Public Member Functions | List of all members
Simple_base_implementation Class Reference

refined base implementation More...

#include <simple_base_implementation.h>

Inheritance diagram for Simple_base_implementation:
Inheritance graph
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Public Member Functions

void inv_map_creation (std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space) override
 Create inversed reachability map. More...
 
void set_grasp_orientations (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override
 Store grasp orientations as endeffector transforms. More...
 
 Simple_base_implementation ()=default
 Default simple base implementation constructor. More...
 
 ~Simple_base_implementation ()=default
 Default simple base implementation destructor. More...
 
- Public Member Functions inherited from Abstract_base_implementation
 Abstract_base_implementation ()=default
 Abstract base implementation default constructor. More...
 
 ~Abstract_base_implementation ()=default
 Abstract base implementation default destructor. More...
 

Detailed Description

refined base implementation

generel base calculation approach

Definition at line 12 of file simple_base_implementation.h.

Constructor & Destructor Documentation

◆ Simple_base_implementation()

Simple_base_implementation::Simple_base_implementation ( )
default

Default simple base implementation constructor.

◆ ~Simple_base_implementation()

Simple_base_implementation::~Simple_base_implementation ( )
default

Default simple base implementation destructor.

Member Function Documentation

◆ inv_map_creation()

void Simple_base_implementation::inv_map_creation ( std::vector< tf2::Transform > &  map,
std::vector< tf2::Transform > &  inv_map,
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &  task_space 
)
overridevirtual

Create inversed reachability map.

Creating inversed reachability map by inverting reachability map if grasp orientations match reachability map entries

Parameters
mapstore inversed reachability map data
inv_mapstore inversed reachability map data
task_spacestore inversed reachability map data

Implements Abstract_base_implementation.

Definition at line 16 of file simple_base_implementation.cpp.

◆ set_grasp_orientations()

void Simple_base_implementation::set_grasp_orientations ( std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &  var)
overridevirtual

Store grasp orientations as endeffector transforms.

The 5 most basic Orientatations (x, -x, y, -y, z) for all graspable objects

Parameters
varmanipulate grasp orienattions mapped to object and robot

Implements Abstract_base_implementation.

Definition at line 3 of file simple_base_implementation.cpp.


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


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