1 #ifndef ABSTRACT_ROBOT_DECORATOR_
2 #define ABSTRACT_ROBOT_DECORATOR_
7 #include <moveit/planning_pipeline/planning_pipeline.h>
8 #include <moveit/planning_scene_interface/planning_scene_interface.h>
9 #include <moveit/move_group_interface/move_group_interface.h>
10 #include <moveit_msgs/ApplyPlanningScene.h>
11 #include <moveit/robot_model_loader/robot_model_loader.h>
12 #include <moveit/planning_scene/planning_scene.h>
13 #include <moveit/kinematic_constraints/utils.h>
16 #include <gb_grasp/MapGenerator.h>
20 std::unique_ptr<Abstract_robot>
next_;
21 std::shared_ptr<moveit::planning_interface::MoveGroupInterface>
mgi_;
22 std::shared_ptr<moveit::planning_interface::MoveGroupInterface>
mgi_hand_;
24 std::map<std::string, std::string>
map_;
30 :
Abstract_robot(
"blanc", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0))
35 std::string&
name()
override {
return next_->name();}
36 tf2::Transform&
tf()
override {
return next_->tf();}
37 tf2::Vector3&
size()
override {
return next_->size();}
39 std::vector<tf2::Transform>&
bounds()
override {
return next_->bounds();}
43 void workload_checker(std::vector<int>& count_vector, tf2::Transform& obj)
override {
next_->workload_checker(count_vector, obj);}