This file is part of ArmarX. More...

Namespaces
	arondto

	spfa
	This file is part of ArmarX.

Classes
class	Costmap

class	CostmapBuilder

struct	Room

struct	SceneBounds

Enumerations
enum	CostmapMergeMode { MAX, MIN, AVERAGE }
	Defines how the. More...

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

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	fromAron (const armem::wm::EntityInstance &entityInstance)

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

void	fromAron (const arondto::ShortestPathFasterAlgorithmParams &dto, spfa::ShortestPathFasterAlgorithm::Parameters &bo)

Costmap::Mask	fronAron (const aron::data::NDArray &nav)

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

Costmap	load (const std::filesystem::path &directory)

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)

bool	save (const Costmap &costmap, const std::filesystem::path &directory)

Costmap	scaleCostmap (const Costmap &costmap, float cellSize)

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

void	toAron (arondto::ShortestPathFasterAlgorithmParams &dto, const spfa::ShortestPathFasterAlgorithm::Parameters &bo)

template<class DtoT , class BoT >
DtoT	toAron (const BoT &bo)

armarx::aron::data::DictPtr	toAron (const Costmap &bo)

aron::data::NDArrayPtr	toAron (const Costmap::Grid &grid)

aron::data::NDArrayPtr	toAron (const std::optional< Costmap::Mask > &mask)

Costmap	toCostmap (const VirtualRobot::WorkspaceGrid &workspaceGrid)

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

void	visualize (const algorithms::Costmap &costmap, viz::Layer &layer, const std::string &name, const float zOffset)

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: 2021

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 )

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 )

Date: 2023

Copyright: http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Enumeration Type Documentation

◆ CostmapMergeMode

enum CostmapMergeMode

strong

Defines how the.

Enumerator
MAX
MIN
AVERAGE

Definition at line 65 of file util.h.

Function Documentation

◆ checkSameSize()

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

Definition at line 265 of file util.cpp.

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◆ computeSceneBounds()

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
	)

Definition at line 62 of file util.cpp.

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◆ fromAron() [1/3]

Costmap fromAron ( const armem::wm::EntityInstance & entityInstance )

Definition at line 74 of file aron_conversions.cpp.

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◆ fromAron() [2/3]

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

Definition at line 144 of file aron_conversions.cpp.

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◆ fromAron() [3/3]

void fromAron	(	const arondto::ShortestPathFasterAlgorithmParams &	dto,
		spfa::ShortestPathFasterAlgorithm::Parameters &	bo
	)

Definition at line 125 of file aron_conversions.cpp.

◆ fronAron()

Costmap::Mask armarx::navigation::algorithms::fronAron ( const aron::data::NDArray & nav )

inline

Definition at line 46 of file aron_conversions.cpp.

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◆ invalidateOutsideRooms()

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

Definition at line 438 of file util.cpp.

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◆ load()

Costmap load ( const std::filesystem::path & directory )

Definition at line 54 of file persistence.cpp.

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◆ merge()

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

Definition at line 159 of file util.cpp.

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◆ mergeAligned() [1/2]

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

Definition at line 325 of file util.cpp.

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◆ mergeAligned() [2/2]

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

Definition at line 279 of file util.cpp.

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◆ sampleValidPositionInMap()

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

Definition at line 407 of file util.cpp.

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◆ save()

bool save	(	const Costmap &	costmap,
		const std::filesystem::path &	directory
	)

Definition at line 114 of file persistence.cpp.

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◆ scaleCostmap()

Costmap scaleCostmap	(	const Costmap &	costmap,
		float	cellSize
	)

Definition at line 349 of file util.cpp.

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◆ toAron() [1/6]

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

Definition at line 135 of file aron_conversions.cpp.

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◆ toAron() [2/6]

void toAron	(	arondto::ShortestPathFasterAlgorithmParams &	dto,
		const spfa::ShortestPathFasterAlgorithm::Parameters &	bo
	)

Definition at line 115 of file aron_conversions.cpp.

◆ toAron() [3/6]

DtoT armarx::navigation::algorithms::toAron ( const BoT & bo )

Definition at line 37 of file aron_conversions.h.

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◆ toAron() [4/6]

armarx::aron::data::DictPtr toAron ( const Costmap & bo )

Definition at line 53 of file aron_conversions.cpp.

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◆ toAron() [5/6]

aron::data::NDArrayPtr armarx::navigation::algorithms::toAron ( const Costmap::Grid & grid )

inline

Definition at line 29 of file aron_conversions.cpp.

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◆ toAron() [6/6]

aron::data::NDArrayPtr armarx::navigation::algorithms::toAron ( const std::optional< Costmap::Mask > & mask )

inline

Definition at line 35 of file aron_conversions.cpp.

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◆ toCostmap()

Costmap toCostmap ( const VirtualRobot::WorkspaceGrid & workspaceGrid )

Definition at line 180 of file util.cpp.

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◆ toSceneBounds()

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

Definition at line 152 of file util.cpp.

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◆ visualize()

void visualize	(	const algorithms::Costmap &	costmap,
		viz::Layer &	layer,
		const std::string &	name,
		const float	zOffset
	)

Definition at line 25 of file visualization.cpp.

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Namespaces

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CostmapMergeMode

Function Documentation

◆ checkSameSize()

◆ computeSceneBounds()

◆ fromAron() [1/3]

◆ fromAron() [2/3]

◆ fromAron() [3/3]

◆ fronAron()

◆ invalidateOutsideRooms()

◆ load()

◆ merge()

◆ mergeAligned() [1/2]

◆ mergeAligned() [2/2]

◆ sampleValidPositionInMap()

◆ save()

◆ scaleCostmap()

◆ toAron() [1/6]

◆ toAron() [2/6]

◆ toAron() [3/6]

◆ toAron() [4/6]

◆ toAron() [5/6]

◆ toAron() [6/6]

◆ toCostmap()

◆ toSceneBounds()

◆ visualize()