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	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 float margin)
Costmap	fromAron (const armem::wm::EntityInstance &entityInstance)
void	fromAron (const arondto::ShortestPathFasterAlgorithmParams &dto, spfa::ShortestPathFasterAlgorithm::Parameters &bo)
Costmap::Mask	fronAron (const aron::data::NDArray &nav)
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::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

Enumeration Type Documentation

CostmapMergeMode

enum CostmapMergeMode

strong

Defines how the.

Enumerator
MAX
MIN
AVERAGE

Definition at line 58 of file util.h.

Function Documentation

checkSameSize()

void checkSameSize

(

const std::vector< Costmap > &

costmaps

)

Definition at line 225 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 float	margin
	)

Definition at line 56 of file util.cpp.

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fromAron() [1/2]

Costmap fromAron

(

const armem::wm::EntityInstance &

entityInstance

)

Definition at line 61 of file aron_conversions.cpp.

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fromAron() [2/2]

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

Definition at line 111 of file aron_conversions.cpp.

fronAron()

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

inline

Definition at line 36 of file aron_conversions.cpp.

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load()

Costmap load

(

const std::filesystem::path &

directory

)

Definition at line 49 of file persistence.cpp.

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merge()

SceneBounds merge

(

const std::vector< SceneBounds > &

sceneBounds

)

Definition at line 119 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 286 of file util.cpp.

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mergeAligned() [2/2]

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

Definition at line 239 of file util.cpp.

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sampleValidPositionInMap()

std::optional< core::Pose2D > sampleValidPositionInMap

(

const algorithms::Costmap &

costmap

)

Definition at line 368 of file util.cpp.

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save()

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

Definition at line 101 of file persistence.cpp.

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scaleCostmap()

Costmap scaleCostmap	(	const Costmap &	costmap,
		float	cellSize
	)

Definition at line 311 of file util.cpp.

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toAron() [1/5]

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

Definition at line 100 of file aron_conversions.cpp.

toAron() [2/5]

DtoT armarx::navigation::algorithms::toAron

(

const BoT &

bo

)

Definition at line 34 of file aron_conversions.h.

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toAron() [3/5]

armarx::aron::data::DictPtr toAron

(

const Costmap &

bo

)

Definition at line 43 of file aron_conversions.cpp.

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toAron() [4/5]

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

inline

Definition at line 17 of file aron_conversions.cpp.

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toAron() [5/5]

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

inline

Definition at line 24 of file aron_conversions.cpp.

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toCostmap()

Costmap toCostmap

(

const VirtualRobot::WorkspaceGrid &

workspaceGrid

)

Definition at line 140 of file util.cpp.

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toSceneBounds()

SceneBounds toSceneBounds

(

const VirtualRobot::WorkspaceGrid::Extends &

extends

)

Definition at line 112 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 20 of file visualization.cpp.

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