Use human segment instead of special human group

as a human group segment does not exist and the writer writes it in the
human segment

source/armarx/navigation/components/navigation_memory/Component.cpp

@@ -421,13 +421,11 @@ namespace armarx::navigation::components::navigation_memory
     void
     Component::visuRun()
     {
-        memory::Visu visu{
-            arviz,
-            workingMemory().getCoreSegment(navigation::location::coreSegmentID),
-            workingMemory().getCoreSegment(navigation::graph::coreSegmentID),
-            workingMemory().getCoreSegment(memory::constants::CostmapCoreSegmentName),
-            workingMemory().getCoreSegment(memory::constants::HumanCoreSegmentName),
-            workingMemory().getCoreSegment(memory::constants::HumanGroupCoreSegmentName)};
+        memory::Visu visu{arviz,
+                          workingMemory().getCoreSegment(navigation::location::coreSegmentID),
+                          workingMemory().getCoreSegment(navigation::graph::coreSegmentID),
+                          workingMemory().getCoreSegment(memory::constants::CostmapCoreSegmentName),
+                          workingMemory().getCoreSegment(memory::constants::HumanCoreSegmentName)};
 
 
         Properties::LocationGraph p;
@@ -460,6 +458,9 @@ namespace armarx::navigation::components::navigation_memory
             // Humans
             visu.drawHumans(layers, p.visuHumans, p.visuTransparent);
 
+            // Groups
+            visu.drawHumanGroups(layers, p.visuHumanGroups);
+
             arviz.commit(layers);
 
             metronome.waitForNextTick();

source/armarx/navigation/components/navigation_memory/Component.h

@@ -105,6 +105,7 @@ namespace armarx::navigation::components::navigation_memory
                 bool visuGraphEdges = true;
                 bool visuCostmaps = true;
                 bool visuHumans = true;
+                bool visuHumanGroups = true;
 
                 bool visuTransparent = false;
 

source/armarx/navigation/components/navigation_memory/Visu.cpp

@@ -53,14 +53,12 @@ namespace armarx::navigation::memory
                const armem::server::wm::CoreSegment& locSegment,
                const armem::server::wm::CoreSegment& graphSegment,
                const armem::server::wm::CoreSegment& costmapSegment,
-               const armem::server::wm::CoreSegment& humanSegment,
-               const armem::server::wm::CoreSegment& humanGroupSegment) :
+               const armem::server::wm::CoreSegment& humanSegment) :
         arviz(arviz),
         locSegment(locSegment),
         graphSegment(graphSegment),
         costmapSegment(costmapSegment),
         humanSegment(humanSegment),
-        humanGroupSegment(humanGroupSegment),
         visu(std::make_unique<graph::GraphVisu>())
     {
     }
@@ -218,9 +216,6 @@ namespace armarx::navigation::memory
         void
         visualize(const human::HumanGroups& humanGroups, viz::Layer& layer)
         {
-
-            const Eigen::Translation3f human_T_mmm(Eigen::Vector3f{0, 0, 1000});
-
             for (const auto& humanGroup : humanGroups)
             {
                 viz::Polygon polygon(std::to_string(layer.size()));
@@ -332,12 +327,12 @@ namespace armarx::navigation::memory
 
         std::map<std::string, navigation::human::HumanGroups> namedProviderHumanGroups;
 
-        humanGroupSegment.doLocked(
+        humanSegment.doLocked(
             [&]()
             {
                 using namespace armem::server;
 
-                humanGroupSegment.forEachEntity(
+                humanSegment.forEachEntity(
                     [&](const wm::Entity& entity)
                     {
                         entity.getLatestSnapshot().forEachInstance(

source/armarx/navigation/components/navigation_memory/Visu.h

@@ -48,8 +48,7 @@ namespace armarx::navigation::memory
              const armem::server::wm::CoreSegment& locSegment,
              const armem::server::wm::CoreSegment& graphSegment,
              const armem::server::wm::CoreSegment& costmapSegment,
-             const armem::server::wm::CoreSegment& humanSegment,
-             const armem::server::wm::CoreSegment& humanGroupSegment);
+             const armem::server::wm::CoreSegment& humanSegment);
         ~Visu();
 
 
@@ -66,7 +65,6 @@ namespace armarx::navigation::memory
         const armem::server::wm::CoreSegment& graphSegment;
         const armem::server::wm::CoreSegment& costmapSegment;
         const armem::server::wm::CoreSegment& humanSegment;
-        const armem::server::wm::CoreSegment& humanGroupSegment;
 
         std::unique_ptr<navigation::graph::GraphVisu> visu;
     };

source/armarx/navigation/memory/constants.h

@@ -33,7 +33,6 @@ namespace armarx::navigation::memory::constants
     inline const std::string LocationCoreSegmentName = "Location";
     inline const std::string CostmapCoreSegmentName = "Costmap";
     inline const std::string HumanCoreSegmentName = "Human";
-    inline const std::string HumanGroupCoreSegmentName = "HumanGroup";
 
     inline const std::string GlobalPlannerResultCoreSegment = "Results_GlobalPlanner";
     inline const std::string LocalPlannerResultCoreSegment = "Results_LocalPlanner";