Public Member Functions | Protected Attributes | List of all members
Moveit_mediator Class Reference

#include <moveit_mediator.h>

Inheritance diagram for Moveit_mediator:
Inheritance graph
[legend]

Public Member Functions

void build_wings (std::bitset< 3 > &wing, int &robot) override
 
bool check_collision (const int &robot) override
 
void connect_robots (Abstract_robot *robot) override
 
moveit::task_constructor::Task create_Task (Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)
 
void mediate () override
 
void merge_acm (moveit_msgs::PlanningScene &in)
 
void merge_ps (moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr)
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi ()
 
 Moveit_mediator (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)
 
void parallel_exec (Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)
 
void publish_tables ()
 
void rewrite_task_template (Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)
 
void set_tasks (std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)
 
void set_wings (std::vector< std::pair< std::vector< object_data >, int >> &wbp) override
 
void setup_task ()
 
std::map< std::string, std::vector< moveit::task_constructor::Task > > & task_map ()
 
void task_planner ()
 
- Public Member Functions inherited from Abstract_mediator
 Abstract_mediator (std::shared_ptr< ros::NodeHandle > const &d)
 Abstract mediator constructor. More...
 
 Abstract_mediator (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)
 
virtual void connect_robots (std::unique_ptr< Abstract_robot_decorator > robot)=0
 pure virtual robot connecting methode More...
 
std::string & dirname ()
 
std::string & dirname ()
 Get dirname. More...
 
std::vector< pcl::PointXYZ > generate_Ground (const tf2::Vector3 origin, const float diameter, float resolution)
 
std::vector< std::vector< pcl::PointXYZ > > & result_vector ()
 
std::map< const std::string, std::vector< pcl::PointXYZ > > & result_vector ()
 Get result_vector. More...
 
std::vector< Abstract_robot * > robots ()
 
std::vector< std::unique_ptr< Abstract_robot_decorator > > & robots ()
 Get robots. More...
 
void set_dirname (std::string &dirn)
 
void set_dirname (std::string &dirn)
 Set dirname. More...
 
void set_result_vector (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)
 Set result vector. More...
 
void set_result_vector (std::vector< std::vector< pcl::PointXYZ >> &res)
 
pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud (std::vector< pcl::PointXYZ > &vector)
 
pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud (std::vector< pcl::PointXYZ > &vector)
 Cloud converter. More...
 
std::vector< std::vector< Abstract_robot_element * > > wings ()
 
std::map< const std::string, std::vector< std::unique_ptr< Abstract_robot_element > > > & wings ()
 Get wings. More...
 

Protected Attributes

std::map< std::string, std::vector< uint8_t > > acm_
 
std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_
 
std::unique_ptr< Cuboid_readercuboid_reader_
 
std::unique_ptr< Job_readerjob_reader_
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_
 
std::shared_ptr< ros::NodeHandle > nh_
 
std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_
 
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_
 
std::shared_ptr< planning_scene::PlanningScene > ps_
 
std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_
 
std::shared_ptr< moveit::core::RobotModel > robot_model_
 
std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_
 
std::map< std::string, std::vector< moveit::task_constructor::Task > > task_map_
 
std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > tasks_
 
std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_
 
- Protected Attributes inherited from Abstract_mediator
std::string dirname_
 Dirname of the reference protobuff. More...
 
std::shared_ptr< ros::NodeHandle > nh_
 Ros nodehandle object. More...
 
std::vector< std::vector< tf2::Transform > > objects_
 
ros::Publisher * pub_
 
std::vector< std::vector< std::vector< tf2::Transform > > > relative_bounds_
 total bound a workspace More...
 
std::vector< std::vector< pcl::PointXYZ > > result_vector_
 
std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_
 Result_vector of base positions linked to robot. More...
 
std::vector< Abstract_robot * > robots_
 
std::vector< std::unique_ptr< Abstract_robot_decorator > > robots_
 Robots agents. More...
 
std::unique_ptr< Ts_readertask_space_reader_
 Task_space reader which provides drop off positions. More...
 
std::vector< std::vector< Abstract_robot_element * > > wings_
 
std::map< const std::string, std::vector< std::unique_ptr< Abstract_robot_element > > > wings_
 

Detailed Description

Definition at line 54 of file moveit_mediator.h.

Constructor & Destructor Documentation

◆ Moveit_mediator()

Moveit_mediator::Moveit_mediator ( std::vector< std::vector< tf2::Transform >>  objects,
ros::Publisher *  pub,
std::shared_ptr< ros::NodeHandle > const &  nh 
)

Definition at line 1262 of file moveit_mediator.cpp.

Member Function Documentation

◆ build_wings()

void Moveit_mediator::build_wings ( std::bitset< 3 > &  wing,
int &  robot 
)
overridevirtual

Implements Abstract_mediator.

Definition at line 76 of file moveit_mediator.cpp.

◆ check_collision()

bool Moveit_mediator::check_collision ( const int &  robot)
overridevirtual

Implements Abstract_mediator.

Definition at line 61 of file moveit_mediator.cpp.

◆ connect_robots()

void Moveit_mediator::connect_robots ( Abstract_robot robot)
overridevirtual

Implements Abstract_mediator.

Definition at line 14 of file moveit_mediator.cpp.

◆ create_Task()

moveit::task_constructor::Task Moveit_mediator::create_Task ( Moveit_robot r,
moveit_msgs::CollisionObject &  source,
tf2::Transform &  target 
)

Definition at line 877 of file moveit_mediator.cpp.

◆ mediate()

void Moveit_mediator::mediate ( )
overridevirtual

Implements Abstract_mediator.

Definition at line 67 of file moveit_mediator.cpp.

◆ merge_acm()

void Moveit_mediator::merge_acm ( moveit_msgs::PlanningScene &  in)

Definition at line 812 of file moveit_mediator.cpp.

◆ merge_ps()

void Moveit_mediator::merge_ps ( moveit_msgs::PlanningScene &  out,
moveit_msgs::PlanningScene *  in,
Moveit_robot mr 
)

Definition at line 828 of file moveit_mediator.cpp.

◆ mgi()

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> Moveit_mediator::mgi ( )
inline

Definition at line 87 of file moveit_mediator.h.

◆ parallel_exec()

void Moveit_mediator::parallel_exec ( Moveit_robot r,
moveit_msgs::RobotTrajectory  rt,
moveit_msgs::PlanningScene  ps 
)

Definition at line 871 of file moveit_mediator.cpp.

◆ publish_tables()

void Moveit_mediator::publish_tables ( )

Definition at line 24 of file moveit_mediator.cpp.

◆ rewrite_task_template()

void Moveit_mediator::rewrite_task_template ( Abstract_robot r,
moveit_msgs::CollisionObject &  source,
tf2::Transform &  target 
)

Definition at line 1162 of file moveit_mediator.cpp.

◆ set_tasks()

void Moveit_mediator::set_tasks ( std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &  tasks)
inline

Definition at line 106 of file moveit_mediator.h.

◆ set_wings()

void Moveit_mediator::set_wings ( std::vector< std::pair< std::vector< object_data >, int >> &  wbp)
overridevirtual

Implements Abstract_mediator.

Definition at line 87 of file moveit_mediator.cpp.

◆ setup_task()

void Moveit_mediator::setup_task ( )

Definition at line 98 of file moveit_mediator.cpp.

◆ task_map()

std::map<std::string, std::vector<moveit::task_constructor::Task> >& Moveit_mediator::task_map ( )
inline

Definition at line 105 of file moveit_mediator.h.

◆ task_planner()

void Moveit_mediator::task_planner ( )

Definition at line 696 of file moveit_mediator.cpp.

Member Data Documentation

◆ acm_

std::map<std::string, std::vector<uint8_t> > Moveit_mediator::acm_
protected

Definition at line 76 of file moveit_mediator.h.

◆ cartesian_planner_

std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> Moveit_mediator::cartesian_planner_
protected

Definition at line 70 of file moveit_mediator.h.

◆ cuboid_reader_

std::unique_ptr<Cuboid_reader> Moveit_mediator::cuboid_reader_
protected

Definition at line 74 of file moveit_mediator.h.

◆ job_reader_

std::unique_ptr<Job_reader> Moveit_mediator::job_reader_
protected

Definition at line 73 of file moveit_mediator.h.

◆ mgi_

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> Moveit_mediator::mgi_
protected

Definition at line 61 of file moveit_mediator.h.

◆ nh_

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

Definition at line 56 of file moveit_mediator.h.

◆ planning_scene_diff_publisher_

std::shared_ptr<ros::Publisher> Moveit_mediator::planning_scene_diff_publisher_
protected

Definition at line 64 of file moveit_mediator.h.

◆ planning_scene_monitor_

std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> Moveit_mediator::planning_scene_monitor_
protected

Definition at line 65 of file moveit_mediator.h.

◆ ps_

std::shared_ptr<planning_scene::PlanningScene> Moveit_mediator::ps_
protected

Definition at line 63 of file moveit_mediator.h.

◆ psi_

std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> Moveit_mediator::psi_
protected

Definition at line 62 of file moveit_mediator.h.

◆ robot_model_

std::shared_ptr<moveit::core::RobotModel> Moveit_mediator::robot_model_
protected

Definition at line 57 of file moveit_mediator.h.

◆ sampling_planner_

std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> Moveit_mediator::sampling_planner_
protected

Definition at line 69 of file moveit_mediator.h.

◆ task_map_

std::map<std::string, std::vector<moveit::task_constructor::Task> > Moveit_mediator::task_map_
protected

Definition at line 71 of file moveit_mediator.h.

◆ tasks_

std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> > > Moveit_mediator::tasks_
protected

Definition at line 77 of file moveit_mediator.h.

◆ visual_tools_

std::shared_ptr<moveit_visual_tools::MoveItVisualTools> Moveit_mediator::visual_tools_
protected

Definition at line 58 of file moveit_mediator.h.


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