aron_conversions.h
Go to the documentation of this file.
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/**
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <
RobotAPI/libraries/armem/core/wm/memory_definitions.h
>
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#include <
armarx/navigation/algorithms/spfa/ShortestPathFasterAlgorithm.h
>
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#include <
armarx/navigation/algorithms/Costmap.h
>
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#include <armarx/navigation/algorithms/aron/Costmap.aron.generated.h>
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namespace
armarx::navigation::algorithms
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{
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// TODO fix ADL and remove this function
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template
<
class
DtoT,
class
BoT>
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DtoT
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toAron
(
const
BoT&
bo
)
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{
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DtoT dto;
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toAron
(dto,
bo
);
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return
dto;
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}
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// aron xml definition is not complete. "grid" and "mask" fields will be added
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armarx::aron::data::DictPtr
toAron
(
const
Costmap&
bo
);
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// Costmap does not provide a default c'tor
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Costmap
fromAron
(
const
armem::wm::EntityInstance
& entityInstance);
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namespace
arondto
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{
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class
ShortestPathFasterAlgorithmParams;
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}
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void
toAron
(arondto::ShortestPathFasterAlgorithmParams& dto,
const
spfa::ShortestPathFasterAlgorithm::Parameters
&
bo
);
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void
fromAron
(
const
arondto::ShortestPathFasterAlgorithmParams& dto,
spfa::ShortestPathFasterAlgorithm::Parameters
&
bo
);
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}
// namespace armarx::navigation::algorithms
armarx::navigation::algorithms::spfa::ShortestPathFasterAlgorithm::Parameters
Definition:
ShortestPathFasterAlgorithm.h:36
armarx::armem::wm::EntityInstance
Client-side working entity instance.
Definition:
memory_definitions.h:32
armarx::navigation::algorithms::fromAron
Costmap fromAron(const armem::wm::EntityInstance &entityInstance)
Definition:
aron_conversions.cpp:61
armarx::navigation::algorithms
This file is part of ArmarX.
Definition:
aron_conversions.cpp:13
ShortestPathFasterAlgorithm.h
Costmap.h
armarx::navigation::algorithms::toAron
aron::data::NDArrayPtr toAron(const Costmap::Grid &grid)
Definition:
aron_conversions.cpp:17
memory_definitions.h
armarx::aron::data::DictPtr
std::shared_ptr< Dict > DictPtr
Definition:
Dict.h:41
armarx::aron::bo
const std::optional< BoT > & bo
Definition:
aron_conversions.h:168
armarx
navigation
algorithms
aron_conversions.h
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