abstract_map_loader.h
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1 #ifndef ABSTRACT_MAP_LOADER_
2 #define ABSTRACT_MAP_LOADER_
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 "impl/abstract_robot.h"
18 #include "impl/abstract_strategy.h"
19 
20 class Abstract_strategy;
21 class Abstract_robot;
22 
23 
25  protected:
26  std::vector<tf2::Transform> inv_map_;
27  std::vector<tf2::Transform> map_;
28  std::vector<std::vector<tf2::Transform>> task_grasps_;
29  std::vector<std::vector<std::vector<tf2::Quaternion>>> target_rot_;
30  std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> target_cloud_;
31 
33 
34  public:
35  Abstract_map_loader() = default;
36  ~Abstract_map_loader() = default;
37 
38  inline void set_strategy(Abstract_strategy* some_stratergy) {strategy_ = some_stratergy;}
39  inline Abstract_strategy* strategy() {return strategy_;}
40 
41  inline std::vector<tf2::Transform>& inv_map() {return inv_map_;}
42  inline std::vector<tf2::Transform>& map() {return map_;}
43  inline void set_inv_map(std::vector<tf2::Transform>& list) {inv_map_ = list;}
44  inline void set_map(std::vector<tf2::Transform>& list) {map_ = list;}
45  inline void set_task_grasps(std::vector<std::vector<tf2::Transform>>& lists_in_list) {task_grasps_ = lists_in_list;}
46  inline std::vector<std::vector<tf2::Transform>>& task_grasps() {return task_grasps_;}
47  inline std::vector<std::vector<std::vector<tf2::Quaternion>>>& target_rot() {return target_rot_;}
48  inline void set_target_rot (std::vector<std::vector<std::vector<tf2::Quaternion>>>& rots) {target_rot_ = rots;}
49  inline void set_target_cloud(std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {target_cloud_ = cloud;}
50  inline std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud () { return target_cloud_;}
51  static std::vector<pcl::PointXYZ> create_pcl_box();
52 
53  virtual void write_task(Abstract_robot* robot)=0;
54  virtual std::vector<std::vector<pcl::PointXYZ>> base_calculation()=0;
55 };
56 #endif
Abstract_map_loader::map_
std::vector< tf2::Transform > map_
Definition: abstract_map_loader.h:27
Abstract_map_loader::task_grasps_
std::vector< std::vector< tf2::Transform > > task_grasps_
Definition: abstract_map_loader.h:28
Abstract_map_loader::set_inv_map
void set_inv_map(std::vector< tf2::Transform > &list)
Definition: abstract_map_loader.h:43
Abstract_map_loader::target_cloud
std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & target_cloud()
Definition: abstract_map_loader.h:50
Abstract_map_loader::target_cloud_
std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > target_cloud_
Definition: abstract_map_loader.h:30
Abstract_map_loader::inv_map
std::vector< tf2::Transform > & inv_map()
Definition: abstract_map_loader.h:41
Abstract_map_loader::inv_map_
std::vector< tf2::Transform > inv_map_
Definition: abstract_map_loader.h:26
Abstract_map_loader::write_task
virtual void write_task(Abstract_robot *robot)=0
Abstract_map_loader::create_pcl_box
static std::vector< pcl::PointXYZ > create_pcl_box()
Definition: map_loader.cpp:116
Abstract_map_loader::set_task_grasps
void set_task_grasps(std::vector< std::vector< tf2::Transform >> &lists_in_list)
Definition: abstract_map_loader.h:45
Abstract_map_loader::target_rot_
std::vector< std::vector< std::vector< tf2::Quaternion > > > target_rot_
Definition: abstract_map_loader.h:29
Abstract_map_loader::base_calculation
virtual std::vector< std::vector< pcl::PointXYZ > > base_calculation()=0
Abstract_map_loader::map
std::vector< tf2::Transform > & map()
Definition: abstract_map_loader.h:42
Abstract_map_loader::set_target_cloud
void set_target_cloud(std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)
Definition: abstract_map_loader.h:49
Abstract_map_loader::task_grasps
std::vector< std::vector< tf2::Transform > > & task_grasps()
Definition: abstract_map_loader.h:46
Abstract_map_loader::Abstract_map_loader
Abstract_map_loader()=default
Abstract_map_loader::set_strategy
void set_strategy(Abstract_strategy *some_stratergy)
Definition: abstract_map_loader.h:38
abstract_robot.h
Abstract_map_loader::~Abstract_map_loader
~Abstract_map_loader()=default
Abstract_strategy
Definition: abstract_strategy.h:8
Abstract_map_loader
Definition: abstract_map_loader.h:24
Abstract_map_loader::set_map
void set_map(std::vector< tf2::Transform > &list)
Definition: abstract_map_loader.h:44
Abstract_map_loader::strategy
Abstract_strategy * strategy()
Definition: abstract_map_loader.h:39
Abstract_map_loader::strategy_
Abstract_strategy * strategy_
Definition: abstract_map_loader.h:32
Abstract_map_loader::set_target_rot
void set_target_rot(std::vector< std::vector< std::vector< tf2::Quaternion >>> &rots)
Definition: abstract_map_loader.h:48
Abstract_map_loader::target_rot
std::vector< std::vector< std::vector< tf2::Quaternion > > > & target_rot()
Definition: abstract_map_loader.h:47
abstract_strategy.h
Abstract_robot
Definition: impl/abstract_robot.h:25


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