Robot multigeometry

rmf_traffic/CHANGELOG.rst

@@ -12,6 +12,7 @@ Changelog for package rmf_traffic
 * Add the blockade system for traffic light management: [#226](https://github.com/osrf/rmf_core/pull/226)
 * Access trajectory waypoints by element index: [#226](https://github.com/osrf/rmf_core/pull/226)
 * Get trajectory index of each plan waypoint: [#226](https://github.com/osrf/rmf_core/pull/226)
+* Support for robot multi geometry: [#258] (https://github.com/osrf/rmf_core/pull/258)
 
 1.1.0 (2020-09-24)
 ------------------

rmf_traffic/include/rmf_traffic/Profile.hpp

@@ -22,6 +22,7 @@
 
 #include <rmf_utils/optional.hpp>
 #include <rmf_utils/impl_ptr.hpp>
+#include <Eigen/Dense>
 
 namespace rmf_traffic {
 
@@ -44,6 +45,23 @@ class Profile
     geometry::ConstFinalConvexShapePtr footprint,
     geometry::ConstFinalConvexShapePtr vicinity = nullptr);
 
+  /// Add an extra shape to the footprint of the participant.
+  /// The onus is on the user to update the vicinity of the robot
+  ///
+  /// \param[in] shape
+  ///   An estimate of the space that this extra shape occupies.
+  ///
+  /// \param[in] offset
+  ///   Offset to the additional shape, in the robot's coordinate frame
+  ///
+  void add_extra_footprint(geometry::ConstFinalConvexShapePtr shape, Eigen::Vector3d offset);
+
+  /// Get the number of extra footprint shapes
+  uint extra_footprint_count() const;
+
+  /// Removes all extra footprint shapes
+  void clear_extra_footprints();
+
   /// Set the footprint of the participant.
   Profile& footprint(geometry::ConstFinalConvexShapePtr shape);