From 3b9b0506def10e1926056d087c20560ee736618e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 8 Jun 2021 19:55:21 +0200
Subject: [PATCH] occupancy grid types
---
.../armem_vision/aron/OccupancyGrid.xml | 30 +++++++++++++++++++
.../types.h | 18 +++++++++--
2 files changed, 46 insertions(+), 2 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml
rename source/RobotAPI/libraries/{armem_robot_mapping => armem_vision}/types.h (80%)
diff --git a/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml b/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml
new file mode 100644
index 000000000..0c508a4e2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml
@@ -0,0 +1,30 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ </CodeIncludes>
+ <AronIncludes>
+ </AronIncludes>
+
+ <GenerateTypes>
+
+ <Object name='armarx::armem::arondto::OccupancyGrid'>
+ <ObjectChild key='resolution'>
+ <float />
+ </ObjectChild>
+ <ObjectChild key='frame'>
+ <string />
+ </ObjectChild>
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+
+ <!--
+ <ObjectChild key='grid'>
+ <NdArray />
+ </ObjectChild> -->
+ </Object>
+
+
+ </GenerateTypes>
+</AronTypeDefinition>
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/types.h b/source/RobotAPI/libraries/armem_vision/types.h
similarity index 80%
rename from source/RobotAPI/libraries/armem_robot_mapping/types.h
rename to source/RobotAPI/libraries/armem_vision/types.h
index d822597e1..828e40fb3 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/types.h
+++ b/source/RobotAPI/libraries/armem_vision/types.h
@@ -21,10 +21,12 @@
#pragma once
+#include <vector>
+
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/interface/units/LaserScannerUnit.h>
-namespace armarx
+namespace armarx::armem
{
struct SensorHeader
@@ -40,4 +42,16 @@ namespace armarx
LaserScan data;
};
-} // namespace armarx
+
+ struct OccupancyGrid
+ {
+ float resolution;
+
+ std::string frame;
+ Eigen::Affine3f pose;
+
+ using Grid = std::vector<std::vector<float>>;
+ Grid grid;
+ };
+
+} // namespace armarx::armem
--
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