dummy implementation of HumanTracker

source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp

@@ -3,6 +3,7 @@
 
 #include "ArmarXCore/core/exceptions/local/ExpressionException.h"
 
+#include "armarx/navigation/human/types.h"
 #include <armarx/navigation/conversions/eigen.h>
 #include <range/v3/range/conversion.hpp>
 #include <range/v3/view/transform.hpp>
@@ -40,6 +41,23 @@ namespace armarx::navigation::components::dynamic_scene_provider
     void
     HumanTracker::update(const Measurements& measurements)
     {
+
+        trackedHumans.clear();
+
+        for (const armem::human::HumanPose& measurement : measurements.humanPoses)
+        {
+            human::Human human{
+                .pose = conv::to2D(
+                    core::Pose(Eigen::Translation3f(measurement.keypoints.begin()->second.positionGlobal->toEigen()))),
+                .linearVelocity = Eigen::Vector2f::Zero(),
+                .detectionTime = 0};
+
+            trackedHumans.push_back(TrackedHuman{
+                .human = human, .trackingId = std::to_string(trackedHumans.size()), .associated = true});
+        }
+
+        return; // FIXME remove section above
+
         //TODO: proper time to live
         Duration maxAge = Duration::MilliSeconds(500);