5 , observer_mask_(std::bitset<3>(0))
13 for (
int i = 0; i <= 2; i++){
14 for (
int j = 0; j <= 2; j++){
15 if(i == 0 && j == 0) {
continue;}
16 if(i == 2 && j == 2) {
continue;}
18 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,
size_.getY()*j,0))));
19 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-
size_.getY()*j,0))));
21 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()*i,0,0))));
22 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-
size_.getX()*i,0,0))));
24 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()*i,
size_.getY()*j,0))));
25 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-
size_.getX()*i,
size_.getY()*j,0))));
26 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(
size_.getX()*i,-
size_.getY()*j,0))));
27 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-
size_.getX()*i,-
size_.getY()*j,0))));
32 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1.305f,0,0))));
33 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-1.305f,0,0))));
34 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,1.305f,0))));
35 access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-1.305f,0))));
48 if ((std::floor(sum*100)/100.f) <= full_area) {
49 count_vector[i]++;
return;
62 if ((std::floor(sum*100)/100.f) <= full_area) count_vector.back()++;
return;
74 if ((std::floor(sum*100)/100.f) <= full_area) {
return false; }
77 ss <<
"base_" <<
name_.back();
85 if ((std::floor(sum*100)/100.f) <= full_area){
98 if ((std::floor(sum*100)/100.f) <= full_area) {
110 tf_ = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,
tf().getOrigin().getZ()));
126 if ((std::floor(sum*100)/100.f) <= full_area)
return true;
129 tf2::Transform WA = rob->
observers()[i]->world_tf() * rob->
observers()[i]->bounds()[0];
130 tf2::Transform WB = rob->
observers()[i]->world_tf() * rob->
observers()[i]->bounds()[1];
131 tf2::Transform WC = rob->
observers()[i]->world_tf() * rob->
observers()[i]->bounds()[2];
132 tf2::Transform WD = rob->
observers()[i]->world_tf() * rob->
observers()[i]->bounds()[3];