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Commit cbd3b908 authored by Fabian Reister's avatar Fabian Reister
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timedelasticbands: activated obstManager.addHumanObstacle

parent 9ba03522
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2 merge requests!46Feature/navigator human reader,!28Draft: Dev -> Main
......@@ -145,7 +145,7 @@ namespace armarx::navigation::local_planning
viz::Layer* visPtr = nullptr;
viz::Layer visLayer;
if (arviz)
if (arviz != nullptr)
{
visLayer = arviz->layer("local_planner_obstacles");
visPtr = &visLayer;
......@@ -154,6 +154,7 @@ namespace armarx::navigation::local_planning
if (scene.staticScene)
{
ARMARX_CHECK(scene.staticScene.has_value());
for (const auto& obst : scene.staticScene.value().objects->getCollisionModels())
{
obstManager.addBoxObstacle(obst->getGlobalBoundingBox(), visPtr);
......@@ -161,14 +162,14 @@ namespace armarx::navigation::local_planning
}
if (scene.dynamicScene)
{
//TODO include humans in dynamic scene
//for (const auto& obst : scene.dynamicScene.value().humans)
//{
// obstManager.addHumanObstacle(obst, visPtr);
//}
ARMARX_CHECK(scene.dynamicScene.has_value());
for (const auto& obst : scene.dynamicScene.value().humans)
{
obstManager.addHumanObstacle(obst, visPtr);
}
}
if (arviz)
if (arviz != nullptr)
{
arviz->commit(visLayer);
}
......
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