Add aron conversion

source/armarx/navigation/human/CMakeLists.txt

 armarx_add_aron_library(human_aron
     ARON_FILES
+        aron/Human.xml
 )
 
 armarx_add_library(human
     DEPENDENCIES_PUBLIC
         ArmarXCore
         armarx_navigation::core
+        armarx_navigation::conversions
     DEPENDENCIES_PRIVATE
+        range-v3::range-v3
     SOURCES
-        #types.cpp
+        types.cpp
+        aron_conversions.cpp
     HEADERS
         types.h
+        aron_conversions.h
+        shapes.h
 )

source/armarx/navigation/human/aron/Human.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <GenerateTypes>
+
+        <Object name='armarx::navigation::human::arondto::Human'>
+            <ObjectChild key='pose'>
+                <Pose />
+            </ObjectChild>
+            <ObjectChild key='linearVelocity'>
+                <Position />
+            </ObjectChild>
+            <ObjectChild key='detectionTime'>
+                <Time />
+            </ObjectChild>
+        </Object>
+
+        <Object name='armarx::navigation::human::arondto::HumanGroup'>
+            <ObjectChild key='shape'>
+                <List>
+                    <Position />
+                </List>
+            </ObjectChild>
+            <ObjectChild key='humans'>
+                <List>
+                    <armarx::navigation::human::arondto::Human />
+                </List>
+            </ObjectChild>
+            <ObjectChild key='detectionTime'>
+                <Time />
+            </ObjectChild>
+        </Object>
+
+    </GenerateTypes>
+</AronTypeDefinition>

source/armarx/navigation/human/aron_conversions.cpp

+#include "aron_conversions.h"
+
+#include <armarx/navigation/conversions/eigen.h>
+#include <armarx/navigation/human/aron/Human.aron.generated.h>
+#include <armarx/navigation/human/types.h>
+#include <range/v3/range/conversion.hpp>
+#include <range/v3/view/transform.hpp>
+
+namespace armarx::navigation::human
+{
+    void
+    toAron(arondto::Human& dto, const Human& bo)
+    {
+        dto.pose = conv::to3D(bo.pose).matrix();
+        dto.linearVelocity = conv::to3D(bo.linearVelocity);
+        dto.detectionTime = bo.detectionTime;
+    }
+
+    void
+    fromAron(const arondto::Human& dto, Human& bo)
+    {
+        bo.pose = conv::to2D(core::Pose(dto.pose));
+        bo.linearVelocity = conv::to2D(dto.linearVelocity);
+        bo.detectionTime = dto.detectionTime;
+    }
+
+
+    void
+    toAron(arondto::HumanGroup& dto, const HumanGroup& bo)
+    {
+        dto.shape = bo.shape.vertices |
+                    ranges::views::transform([](const Eigen::Vector2f& boVer) -> Eigen::Vector3f
+                                             { return conv::to3D(boVer); }) |
+                    ranges::to_vector;
+
+        dto.humans = bo.humans |
+                     ranges::views::transform(
+                         [](const Human& boHuman) -> arondto::Human
+                         {
+                             arondto::Human dtoHuman;
+                             toAron(dtoHuman, boHuman);
+                             return dtoHuman;
+                         }) |
+                     ranges::to_vector;
+        dto.detectionTime = bo.detectionTime;
+    }
+
+    void
+    fromAron(const arondto::HumanGroup& dto, HumanGroup& bo)
+    {
+        bo.shape.vertices =
+            dto.shape |
+            ranges::views::transform([](const Eigen::Vector3f& dtoVer) -> Eigen::Vector2f
+                                     { return conv::to2D(dtoVer); }) |
+            ranges::to_vector;
+
+        bo.humans = dto.humans |
+                    ranges::views::transform(
+                        [](const arondto::Human& dtoHuman) -> Human
+                        {
+                            Human boHuman;
+                            fromAron(dtoHuman, boHuman);
+                            return boHuman;
+                        }) |
+                    ranges::to_vector;
+        bo.detectionTime = dto.detectionTime;
+    }
+
+} // namespace armarx::navigation::human

source/armarx/navigation/human/aron_conversions.h

+/**
+ * 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     Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+namespace armarx::navigation::human
+{
+    struct Human;
+    struct HumanGroup;
+
+    namespace arondto
+    {
+        struct Human;
+        struct HumanGroup;
+
+    } // namespace arondto
+
+} // namespace armarx::navigation::human
+
+namespace armarx::navigation::human
+{
+    void toAron(arondto::Human& dto, const Human& bo);
+    void fromAron(const arondto::Human& dto, Human& bo);
+
+    void toAron(arondto::HumanGroup& dto, const HumanGroup& bo);
+    void fromAron(const arondto::HumanGroup& dto, HumanGroup& bo);
+
+} // namespace armarx::navigation::human

source/armarx/navigation/human/shapes.h

+/**
+ * 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     Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <SimoxUtility/shapes.h>
+
+#include <armarx/navigation/core/basic_types.h>
+
+namespace armarx::navigation::human::shapes
+{
+
+    /**
+     * @brief An axis oriented ellipse with half-axes a and b along the x- and y-axis respectively.
+     */
+    struct Ellipse
+    {
+        float a;
+        float b;
+    };
+
+    /**
+     * @brief A polygon with arbitrarily many vertices. The polygon will always be closed automatically.
+     */
+    struct Polygon
+    {
+        std::vector<Eigen::Vector2f> vertices;
+    };
+
+} // namespace armarx::navigation::human::shapes

source/armarx/navigation/human/types.h

@@ -24,6 +24,7 @@
 #include <ArmarXCore/core/time.h>
 
 #include <armarx/navigation/core/basic_types.h>
+#include <armarx/navigation/human/shapes.h>
 
 namespace armarx::navigation::human
 {
@@ -38,7 +39,7 @@ namespace armarx::navigation::human
 
     struct HumanGroup
     {
-        std::vector<Eigen::Vector2f> vertices;
+        shapes::Polygon shape;
         std::vector<Human> humans;
         DateTime detectionTime;
     };
@@ -46,6 +47,7 @@ namespace armarx::navigation::human
     struct ProxemicZone
     {
         core::Pose2D pose;
+        shapes::Ellipse shape;
     };
 
 } // namespace armarx::navigation::human