#include "util.h"
#include <algorithm>
#include <cstddef>
#include <cstdint>
#include <optional>
#include <vector>
#include <opencv2/core/eigen.hpp>
#include <opencv2/core/mat.hpp>
#include <opencv2/core/types.hpp>
#include <opencv2/imgproc.hpp>
#include <VirtualRobot/BoundingBox.h>
#include <VirtualRobot/CollisionDetection/CollisionModel.h>
#include <VirtualRobot/Random.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/SceneObjectSet.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Workspace/WorkspaceGrid.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/StringHelpers.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/CostmapBuilder.h>
#include <armarx/navigation/algorithms/Room.h>
#include <armarx/navigation/algorithms/types.h>
#include <armarx/navigation/core/basic_types.h>
#include <range/v3/algorithm/for_each.hpp>
#include <range/v3/view/zip.hpp>

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::algorithms
	This file is part of ArmarX.

Functions
void	checkSameSize (const std::vector< Costmap > &costmaps)

SceneBounds	computeSceneBounds (const std::vector< Eigen::Vector2f > &points, const SceneBounds &init, const float margin)

SceneBounds	computeSceneBounds (const VirtualRobot::SceneObjectSetPtr &obstacles, const std::vector< VirtualRobot::RobotPtr > &articulatedObjects, const SceneBounds &init, const std::vector< Room > &rooms, const float margin, const bool restrictToRooms)

Costmap::Mask	dilateMask (const Costmap::Mask &mask, int numIterations)

void	invalidateOutsideRooms (const std::vector< Room > &rooms, Costmap &costmap, const float footprintRadius)

void	invalidateOutsideRooms (const std::vector< Room > &rooms, orientation_aware::Costmap3D &costmap, const float footprintRadius)

SceneBounds	merge (const std::vector< SceneBounds > &sceneBounds)

Costmap	mergeAligned (const std::vector< Costmap > &costmaps, const std::vector< float > &weights)

Costmap	mergeAligned (const std::vector< Costmap > &costmaps, CostmapMergeMode mode)

std::optional< core::Pose2D >	sampleValidPositionInMap (const algorithms::Costmap &costmap)

Costmap	scaleCostmap (const Costmap &costmap, float cellSize)

Costmap	toCostmap (const VirtualRobot::WorkspaceGrid &workspaceGrid)

SceneBounds	toSceneBounds (const VirtualRobot::WorkspaceGrid::Extends &extends)

Namespaces

Functions