Namespaces | Classes | Enumerations | Functions
armarx::navigation::algorithms Namespace Reference

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 439 of file util.cpp.

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◆ load()

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

Definition at line 52 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 326 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 408 of file util.cpp.

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◆ save()

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

Definition at line 105 of file persistence.cpp.

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◆ scaleCostmap()

Costmap scaleCostmap ( const Costmap &  costmap,
float  cellSize 
)

Definition at line 351 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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