aron_conversions.h
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1 /**
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @date 2021
18  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
19  * GNU General Public License
20  */
21 
22 #pragma once
23 
27 #include <armarx/navigation/algorithms/aron/Costmap.aron.generated.h>
28 
30 {
31  // TODO fix ADL and remove this function
32  template <class DtoT, class BoT>
33  DtoT
34  toAron(const BoT& bo)
35  {
36  DtoT dto;
37  toAron(dto, bo);
38  return dto;
39  }
40 
41  // aron xml definition is not complete. "grid" and "mask" fields will be added
42  armarx::aron::data::DictPtr toAron(const Costmap& bo);
43 
44  // Costmap does not provide a default c'tor
45  Costmap fromAron(const armem::wm::EntityInstance& entityInstance);
46 
47  namespace arondto
48  {
49  class ShortestPathFasterAlgorithmParams;
50  }
51 
52  void toAron(arondto::ShortestPathFasterAlgorithmParams& dto, const spfa::ShortestPathFasterAlgorithm::Parameters& bo);
53 
54  void fromAron(const arondto::ShortestPathFasterAlgorithmParams& dto, spfa::ShortestPathFasterAlgorithm::Parameters& bo);
55 
56 
57 } // 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