viam::sdk::WorldState Class Reference

Describes the physical environment around a robot. More...

#include "common/world_state.hpp"

Classes
struct	geometries_in_frame
	Holds a set of geometries observed from a particular reference frame. More...
struct	transform
	Represents a pose and two reference frames. More...

Public Member Functions
	WorldState (std::vector< geometries_in_frame > obstacles, std::vector< transform > transforms)
	Constructs a WorldState with the given obstacles and transforms.
const std::vector< geometries_in_frame > &	obstacles () const
	A list of obstacles expressed as a geometry and the reference frame in which it was observed.
const std::vector< transform > &	transforms () const
	A list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to.

Friends
bool	operator== (const WorldState &lhs, const WorldState &rhs)
bool	operator== (const geometries_in_frame &lhs, const geometries_in_frame &rhs)
bool	operator== (const transform &lhs, const transform &rhs)

Detailed Description

Describes the physical environment around a robot.

Contains information about obstacles in the robot's environment and any additional transforms needed to describe the positions of objects relative to the robot's frame.

Constructor & Destructor Documentation

WorldState()

viam::sdk::WorldState::WorldState	(	std::vector< geometries_in_frame >	obstacles,
		std::vector< transform >	transforms )

Constructs a WorldState with the given obstacles and transforms.

Parameters

obstacles	Geometries that the motion planner should treat as obstacles.
transforms	Additional coordinate frame transforms for the planner.

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The documentation for this class was generated from the following file:

• src/viam/sdk/common/world_state.hpp