From bd081a79c1df4f59c517c57354605273ef9552a0 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 27 Jul 2021 20:34:14 +0200
Subject: [PATCH] global planning: implemented aron_conversions
---
.../libraries/global_planning/AStar.cpp | 17 +++++++++--
.../libraries/global_planning/AStar.h | 2 --
.../global_planning/aron/AStarParams.xml | 13 ++++-----
.../aron/GlobalPlannerParams.xml | 9 ------
.../global_planning/aron_conversions.cpp | 28 +++++++++++++++++--
.../global_planning/aron_conversions.h | 14 ++++++++--
6 files changed, 56 insertions(+), 27 deletions(-)
diff --git a/source/Navigation/libraries/global_planning/AStar.cpp b/source/Navigation/libraries/global_planning/AStar.cpp
index 4cb86374..fd38f8d3 100644
--- a/source/Navigation/libraries/global_planning/AStar.cpp
+++ b/source/Navigation/libraries/global_planning/AStar.cpp
@@ -6,7 +6,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "Navigation/libraries/global_planning/Point2Point.h"
+#include "Navigation/libraries/global_planning/aron_conversions.h"
#include <Navigation/libraries/algorithms/astar/AStarPlanner.h>
#include <Navigation/libraries/algorithms/smoothing/ChainApproximation.h>
#include <Navigation/libraries/algorithms/smoothing/CircularPathSmoothing.h>
@@ -29,13 +29,24 @@ namespace armarx::nav::glob_plan
aron::datanavigator::DictNavigatorPtr
AStarParams::toAron() const
{
- return arondto::AStarParams().toAron(); // TODO implement
+ arondto::AStarParams dto;
+
+ AStarParams bo;
+ aron_conv::toAron(dto, bo);
+
+ return dto.toAron();
}
AStarParams
AStarParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
{
- return AStarParams(); // TODO implement
+ arondto::AStarParams dto;
+ dto.fromAron(dict);
+
+ AStarParams bo;
+ aron_conv::fromAron(dto, bo);
+
+ return bo;
}
// AStar
diff --git a/source/Navigation/libraries/global_planning/AStar.h b/source/Navigation/libraries/global_planning/AStar.h
index 28972bf4..c23d9186 100644
--- a/source/Navigation/libraries/global_planning/AStar.h
+++ b/source/Navigation/libraries/global_planning/AStar.h
@@ -35,13 +35,11 @@ namespace armarx::nav::glob_plan
struct AStarParams : public GlobalPlannerParams
{
float linearVelocity{500};
-
float resampleDistance{500};
Algorithms algorithm() const override;
aron::datanavigator::DictNavigatorPtr toAron() const override;
-
static AStarParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
};
diff --git a/source/Navigation/libraries/global_planning/aron/AStarParams.xml b/source/Navigation/libraries/global_planning/aron/AStarParams.xml
index bc9c32c9..39b41041 100644
--- a/source/Navigation/libraries/global_planning/aron/AStarParams.xml
+++ b/source/Navigation/libraries/global_planning/aron/AStarParams.xml
@@ -1,22 +1,21 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
+ <Include include="<Navigation/libraries/global_planning/aron/GlobalPlannerParams.aron.generated.h>" />
</CodeIncludes>
<AronIncludes>
+ <Include include="<Navigation/libraries/global_planning/aron/GlobalPlannerParams.xml>" />
</AronIncludes>
<GenerateTypes>
- <Object name='armarx::nav::glob_plan::arondto::AStarParams'>
- <!-- <ObjectChild key='resolution'>
+ <Object name='armarx::nav::glob_plan::arondto::AStarParams' extends="armarx::nav::glob_plan::arondto::GlobalPlannerParams">
+ <ObjectChild key='linearVelocity'>
<float />
</ObjectChild>
- <ObjectChild key='frame'>
- <string />
+ <ObjectChild key='resampleDistance'>
+ <float />
</ObjectChild>
- <ObjectChild key='pose'>
- <Pose />
- </ObjectChild> -->
</Object>
diff --git a/source/Navigation/libraries/global_planning/aron/GlobalPlannerParams.xml b/source/Navigation/libraries/global_planning/aron/GlobalPlannerParams.xml
index f74b78db..40731e9b 100644
--- a/source/Navigation/libraries/global_planning/aron/GlobalPlannerParams.xml
+++ b/source/Navigation/libraries/global_planning/aron/GlobalPlannerParams.xml
@@ -8,15 +8,6 @@
<GenerateTypes>
<Object name='armarx::nav::glob_plan::arondto::GlobalPlannerParams'>
- <!-- <ObjectChild key='resolution'>
- <float />
- </ObjectChild>
- <ObjectChild key='frame'>
- <string />
- </ObjectChild>
- <ObjectChild key='pose'>
- <Pose />
- </ObjectChild> -->
</Object>
diff --git a/source/Navigation/libraries/global_planning/aron_conversions.cpp b/source/Navigation/libraries/global_planning/aron_conversions.cpp
index 4161254b..fa8e2c84 100644
--- a/source/Navigation/libraries/global_planning/aron_conversions.cpp
+++ b/source/Navigation/libraries/global_planning/aron_conversions.cpp
@@ -1,22 +1,24 @@
#include "aron_conversions.h"
+#include "RobotAPI/libraries/aron/common/aron_conversions/core.h"
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+#include "Navigation/libraries/global_planning/AStar.h"
#include "Navigation/libraries/global_planning/GlobalPlanner.h"
#include "Navigation/libraries/global_planning/Point2Point.h"
+#include "Navigation/libraries/global_planning/aron/AStarParams.aron.generated.h"
#include "Navigation/libraries/global_planning/aron/GlobalPlannerParams.aron.generated.h"
#include "Navigation/libraries/global_planning/aron/Point2PointParams.aron.generated.h"
-// #include "Navigation/libraries/global_planning/aron/AStarParams.aron.generated.h"
namespace armarx::nav::glob_plan::aron_conv
{
void
- toAron(arondto::GlobalPlannerParams& dto, const GlobalPlanner& bo)
+ toAron(arondto::GlobalPlannerParams& dto, const GlobalPlannerParams& bo)
{
}
void
- fromAron(const arondto::GlobalPlannerParams& dto, GlobalPlanner& bo)
+ fromAron(const arondto::GlobalPlannerParams& dto, GlobalPlannerParams& bo)
{
}
@@ -35,4 +37,24 @@ namespace armarx::nav::glob_plan::aron_conv
aron::fromAron(dto.includeStartPose, bo.includeStartPose);
aron::fromAron(dto.velocity, bo.velocity);
}
+
+ void
+ toAron(arondto::AStarParams& dto, const AStarParams& bo)
+ {
+ toAron(static_cast<arondto::GlobalPlannerParams&>(dto),
+ static_cast<const GlobalPlannerParams&>(bo));
+
+ aron::toAron(dto.linearVelocity, bo.linearVelocity);
+ aron::toAron(dto.resampleDistance, bo.resampleDistance);
+ }
+
+ void
+ fromAron(const arondto::AStarParams& dto, AStarParams& bo)
+ {
+ fromAron(static_cast<const arondto::GlobalPlannerParams&>(dto),
+ static_cast<GlobalPlannerParams&>(bo));
+
+ aron::fromAron(dto.linearVelocity, bo.linearVelocity);
+ aron::fromAron(dto.resampleDistance, bo.resampleDistance);
+ }
} // namespace armarx::nav::glob_plan::aron_conv
diff --git a/source/Navigation/libraries/global_planning/aron_conversions.h b/source/Navigation/libraries/global_planning/aron_conversions.h
index 113c7d8a..2a946d43 100644
--- a/source/Navigation/libraries/global_planning/aron_conversions.h
+++ b/source/Navigation/libraries/global_planning/aron_conversions.h
@@ -1,22 +1,30 @@
+#pragma once
namespace armarx::nav::glob_plan
{
- struct GlobalPlanner;
+ struct GlobalPlannerParams;
struct Point2PointParams;
+ struct AStarParams;
namespace arondto
{
struct GlobalPlannerParams;
struct Point2PointParams;
+ struct AStarParams;
+
} // namespace arondto
+
} // namespace armarx::nav::glob_plan
namespace armarx::nav::glob_plan::aron_conv
{
- void toAron(arondto::GlobalPlannerParams& dto, const GlobalPlanner& bo);
- void fromAron(const arondto::GlobalPlannerParams& dto, GlobalPlanner& bo);
+ void toAron(arondto::GlobalPlannerParams& dto, const GlobalPlannerParams& bo);
+ void fromAron(const arondto::GlobalPlannerParams& dto, GlobalPlannerParams& bo);
void toAron(arondto::Point2PointParams& dto, const Point2PointParams& bo);
void fromAron(const arondto::Point2PointParams& dto, Point2PointParams& bo);
+ void toAron(arondto::AStarParams& dto, const AStarParams& bo);
+ void fromAron(const arondto::AStarParams& dto, AStarParams& bo);
+
} // namespace armarx::nav::glob_plan::aron_conv
--
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