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Commit 6f52f981 authored by Fabian Reister's avatar Fabian Reister
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navigator: minor

parent cbd3b908
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2 merge requests!46Feature/navigator human reader,!28Draft: Dev -> Main
......@@ -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>
......
......@@ -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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