armarx::navigation::util Namespace Reference

This file is part of ArmarX. More...

Namespaces
namespace	geometry
	This file is part of ArmarX.

Classes
struct	ArticulatedObjectsResult
class	Visualization

Functions
VirtualRobot::SceneObjectSetPtr	asSceneObjects (const armem::vision::OccupancyGrid &occupancyGrid, const OccupancyGridHelper::Params &params)
Eigen::Matrix4f	getRobotPoseAtXOrientedTowardsY (const Eigen::Vector3f &x, const Eigen::Vector3f &y)
ArticulatedObjectsResult	loadArticulatedObjects (armem::articulated_object::ArticulatedObjectReader &reader, const objpose::ObjectPoseSeq &articulatedObjectPoses, VirtualRobot::RobotIO::RobotDescription loadMode=VirtualRobot::RobotIO::eStructure)
	Loads the articulated objects for the given (already filtered) articulated object poses.

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

Niklas Arlt ( niklas dot arlt at kit dot edu )

Date

2026

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 )

Christian R. G. Dreher ( c dot dreher at kit dot edu )

Date

2021

Copyright

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

Function Documentation

asSceneObjects()

VirtualRobot::SceneObjectSetPtr asSceneObjects	(	const armem::vision::OccupancyGrid &	occupancyGrid,
		const OccupancyGridHelper::Params &	params )

getRobotPoseAtXOrientedTowardsY()

Eigen::Matrix4f getRobotPoseAtXOrientedTowardsY	(	const Eigen::Vector3f &	x,
		const Eigen::Vector3f &	y )

loadArticulatedObjects()

ArticulatedObjectsResult loadArticulatedObjects	(	armem::articulated_object::ArticulatedObjectReader &	reader,
		const objpose::ObjectPoseSeq &	articulatedObjectPoses,
		VirtualRobot::RobotIO::RobotDescription	loadMode = VirtualRobot::RobotIO::eStructure )

Loads the articulated objects for the given (already filtered) articulated object poses.

Objects that cannot be loaded or synchronized are reported in missing instead of throwing. This happens regularly during startup: the object pose provider and the object memory segments are filled by different producers, so a pose can be known before the corresponding memory entry exists. The caller decides whether to retry or to continue without the object.