6 , task_space_reader_(std::make_unique<
Ts_reader>(d))
10 ROS_INFO(
"=> RM is known");
13 std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>> vod_q;
14 for(
auto& od: s_vod.second) vod_q.push_back(std::pair<
object_data, std::vector<tf2::Quaternion>>(od, std::vector<tf2::Quaternion>()));
15 task_space_.insert(std::pair<
const std::string, std::vector<std::pair<
object_data, std::vector<tf2::Quaternion>>>>(s_vod.first,vod_q));
17 ROS_INFO(
"=> TS is known");
23 ROS_INFO(
"=> grasp rotations from implenentation object set");
27 ROS_INFO(
"=> inverse map is set...");
29 std::map<const std::string, std::vector<pcl::PointXYZ>> resulting;