Add GroupShapeStrategy

source/armarx/navigation/human/CMakeLists.txt

@@ -31,4 +31,5 @@ armarx_add_library(teb_human
         EuclideanDistance.h
         OrientationDistance.h
         CombinedDistance.h
+        GroupShapeStrategy.h
 )

source/armarx/navigation/human/EuclideanDistance.h

@@ -34,6 +34,6 @@ namespace armarx::navigation::human
     {
     public:
         EuclideanDistance(double min = 0);
-        double computeDistance(Human &h1, Human &h2);
+        virtual double computeDistance(Human &h1, Human &h2);
     };
 }

source/armarx/navigation/human/GroupShapeStrategy.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     Timo Weberruß ( timo dot weberruss 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 <armarx/navigation/human/types.h>
+
+
+namespace armarx::navigation::human
+{
+    /**
+     * @brief Encapsules a way to create a shape describing the special area occupied by a social
+     * human group
+     */
+    class GroupShapeStrategy
+    {
+    public:
+        GroupShapeStrategy();
+        virtual ~GroupShapeStrategy();
+
+        /**
+         * @brief createShape creates and returns the shape describing the given group
+         * @param group a social grouping of at least one human
+         * @return a polygon describing the proxemic zone occupied by the given group (not including
+         * the zones of the individual members of the group)
+         */
+        virtual shapes::Polygon createShape(const HumanGroup &group) = 0;
+    };
+}