HiepLM/pnkx_nav_core
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HiepLM 2025-12-31 16:41:39 +07:00
parent 3d28ae13dc
commit f72998026e
6 changed files with 20 additions and 22 deletions
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1
.gitignore vendored
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@ -420,3 +420,4 @@ FodyWeavers.xsd
build build
install install
devel

3
.gitmodules vendored
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@ -19,9 +19,6 @@
[submodule "src/Libraries/data_convert"] [submodule "src/Libraries/data_convert"]
path = src/Libraries/data_convert path = src/Libraries/data_convert
url = https://git.pnkr.asia/DuongTD/data_convert.git url = https://git.pnkr.asia/DuongTD/data_convert.git
[submodule "src/Libraries/robot_cpp"]
path = src/Libraries/robot_cpp
url = http://git.pnkx/HiepLM/robot_cpp.git
[submodule "src/Algorithms/Packages/global_planners/custom_planner"] [submodule "src/Algorithms/Packages/global_planners/custom_planner"]
path = src/Algorithms/Packages/global_planners/custom_planner path = src/Algorithms/Packages/global_planners/custom_planner
url = https://git.pnkr.asia/DuongTD/custom_planner.git url = https://git.pnkr.asia/DuongTD/custom_planner.git

2
src/Libraries/costmap_2d

@ -1 +1 @@
Subproject commit ae469e3271bdcdb4f20629dd7de57553c1e7e074 Subproject commit b6733ae04cc2ec79409faf05bbae5f70a3c7fcd2

4
src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
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@ -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 * 3 or more elements, and the sub-arrays should all have exactly 2 elements
* (x and y coordinates). * (x and y coordinates).
*/ */
robot_nav_2d_msgs::Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc); robot_nav_2d_msgs::Polygon2D polygonFromXMLRPC(robot_xmlrpcpp::XmlRpcValue& polygon_xmlrpc);
/** /**
* @brief Create XMLRPC Value for writing the polygon to the parameter server * @brief Create XMLRPC Value for writing the polygon to the parameter server
@ -107,7 +107,7 @@ robot_nav_2d_msgs::Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polyg
* @param array_of_arrays If true, write an array of arrays. Otherwise, write two parallel arrays * @param array_of_arrays If true, write an array of arrays. Otherwise, write two parallel arrays
* @return XmlRpcValue * @return XmlRpcValue
*/ */
robot::XmlRpc::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays = true); robot_xmlrpcpp::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays = true);
// /** // /**
// * @brief Save a polygon to a parameter // * @brief Save a polygon to a parameter

30
src/Libraries/robot_nav_2d_utils/src/polygons.cpp
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@ -159,13 +159,13 @@ Polygon2D polygonFromString(const std::string& polygon_string)
/** /**
* @brief Helper function. Convert value to double * @brief Helper function. Convert value to double
*/ */
double getNumberFromXMLRPC(robot::XmlRpc::XmlRpcValue& value) double getNumberFromXMLRPC(robot_xmlrpcpp::XmlRpcValue& value)
{ {
if (value.getType() == robot::XmlRpc::XmlRpcValue::TypeInt) if (value.getType() == robot_xmlrpcpp::XmlRpcValue::TypeInt)
{ {
return static_cast<double>(static_cast<int>(value)); return static_cast<double>(static_cast<int>(value));
} }
else if (value.getType() == robot::XmlRpc::XmlRpcValue::TypeDouble) else if (value.getType() == robot_xmlrpcpp::XmlRpcValue::TypeDouble)
{ {
return static_cast<double>(value); return static_cast<double>(value);
} }
@ -178,9 +178,9 @@ double getNumberFromXMLRPC(robot::XmlRpc::XmlRpcValue& value)
/** /**
* @brief Helper function. Convert value to double array * @brief Helper function. Convert value to double array
*/ */
std::vector<double> getNumberVectorFromXMLRPC(robot::XmlRpc::XmlRpcValue& value) std::vector<double> getNumberVectorFromXMLRPC(robot_xmlrpcpp::XmlRpcValue& value)
{ {
if (value.getType() != robot::XmlRpc::XmlRpcValue::TypeArray) if (value.getType() != robot_xmlrpcpp::XmlRpcValue::TypeArray)
{ {
throw PolygonParseException("Subarray must have type list."); throw PolygonParseException("Subarray must have type list.");
} }
@ -192,15 +192,15 @@ std::vector<double> getNumberVectorFromXMLRPC(robot::XmlRpc::XmlRpcValue& value)
return array; return array;
} }
Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc) Polygon2D polygonFromXMLRPC(robot_xmlrpcpp::XmlRpcValue& polygon_xmlrpc)
{ {
if (polygon_xmlrpc.getType() == robot::XmlRpc::XmlRpcValue::TypeString && if (polygon_xmlrpc.getType() == robot_xmlrpcpp::XmlRpcValue::TypeString &&
polygon_xmlrpc != "" && polygon_xmlrpc != "[]") polygon_xmlrpc != "" && polygon_xmlrpc != "[]")
{ {
return polygonFromString(std::string(polygon_xmlrpc)); return polygonFromString(std::string(polygon_xmlrpc));
} }
if (polygon_xmlrpc.getType() == robot::XmlRpc::XmlRpcValue::TypeStruct) if (polygon_xmlrpc.getType() == robot_xmlrpcpp::XmlRpcValue::TypeStruct)
{ {
if (!polygon_xmlrpc.hasMember("x") || !polygon_xmlrpc.hasMember("y")) if (!polygon_xmlrpc.hasMember("x") || !polygon_xmlrpc.hasMember("y"))
{ {
@ -212,7 +212,7 @@ Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc)
} }
// Make sure we have an array of at least 3 elements. // Make sure we have an array of at least 3 elements.
if (polygon_xmlrpc.getType() != robot::XmlRpc::XmlRpcValue::TypeArray) if (polygon_xmlrpc.getType() != robot_xmlrpcpp::XmlRpcValue::TypeArray)
{ {
std::stringstream err_ss; std::stringstream err_ss;
err_ss << "Polygon must be specified as a list of lists. Found object of type " << polygon_xmlrpc.getType() err_ss << "Polygon must be specified as a list of lists. Found object of type " << polygon_xmlrpc.getType()
@ -229,8 +229,8 @@ Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc)
for (int i = 0; i < polygon_xmlrpc.size(); ++i) 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) // Make sure each element of the list is an array of size 2. (x and y coordinates)
robot::XmlRpc::XmlRpcValue& point_xml = polygon_xmlrpc[i]; robot_xmlrpcpp::XmlRpcValue& point_xml = polygon_xmlrpc[i];
if (point_xml.getType() != robot::XmlRpc::XmlRpcValue::TypeArray) if (point_xml.getType() != robot_xmlrpcpp::XmlRpcValue::TypeArray)
{ {
std::stringstream err_ss; std::stringstream err_ss;
err_ss << "Each point must be specified as a list. Found object of type " << point_xml.getType() << " instead."; err_ss << "Each point must be specified as a list. Found object of type " << point_xml.getType() << " instead.";
@ -274,9 +274,9 @@ Polygon2D polygonFromXMLRPC(robot::XmlRpc::XmlRpcValue& polygon_xmlrpc)
/** /**
* @brief Helper method to convert a vector of doubles * @brief Helper method to convert a vector of doubles
*/ */
robot::XmlRpc::XmlRpcValue vectorToXMLRPC(const std::vector<double>& array) robot_xmlrpcpp::XmlRpcValue vectorToXMLRPC(const std::vector<double>& array)
{ {
robot::XmlRpc::XmlRpcValue xml; robot_xmlrpcpp::XmlRpcValue xml;
xml.setSize(array.size()); xml.setSize(array.size());
for (unsigned int i = 0; i < array.size(); ++i) for (unsigned int i = 0; i < array.size(); ++i)
{ {
@ -285,9 +285,9 @@ robot::XmlRpc::XmlRpcValue vectorToXMLRPC(const std::vector<double>& array)
return xml; return xml;
} }
robot::XmlRpc::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays) robot_xmlrpcpp::XmlRpcValue polygonToXMLRPC(const robot_nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays)
{ {
robot::XmlRpc::XmlRpcValue xml; robot_xmlrpcpp::XmlRpcValue xml;
if (array_of_arrays) if (array_of_arrays)
{ {
xml.setSize(polygon.points.size()); xml.setSize(polygon.points.size());

2
src/Libraries/xmlrpcpp

@ -1 +1 @@
Subproject commit b64702260fc38013587ffa6c1c9c122b1d83de21 Subproject commit bb14979b8a80b743a4dd41b43b5474d4c1a2fc3f