Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
Abstract_base Class Referenceabstract

Abstract base class. More...

#include <abstract_base.h>

Inheritance diagram for Abstract_base:
Inheritance graph
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Public Member Functions

 Abstract_base (std::shared_ptr< ros::NodeHandle > const &d)
 Abstract base constructor. More...
 
virtual std::map< const std::string, std::vector< pcl::PointXYZ > > base_calculation ()=0
 pure virtual template methode More...
 
Abstract_base_implementationimplementation ()
 Get used implementation. More...
 
std::vector< tf2::Transform > & inv_map ()
 Get inverse map structure. More...
 
std::vector< tf2::Transform > & map ()
 Get map structure. More...
 
void set_implementation (std::shared_ptr< Abstract_base_implementation > some_implememntation)
 Set used implementation. More...
 
void set_inv_map (std::vector< tf2::Transform > &list)
 Set inverse map structure. More...
 
void set_map (std::vector< tf2::Transform > &list)
 Set map structure. More...
 
void set_target_cloud (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)
 Set task cloud. More...
 
void set_task_space (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans)
 Set task space. More...
 
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & target_cloud ()
 Get task cloud. More...
 
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > & task_space ()
 Get task space. More...
 
virtual void write_task (Abstract_robot *robot)=0
 write trask More...
 

Static Public Member Functions

static std::vector< pcl::PointXYZ > create_pcl_box ()
 box discretization More...
 

Protected Attributes

std::shared_ptr< Abstract_base_implementationimplementation_
 refined implementation More...
 
std::vector< tf2::Transform > inv_map_
 Inversion of reachability map structure. More...
 
std::vector< tf2::Transform > map_
 Reachability map structure of a robot. More...
 
std::shared_ptr< ros::NodeHandle > nh_
 Ros nodehandle object. More...
 
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > target_cloud_
 Pointcloud structure, mapped to robot. More...
 
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > task_space_
 Drop-off locations with their grasp orientations, mapped to a robot. More...
 

Detailed Description

Abstract base class.

Class which represents the template class abstraction, which calls methodes from an abstract implementation

Definition at line 29 of file abstract_base.h.

Constructor & Destructor Documentation

◆ Abstract_base()

Abstract_base::Abstract_base ( std::shared_ptr< ros::NodeHandle > const &  d)
inline

Abstract base constructor.

Parameters
dros::NodeHandle to interact with paramserver

Definition at line 45 of file abstract_base.h.

Member Function Documentation

◆ base_calculation()

virtual std::map<const std::string, std::vector<pcl::PointXYZ> > Abstract_base::base_calculation ( )
pure virtual

pure virtual template methode

bridge template methode, in which implementation is called to calculate base positions

Returns
base positions as pcl::PointXYZ vector mapped to robot

Implemented in Simple_base.

◆ create_pcl_box()

static std::vector<pcl::PointXYZ> Abstract_base::create_pcl_box ( )
static

box discretization

box shaped representation of space, centered at origin (0,0,0)

Returns
vector of pcl::PointXYZ data

◆ implementation()

Abstract_base_implementation* Abstract_base::implementation ( )
inline

Get used implementation.

Returns
implementation

Definition at line 51 of file abstract_base.h.

◆ inv_map()

std::vector<tf2::Transform>& Abstract_base::inv_map ( )
inline

Get inverse map structure.

Returns
inverse map structure

Definition at line 63 of file abstract_base.h.

◆ map()

std::vector<tf2::Transform>& Abstract_base::map ( )
inline

Get map structure.

Returns
map structure

Definition at line 75 of file abstract_base.h.

◆ set_implementation()

void Abstract_base::set_implementation ( std::shared_ptr< Abstract_base_implementation some_implememntation)
inline

Set used implementation.

Parameters
some_implememntationspecific implementation for bridge pattern

Definition at line 57 of file abstract_base.h.

◆ set_inv_map()

void Abstract_base::set_inv_map ( std::vector< tf2::Transform > &  list)
inline

Set inverse map structure.

Parameters
listinverse map structure

Definition at line 69 of file abstract_base.h.

◆ set_map()

void Abstract_base::set_map ( std::vector< tf2::Transform > &  list)
inline

Set map structure.

Parameters
listmap structure

Definition at line 81 of file abstract_base.h.

◆ set_target_cloud()

void Abstract_base::set_target_cloud ( std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &  cloud)
inline

Set task cloud.

Parameters
cloudcloud map

Definition at line 106 of file abstract_base.h.

◆ set_task_space()

void Abstract_base::set_task_space ( std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &  s_trans)
inline

Set task space.

Parameters
s_transtask space

Definition at line 93 of file abstract_base.h.

◆ target_cloud()

std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> >& Abstract_base::target_cloud ( )
inline

Get task cloud.

Returns
task cloud map

Definition at line 100 of file abstract_base.h.

◆ task_space()

std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion> > > >& Abstract_base::task_space ( )
inline

Get task space.

Returns
task space

Definition at line 87 of file abstract_base.h.

◆ write_task()

virtual void Abstract_base::write_task ( Abstract_robot robot)
pure virtual

write trask

Parameters
robot

Implemented in Simple_base.

Member Data Documentation

◆ implementation_

std::shared_ptr<Abstract_base_implementation> Abstract_base::implementation_
protected

refined implementation

Definition at line 38 of file abstract_base.h.

◆ inv_map_

std::vector<tf2::Transform> Abstract_base::inv_map_
protected

Inversion of reachability map structure.

Definition at line 34 of file abstract_base.h.

◆ map_

std::vector<tf2::Transform> Abstract_base::map_
protected

Reachability map structure of a robot.

Definition at line 33 of file abstract_base.h.

◆ nh_

std::shared_ptr<ros::NodeHandle> Abstract_base::nh_
protected

Ros nodehandle object.

Definition at line 31 of file abstract_base.h.

◆ target_cloud_

std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> > Abstract_base::target_cloud_
protected

Pointcloud structure, mapped to robot.

Definition at line 36 of file abstract_base.h.

◆ task_space_

std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion> > > > Abstract_base::task_space_
protected

Drop-off locations with their grasp orientations, mapped to a robot.

Definition at line 35 of file abstract_base.h.


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


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