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Software
ArmarX
Skills
Navigation
Commits
6f52f981
Commit
6f52f981
authored
2 years ago
by
Fabian Reister
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navigator: minor
parent
cbd3b908
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2 merge requests
!46
Feature/navigator human reader
,
!28
Draft: Dev -> Main
Changes
2
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2 changed files
source/armarx/navigation/components/navigator/Component.cpp
+1
-1
1 addition, 1 deletion
source/armarx/navigation/components/navigator/Component.cpp
source/armarx/navigation/local_planning/TebObstacleManager.cpp
+4
-4
4 additions, 4 deletions
...e/armarx/navigation/local_planning/TebObstacleManager.cpp
with
5 additions
and
5 deletions
source/armarx/navigation/components/navigator/Component.cpp
+
1
−
1
View file @
6f52f981
...
...
@@ -56,7 +56,7 @@
#include
<ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
#include
<ArmarXCore/util/CPPUtility/trace.h>
#include
"
ArmarXGui/libraries/RemoteGui/Client/Widgets.h
"
#include
<
ArmarXGui/libraries/RemoteGui/Client/Widgets.h
>
#include
<RobotAPI/components/ArViz/Client/Client.h>
#include
<RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
...
...
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source/armarx/navigation/local_planning/TebObstacleManager.cpp
+
4
−
4
View file @
6f52f981
...
...
@@ -39,7 +39,7 @@ namespace armarx::navigation::local_planning
obst
->
finalizePolygon
();
container
.
push_back
(
obst
);
if
(
visLayer
)
if
(
visLayer
!=
nullptr
)
{
const
Eigen
::
Vector3f
min3d
=
conv
::
fromRos
(
min
);
const
Eigen
::
Vector3f
max3d
=
conv
::
fromRos
(
max
);
...
...
@@ -58,7 +58,7 @@ namespace armarx::navigation::local_planning
{
auto
proxemicZones
=
proxemics
.
createProxemicZones
(
human
);
for
(
auto
&
proxemicZone
:
proxemicZones
)
for
(
const
auto
&
proxemicZone
:
proxemicZones
)
{
auto
pose
=
conv
::
toRos
(
proxemicZone
.
pose
);
auto
shape
=
conv
::
toRos
(
proxemicZone
.
shape
);
...
...
@@ -67,7 +67,7 @@ namespace armarx::navigation::local_planning
auto
obst
=
boost
::
make_shared
<
teb_local_planner
::
extension
::
EllipseObstacle
>
(
pose
.
position
(),
pose
.
theta
(),
shape
.
a
,
shape
.
b
);
auto
&
penalty
=
proxemicZone
.
penalty
;
const
auto
&
penalty
=
proxemicZone
.
penalty
;
obst
->
setPenaltyModel
(
boost
::
make_shared
<
teb_local_planner
::
ExponentialPenaltyModel
>
(
teb_local_planner
::
LinearPenaltyModel
(
penalty
.
minDistance
,
penalty
.
epsilon
),
...
...
@@ -83,7 +83,7 @@ namespace armarx::navigation::local_planning
container
.
push_back
(
obst
);
if
(
visLayer
)
if
(
visLayer
!=
nullptr
)
{
const
Eigen
::
Vector3f
axisLength
(
proxemicZone
.
shape
.
a
,
proxemicZone
.
shape
.
b
,
0
);
const
core
::
Pose
pose3d
=
conv
::
to3D
(
human
.
pose
);
...
...
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