From 14fe938221a9a23b28d8c065984dbff4a1ee4f19 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Mon, 15 Aug 2022 19:51:42 +0200
Subject: [PATCH] Implement HumanTracker::mostRecentTrackedHumans()
---
.../dynamic_scene_provider/HumanTracker.cpp | 26 +++++++++++++++++++
1 file changed, 26 insertions(+)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
index fd15dc3b..dcd76e7d 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
@@ -49,6 +49,32 @@ namespace armarx::navigation::components::dynamic_scene_provider
{
}
+ std::vector<human::Human>
+ HumanTracker::mostRecentTrackedHumans() const
+ {
+ if (trackedHumans.empty())
+ {
+ return {};
+ }
+
+ std::sort(trackedHumans.begin(),
+ trackedHumans.end(),
+ [](human::Human a, human::Human b) -> bool
+ { return a.detectionTime.operator<=(b.detectionTime); });
+ DateTime mostRecentTime = trackedHumans.back().detectionTime;
+
+ std::vector<human::Human> mostRecentHumans;
+
+ for (human::Human trackedHuman : trackedHumans)
+ {
+ if (trackedHuman.detectionTime == mostRecentTime)
+ {
+ mostRecentHumans.push_back(trackedHuman);
+ }
+ }
+
+ return mostRecentHumans;
+ }
void
HumanTracker::reset()
--
GitLab