#include "./CommandEntityToPosition.h"
#include "Lidar/CscSlamEngine.h"
#include <numeric>
#include <opencv2/opencv.hpp>
#include <Lidar/CscEntityPositionManager.h>
#include "Util/CscCartography.h"

Classes
struct	conscience_core::bridging::commands::environment_entities::EntityToPositionResultData

Namespaces
	conscience_core

	conscience_core::bridging

	conscience_core::bridging::commands

	conscience_core::bridging::commands::environment_entities

Functions
CscPoint3d *	conscience_core::bridging::commands::environment_entities::positionToGridVertex (const CscPoint3d &position, const CscArea3d *zone, int matrixSize, CommandEntityToPositionAlgorithm algorithm)

long long	conscience_core::bridging::commands::environment_entities::positionToGridNodeIndex (const CscPoint3d &position, const CscArea3d *zone, int matrixSize, CommandEntityToPositionAlgorithm algorithm)

static int	conscience_core::bridging::commands::environment_entities::gridVertexToVertex (const CscPoint3d *position, int matrixSize)

static CscPoint3d *	conscience_core::bridging::commands::environment_entities::vertexToGridVertex (int vertex, int matrixSize)

static CscPoint3d *	conscience_core::bridging::commands::environment_entities::gridVertexToPosition (int vertex, double y, const CscArea3d *zone, int matrixSize)

static int	conscience_core::bridging::commands::environment_entities::positionToVertex (const CscPoint3d position, const CscArea3d zone, int matrixSize, CommandEntityToPositionAlgorithm algorithm)

static void	conscience_core::bridging::commands::environment_entities::markNodesAvailableForWorldPoints (const vector< CscPoint3d * > &worldPoints, bool available, int radiusX, int radiusZ, const CscArea3d *zone, int matrixSize, vector< bool > &nodesIsAccessible, CommandEntityToPositionAlgorithm algorithm)

template<DerivedFromCscWorldElement T>
static void	conscience_core::bridging::commands::environment_entities::markWorldElementsOccupied (const vector< T * > elements, double distanceWithObjectAutorized, const CscArea3d *zone, int matrixSize, vector< bool > &nodesIsAccessible, const CscSize3d &robotDimensions, CommandEntityToPositionAlgorithm algorithm)

static void	conscience_core::bridging::commands::environment_entities::markLidarPointsOccupied (const vector< CscPoint3d * > &mapPoints, double distanceWithObjectAutorized, CscArea3d zone, int matrixSize, vector< bool > &nodesIsAccessible, const vector< string > placeModelIdsToIgnore, const CscEnvironmentSimulator &environmentSimulator, CommandEntityToPositionAlgorithm algorithm)

static void	conscience_core::bridging::commands::environment_entities::markLidarPointsOccupied (const ptr< CscEntityReflexion > &entityReflexion, double distanceWithObjectAutorized, CscArea3d zone, int matrixSize, vector< bool > &nodesIsAccessible, const vector< string > placeModelIdsToIgnore, const CscEnvironmentSimulator &environmentSimulator, CommandEntityToPositionAlgorithm algorithm)

static DijkstraAdjacency	conscience_core::bridging::commands::environment_entities::loadMatrixFromEnvironment (const CscArea3d zone, int matrixSize, vector< CscPoint3d > &gridVertices, vector< bool > &nodesIsAccessible)

static void	conscience_core::bridging::commands::environment_entities::saveGridPathPNG (int matrixSize, const vector< bool > &nodesIsAccessible, const vector< pair< int, double >> &path, const CscPoint3d &robotCenterWorld, const CscPoint3d &targetPosition, double initialRobotYaw, const CscSize3d &entityBbox, const CscArea3d zone, CommandEntityToPositionAlgorithm algorithm, const CscPoint3d closestPoint=nullptr)

EntityToPositionResultData *	conscience_core::bridging::commands::environment_entities::executeEntityToPosition (CommandEntityToPositionAlgorithm algorithm, ptr< CscEntityReflexion > entityReflexion, const CscPoint3d forcedStartPosition, const CscPoint3d targetPosition, CscArea3d zone, optional< double > distanceWithObjectAutorizedMaybe, optional< int > matrixSizeMaybe, optional< bool > useGnssCoordinatesMaybe, const vector< string > placeModelIdsToIgnore, CscEnvironmentSimulator &environmentSimulator, bool computeClosestValidPoint=false, const vector< CscPoint3d * > *cartographyPoints=nullptr)

optional< CscPoint3d * >	conscience_core::bridging::commands::environment_entities::computeValidReachPosition (CommandEntityToPositionAlgorithm algorithm, ptr< CscEntityReflexion > entityReflexion, const CscPoint3d startPosition, const CscPoint3d targetPosition, optional< double > distanceWithObjectAutorizedMaybe, const vector< string > placeModelIdsToIgnore, CscArea3d zone, optional< int > matrixSizeMaybe, optional< bool > useGnssCoordinatesMaybe, CscEnvironmentSimulator &environmentSimulator)

CscPoint3d *	conscience_core::bridging::commands::environment_entities::evaluateEntityToPositionStartPosition (const CscPoint3d *requestedStartPosition, optional< bool > useGnssCoordinates, ptr< CscEntityReflexion > entityReflexion, CscEnvironmentSimulator &environmentSimulator)

Variables
static std::unique_ptr< CscLogger >	conscience_core::bridging::commands::environment_entities::logger = CscLogger::getForCategory("CommandEntityToPosition")

static constexpr double	conscience_core::bridging::commands::environment_entities::MAX_DISTANCE_FOR_SHEARCH_NEW_TARGET_IN_CM = 300.0

static constexpr bool	conscience_core::bridging::commands::environment_entities::savePathFindingAsPngEnabled = false

static constexpr unsigned long long	conscience_core::bridging::commands::environment_entities::maxLidarValuesTimeMillis = 1500

template<typename T >
concept	conscience_core::bridging::commands::environment_entities::DerivedFromCscWorldElement = std::is_base_of_v<CscWorldElement, T>

Conscience Core

Classes

Namespaces

Functions

Variables