This file is part of ArmarX. More...

Namespaces
namespace	arondto

namespace	costmap
	This file is part of ArmarX.

namespace	orientation_aware
	This file is part of ArmarX.

namespace	spfa
	This file is part of ArmarX.

namespace	tsp
	This file is part of ArmarX.

Classes
class	Costmap

class	CostmapBuilder

struct	overloaded

struct	Room

struct	SceneBounds

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

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)

orientation_aware::Costmap3D	costmap3dFromAron (const armem::wm::EntityInstance &entityInstance)

Costmap	costmapFromAron (const aron::data::DictPtr &dto)

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

template<typename T, typename Proj>
std::vector< T >	filterByRoom (const armarx::navigation::algorithms::Room &room, const std::vector< T > &objects, Proj proj)
	Filter a collection of objects by whether their projected position lies inside a room.

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)

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

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

template<class... Ts>
	overloaded (Ts...) -> overloaded< Ts... >

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)

armarx::aron::data::DictPtr	toAron (const orientation_aware::Costmap3D &bo)

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)

void	visualize (const algorithms::orientation_aware::Costmap3D &costmap, std::vector< viz::Layer > &layers, const std::string &name, const float zOffset, bool initializeMask)

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

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: 2025

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

Enumeration Type Documentation

◆ CostmapMergeMode

enum class CostmapMergeMode

strong

Defines how the.

Enumerator
MAX
MIN
AVERAGE

Definition at line 71 of file util.h.

Function Documentation

◆ checkSameSize()

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

Definition at line 289 of file util.cpp.

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◆ computeSceneBounds() [1/2]

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

Definition at line 152 of file util.cpp.

◆ computeSceneBounds() [2/2]

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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◆ costmap3dFromAron()

orientation_aware::Costmap3D costmap3dFromAron ( const armem::wm::EntityInstance & entityInstance )

Definition at line 197 of file aron_conversions.cpp.

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◆ costmapFromAron()

Costmap costmapFromAron ( const aron::data::DictPtr & dto )

Definition at line 91 of file aron_conversions.cpp.

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◆ dilateMask()

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

Dilate the costmap mask to bridge over small gaps in the mask

Definition at line 519 of file util.cpp.

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◆ filterByRoom()

template<typename T, typename Proj>

std::vector< T > filterByRoom	(	const armarx::navigation::algorithms::Room &	room,
		const std::vector< T > &	objects,
		Proj	proj )

Filter a collection of objects by whether their projected position lies inside a room.

This function applies a projection callable to each object in objects and retains those objects for which the room reports the projected value as inside (via Room::isInside). The relative order of the returned elements matches the order in objects.

Template Parameters

T	Type of elements stored in `objects`. Must be CopyConstructible or MoveConstructible since selected elements are returned by value in a new std::vector<T>.
Proj	Callable type for the projection. Must be Invocable with an argument of type const T& (or T) and return a value accepted by armarx::navigation::algorithms::Room::isInside.

Parameters

room	Reference to an armarx::navigation::algorithms::Room used for the inside-test.
objects	Constant reference to the input vector of objects to be filtered.
proj	Projection callable applied to each object to obtain the value checked by room.isInside.

Returns: A std::vector<T> containing copies of the objects for which room.isInside(proj(obj)) returns true. If no objects satisfy the predicate, an empty vector is returned.

@complexity Linear in objects.size(): each element is projected and tested once.

@exceptionsafety Any exceptions thrown by proj or Room::isInside propagate to the caller.

Note: This implementation relies on C++ ranges utilities (ranges::views::filter and ranges::to_vector).

Definition at line 63 of file room_util.h.

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◆ fromAron() [1/3]

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

Definition at line 130 of file aron_conversions.cpp.

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◆ fromAron() [2/3]

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

Definition at line 277 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 258 of file aron_conversions.cpp.

◆ invalidateOutsideRooms() [1/2]

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

Definition at line 493 of file util.cpp.

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◆ invalidateOutsideRooms() [2/2]

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

Definition at line 509 of file util.cpp.

◆ load()

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

Definition at line 54 of file persistence.cpp.

◆ merge()

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

Definition at line 183 of file util.cpp.

◆ mergeAligned() [1/2]

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

Definition at line 349 of file util.cpp.

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◆ mergeAligned() [2/2]

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

Definition at line 303 of file util.cpp.

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◆ overloaded()

template<class... Ts>

overloaded ( Ts... ) -> overloaded< Ts... >

◆ sampleValidPositionInMap()

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

Definition at line 431 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 373 of file util.cpp.

◆ toAron() [1/5]

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

Definition at line 268 of file aron_conversions.cpp.

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◆ toAron() [2/5]

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

Definition at line 248 of file aron_conversions.cpp.

◆ toAron() [3/5]

template<class DtoT, class BoT>

DtoT toAron ( const BoT & bo )

Definition at line 39 of file aron_conversions.h.

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◆ toAron() [4/5]

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

Definition at line 70 of file aron_conversions.cpp.

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◆ toAron() [5/5]

armarx::aron::data::DictPtr toAron ( const orientation_aware::Costmap3D & bo )

Definition at line 172 of file aron_conversions.cpp.

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◆ toCostmap()

Costmap toCostmap ( const VirtualRobot::WorkspaceGrid & workspaceGrid )

Definition at line 204 of file util.cpp.

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◆ toSceneBounds()

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

Definition at line 176 of file util.cpp.

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◆ visualize() [1/2]

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

Definition at line 82 of file visualization.cpp.

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◆ visualize() [2/2]

void visualize	(	const algorithms::orientation_aware::Costmap3D &	costmap,
		std::vector< viz::Layer > &	layers,
		const std::string &	name,
		const float	zOffset,
		bool	initializeMask )

Definition at line 118 of file visualization.cpp.

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Namespaces

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CostmapMergeMode

Function Documentation

◆ checkSameSize()

◆ computeSceneBounds() [1/2]

◆ computeSceneBounds() [2/2]

◆ costmap3dFromAron()

◆ costmapFromAron()

◆ dilateMask()

◆ filterByRoom()

◆ fromAron() [1/3]

◆ fromAron() [2/3]

◆ fromAron() [3/3]

◆ invalidateOutsideRooms() [1/2]

◆ invalidateOutsideRooms() [2/2]

◆ load()

◆ merge()

◆ mergeAligned() [1/2]

◆ mergeAligned() [2/2]

◆ overloaded()

◆ sampleValidPositionInMap()

◆ save()

◆ scaleCostmap()

◆ toAron() [1/5]

◆ toAron() [2/5]

◆ toAron() [3/5]

◆ toAron() [4/5]

◆ toAron() [5/5]

◆ toCostmap()

◆ toSceneBounds()

◆ visualize() [1/2]

◆ visualize() [2/2]