simple_base.h
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1 #ifndef SIMPLE_BASE_
2 #define SIMPLE_BASE_
3 
4 #include "ros/ros.h"
5 #include <xmlrpcpp/XmlRpc.h>
6 #include <tf2/LinearMath/Transform.h>
7 
8 #include "octomap/octomap.h"
9 #include <pcl/point_cloud.h>
10 #include <pcl/octree/octree.h>
11 
12 
13 #include <ros/package.h>
14 #include <yaml-cpp/yaml.h>
15 #include <fstream>
16 
17 #include "bridge/abstract_base.h"
18 #include "reader/map_reader.h"
19 #include "reader/ts_reader.h"
20 
21 
23 
26 class Simple_base : public Abstract_base {
27  protected:
28  std::unique_ptr<Ts_reader> task_space_reader_;
29  std::unique_ptr<Map_reader> map_reader_;
31  public:
33 
36  Simple_base(std::shared_ptr<ros::NodeHandle> const& d);
37 
39 
44  std::map<const std::string, std::vector<pcl::PointXYZ>> base_calculation() override;
45  void write_task(Abstract_robot* robot) override;
46 
47 };
48 #endif
map_reader.h
abstract_base.h
Simple_base::write_task
void write_task(Abstract_robot *robot) override
write trask
Definition: simple_base.cpp:366
Abstract_base
Abstract base class.
Definition: abstract_base.h:29
Simple_base::Simple_base
Simple_base(std::shared_ptr< ros::NodeHandle > const &d)
Simple base constructor.
Definition: simple_base.cpp:4
Simple_base::base_calculation
std::map< const std::string, std::vector< pcl::PointXYZ > > base_calculation() override
refined Template methode
Definition: simple_base.cpp:20
ts_reader.h
Simple_base
refiend base abstraction
Definition: simple_base.h:26
Simple_base::task_space_reader_
std::unique_ptr< Ts_reader > task_space_reader_
Definition: simple_base.h:28
Simple_base::map_reader_
std::unique_ptr< Map_reader > map_reader_
Definition: simple_base.h:29
Abstract_robot
Definition: impl/abstract_robot.h:25


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43