Change usage of TrackedHuman to Human

source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt

@@ -31,6 +31,7 @@ armarx_add_component(dynamic_scene_provider
         armarx_navigation::util
         armarx_navigation::memory
         armarx_navigation::dynamic_scene
+        armarx_navigation::human
         ## RobotAPICore
         ## RobotAPIInterfaces
         ## RobotAPIComponentPlugins  # For ArViz and other plugins.

source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp

@@ -28,7 +28,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
             pose.translation() = Eigen::Vector2f{centerPos.x(), centerPos.y()};
             pose.linear() = Eigen::Rotation2Df(0 /*angle*/).toRotationMatrix();
 
-            const HumanTracker::TrackedHuman newHuman = {
+            const human::Human newHuman = {
                 .global_T_human = pose,
                 .linearVelocity = Eigen::Vector2f::Zero() //TODO more sophisticated guess
             };
@@ -37,7 +37,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
         }
     }
 
-    const std::vector<HumanTracker::TrackedHuman>&
+    const std::vector<human::Human>&
     HumanTracker::getTrackedHumans() const
     {
         return trackedHumans;

source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h

@@ -4,6 +4,7 @@
 #include "VisionX/libraries/armem_human/types.h"
 
 #include "armarx/navigation/core/basic_types.h"
+#include "armarx/navigation/human/types.h"
 
 namespace armarx::navigation::components::dynamic_scene_provider
 {
@@ -20,19 +21,11 @@ namespace armarx::navigation::components::dynamic_scene_provider
 
         void update(const Measurements& measurements);
 
-        struct TrackedHuman
-        {
-            // TODO ...
-            core::Pose2D global_T_human;
-
-            Eigen::Vector2f linearVelocity;
-        };
-
-        const std::vector<TrackedHuman>& getTrackedHumans() const;
+        const std::vector<human::Human>& getTrackedHumans() const;
 
         void reset();
 
     private:
-        std::vector<TrackedHuman> trackedHumans;
+        std::vector<human::Human> trackedHumans;
     };
 } // namespace armarx::navigation::components::dynamic_scene_provider