
class	NavigateToChargingStation
	Navigate to the charging station location and initiate charging. More...
class	NavigateToLocation
class	NavigateToNamedLocation
	Resolve a named location and navigate to it. More...
class	NavigatingSkillHelper
struct	ResolvedLocation
	A location in the navigation memory, identified the way the memory identifies it. More...
class	RotateTowards
class	RotateTowardsLocation
	Resolve a named location and rotate towards it. More...
class	RotateXDegrees

Functions
template<typename R>
bool	is_ready (std::future< R > const &f)
	True if f holds a result (or has none to wait for). A deferred task is started here.
std::optional< ResolvedLocation >	resolveLocationName (const std::string &locationName, const LocationNameResolverServices &services, double minMatchRatio, bool useObjectLocations)
	Resolve a human-readable place onto a location, the way NavigateToNamedLocation does.

Function Documentation

is_ready()

template<typename R>

bool is_ready

(

std::future< R > const &

f

)

True if f holds a result (or has none to wait for). A deferred task is started here.

Definition at line 62 of file NavigatingSkillHelper.h.

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resolveLocationName()

std::optional< ResolvedLocation > resolveLocationName	(	const std::string &	locationName,
		const LocationNameResolverServices &	services,
		double	minMatchRatio,
		bool	useObjectLocations )

Resolve a human-readable place onto a location, the way NavigateToNamedLocation does.

Two stages, in this order:

1. Objects: if useObjectLocations, the name is compared (exactly, case-insensitively) against the recognized names of the classes of the objects currently in the object pose memory. A match is turned into the location <ClassID>/inFrontOf, or its :<instance> variant where one exists.
2. Locations: otherwise the name is fuzzy-matched against every location's entity name and its names.recognized, accepting the best match at or above minMatchRatio.

This lives on its own so that the skills which have to agree on what a place is – NavigateToNamedLocation and NavigateWithCart – cannot drift apart.

Returns

The resolved location, or nullopt if neither stage matched.

Definition at line 200 of file LocationNameResolver.cpp.