Environment¶

class Environment¶

The environment a robot (or multiple robots) lives in.

The Environment class manages static obstacles, collision checking, waypoints, cameras, and robots within a defined environment. The class provides methods to add, remove, and manage obstacles and waypoints, as well as to retrieve information about these elements. It also includes functionality for collision checking and updating the state of obstacles and robots.

Public Functions

explicit Environment(std::shared_ptr<Robot> robot, float safety_margin = 0.0)¶

Create an environment with a controllable robot.

Parameters:

robot – The robot to add to the environment.
safety_margin – The global safety margin for collision checking [m].

explicit Environment(const std::set<std::shared_ptr<Robot>> &robots, float safety_margin = 0.0)¶

Create an environment with multiple robots.

Parameters:

robots – The robots to add to the environment.
safety_margin – The global safety margin for collision checking [m].

void set_safety_margin(float safety_margin)¶

Environment’s global safety margin for collision checking [m].

Parameters:: global_safety_margin – The global safety margin for collision checking [m].

float safety_margin() const¶

Environment’s global safety margin for collision checking [m].

Returns:: The global safety margin for collision checking [m].

std::shared_ptr<Robot> get_robot(const std::string &name = "") const¶

Get the robot with the given name from the environment.

In case there is only a single robot in the environment, the default empty name argument will return this robot. Otherwise throws an error if no robot with the name exists.

Parameters:: name – The name of the robot to retrieve.
Returns:: The shared pointer to a robot object associated with the given name.

std::vector<std::shared_ptr<Robot>> get_robots() const¶

Get all robots within the environment.

Returns:: A vector of shared pointers to the robots within the environment.

Point get_waypoint(const std::string &name) const¶

Get the waypoint with the given name from the environment. Throws an error if no waypoint with the name exists.

Parameters:: name – The name of the waypoint to retrieve.
Returns:: The waypoint associated with the given name.

std::optional<Point> get_waypoint_by_tag(const std::string &tag) const¶

Get a waypoint within the environment given a tag. If multiple waypoints have the same tag, the first one to be found is returned.

Parameters:: tag – The tag associated with the waypoint to retrieve.
Returns:: An optional containing the waypoint associated with the given tag, or std::nullopt if no waypoint with the tag is found.

std::vector<Point> get_waypoints_by_tag(const std::string &tag) const¶

Get all waypoints within the environment given a tag.

Parameters:: tag – The tag associated with the waypoints to retrieve.
Returns:: A vector of waypoints that have the specified tag.

std::vector<Point> get_waypoints() const¶

Get all waypoints within the environment.

This function retrieves a list of all waypoints present in the environment.

Returns:: A vector of waypoints within the environment.

std::shared_ptr<Obstacle> get_obstacle(const std::string &name) const¶

Get the obstacle with the given name from the environment. Throws an error if no obstacle with the name exists.

Parameters:: name – The name of the obstacle to retrieve.
Returns:: A shared pointer to the obstacle associated with the given name.

std::vector<std::shared_ptr<Obstacle>> get_obstacles_by_tag(const std::string &tag) const¶

Get all obstacles within the environment that carry the given tag.

Parameters:: tag – The tag associated with the obstacles to retrieve.
Returns:: A vector of shared pointers to the obstacles that have the specified tag.

std::vector<std::shared_ptr<Obstacle>> get_obstacles() const¶

Get all obstacles within the environment.

This function retrieves a list of all obstacles present in the environment.

Returns:: A vector of shared pointers to the obstacles within the environment.

std::shared_ptr<Camera> get_camera(const std::string &name = "") const¶

Get a camera from the environment.

Parameters:: name – Optional parameter to specify the name of the camera. If not provided, an empty string defaults to retrieving a camera without a specific name.
Returns:: A shared pointer to the camera associated with the given name, or a default camera if the name is empty.

std::shared_ptr<Obstacle> add_obstacle(std::shared_ptr<Obstacle> obstacle)¶

Add an obstacle to the environment (and returns the pointer to it)

Parameters:: obstacle – The obstacle to add to the environment.
Returns:: The original shared pointer to the added obstacle.

std::shared_ptr<Obstacle> add_obstacle(const Obstacle &obstacle)¶

Add an obstacle to the environment (and returns the pointer to it)

Parameters:: obstacle – The obstacle to add to the environment.
Returns:: A shared pointer to the added obstacle.

std::shared_ptr<Obstacle> add_obstacle(const Box &object, const Frame &origin = Frame::Identity(), const Obstacle::Color &color = "000000", float safety_margin = 0.0)¶

Add a box-shaped obstacle to the environment.

Parameters:

object – The box-shaped obstacle to add.
origin – The initial pose of the obstacle in the environment (default is Frame::Identity()).
color – The color of the obstacle in hexadecimal format (default is “000000”).
safety_margin – The safety margin around the obstacle (default is 0.0).

Returns: