Use GroupShapeStrategy in HumanGrouper

source/armarx/navigation/human/HumanGrouper.cpp

@@ -6,6 +6,7 @@ namespace armarx::navigation::human
     HumanGrouper::HumanGrouper(GroupingSettings settings) : settings(settings)
     {
         this->distanceFunction = new CombinedDistance(settings.maxOrientationInfluence);
+        this->shapeGenerator = NULL; // TODO: implement and use interface
     }
 
     HumanGrouper::~HumanGrouper()
@@ -51,7 +52,10 @@ namespace armarx::navigation::human
             }
         }
 
-        // TODO: shape generation
+        for (human::HumanGroup group : groups)
+        {
+            group.shape = shapeGenerator->createShape(group);
+        }
 
         return groups;
     }

source/armarx/navigation/human/HumanGrouper.h

@@ -22,6 +22,7 @@
 #pragma once
 
 #include "DistanceFunction.h"
+#include "GroupShapeStrategy.h"
 #include "armarx/navigation/core/basic_types.h"
 #include "armarx/navigation/human/types.h"
 
@@ -80,6 +81,7 @@ namespace armarx::navigation::human
     private:
         std::vector<Human> currentHumans;
         DistanceFunction *distanceFunction;
+        GroupShapeStrategy *shapeGenerator;
         GroupingSettings settings;
     };
 }