HiepLM/pnkx_nav_core
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HiepLM
2025-12-29 17:44:08 +07:00
parent c220246618
commit 6bd0600eb8
5 changed files with 20 additions and 20 deletions
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2
src/Libraries/costmap_2d

Submodule src/Libraries/costmap_2d updated: a28f05c6d5...59b0b1a806

2
src/Libraries/robot_cpp

Submodule src/Libraries/robot_cpp updated: cf3f04d82c...60c97b940e

4
src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
View File

@@ -99,7 +99,7 @@ robot_nav_2d_msgs::Polygon2D polygonFromString(const std::string& polygon_string
* 3 or more elements, and the sub-arrays should all have exactly 2 elements
* (x and y coordinates).
*/
robot_nav_2d_msgs::Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc);
robot_nav_2d_msgs::Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc);
/**
* @brief Create XMLRPC Value for writing the polygon to the parameter server
@@ -107,7 +107,7 @@ robot_nav_2d_msgs::Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlr
* @param array_of_arrays If true, write an array of arrays. Otherwise, write two parallel arrays
* @return XmlRpcValue
*/
XmlRpc::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays = true);
robot::XmlRpc::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays = true);
// /**
// * @brief Save a polygon to a parameter

30
src/Libraries/robot_nav_2d_utils/src/polygons.cpp
View File

@@ -159,13 +159,13 @@ Polygon2D polygonFromString(const std::string& polygon_string)
/**
* @brief Helper function. Convert value to double
*/
double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value)
double getNumberFromXMLRPC(robot::XmlRpc::XmlRpcValue& value)
{
if (value.getType() == XmlRpc::XmlRpcValue::TypeInt)
if (value.getType() == robot::XmlRpc::XmlRpcValue::TypeInt)
{
return static_cast<double>(static_cast<int>(value));
}
else if (value.getType() == XmlRpc::XmlRpcValue::TypeDouble)
else if (value.getType() == robot::XmlRpc::XmlRpcValue::TypeDouble)
{
return static_cast<double>(value);
}
@@ -178,9 +178,9 @@ double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value)
/**
* @brief Helper function. Convert value to double array
*/
std::vector<double> getNumberVectorFromXMLRPC(XmlRpc::XmlRpcValue& value)
std::vector<double> getNumberVectorFromXMLRPC(robot::XmlRpc::XmlRpcValue& value)
{
if (value.getType() != XmlRpc::XmlRpcValue::TypeArray)
if (value.getType() != robot::XmlRpc::XmlRpcValue::TypeArray)
{
throw PolygonParseException("Subarray must have type list.");
}
@@ -192,15 +192,15 @@ std::vector<double> getNumberVectorFromXMLRPC(XmlRpc::XmlRpcValue& value)
return array;
}
Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc)
Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc)
{
if (polygon_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeString &&
if (polygon_xmlrpc.getType() == robot::XmlRpc::XmlRpcValue::TypeString &&
polygon_xmlrpc != "" && polygon_xmlrpc != "[]")
{
return polygonFromString(std::string(polygon_xmlrpc));
}
if (polygon_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeStruct)
if (polygon_xmlrpc.getType() == robot::XmlRpc::XmlRpcValue::TypeStruct)
{
if (!polygon_xmlrpc.hasMember("x") || !polygon_xmlrpc.hasMember("y"))
{
@@ -212,7 +212,7 @@ Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc)
}
// Make sure we have an array of at least 3 elements.
if (polygon_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray)
if (polygon_xmlrpc.getType() != robot::XmlRpc::XmlRpcValue::TypeArray)
{
std::stringstream err_ss;
err_ss << "Polygon must be specified as a list of lists. Found object of type " << polygon_xmlrpc.getType()
@@ -229,8 +229,8 @@ Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc)
for (int i = 0; i < polygon_xmlrpc.size(); ++i)
{
// Make sure each element of the list is an array of size 2. (x and y coordinates)
XmlRpc::XmlRpcValue& point_xml = polygon_xmlrpc[i];
if (point_xml.getType() != XmlRpc::XmlRpcValue::TypeArray)
robot::XmlRpc::XmlRpcValue& point_xml = polygon_xmlrpc[i];
if (point_xml.getType() != robot::XmlRpc::XmlRpcValue::TypeArray)
{
std::stringstream err_ss;
err_ss << "Each point must be specified as a list. Found object of type " << point_xml.getType() << " instead.";
@@ -274,9 +274,9 @@ Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc)
/**
* @brief Helper method to convert a vector of doubles
*/
XmlRpc::XmlRpcValue vectorToXMLRPC(const std::vector<double>& array)
robot::XmlRpc::XmlRpcValue vectorToXMLRPC(const std::vector<double>& array)
{
XmlRpc::XmlRpcValue xml;
robot::XmlRpc::XmlRpcValue xml;
xml.setSize(array.size());
for (unsigned int i = 0; i < array.size(); ++i)
{
@@ -285,9 +285,9 @@ XmlRpc::XmlRpcValue vectorToXMLRPC(const std::vector<double>& array)
return xml;
}
XmlRpc::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays)
robot::XmlRpc::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays)
{
XmlRpc::XmlRpcValue xml;
robot::XmlRpc::XmlRpcValue xml;
if (array_of_arrays)
{
xml.setSize(polygon.points.size());

2
src/Libraries/xmlrpcpp

Submodule src/Libraries/xmlrpcpp updated: d8b17df593...5bdd606fff