Abstract base class.
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#include <abstract_base.h>
Abstract base class.
Class which represents the template class abstraction, which calls methodes from an abstract implementation
Definition at line 29 of file abstract_base.h.
◆ Abstract_base()
Abstract_base::Abstract_base |
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std::shared_ptr< ros::NodeHandle > const & |
d | ) |
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inline |
Abstract base constructor.
- Parameters
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d | ros::NodeHandle to interact with paramserver |
Definition at line 45 of file abstract_base.h.
◆ base_calculation()
virtual std::map<const std::string, std::vector<pcl::PointXYZ> > Abstract_base::base_calculation |
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pure virtual |
pure virtual template methode
bridge template methode, in which implementation is called to calculate base positions
- Returns
- base positions as pcl::PointXYZ vector mapped to robot
Implemented in Simple_base.
◆ create_pcl_box()
static std::vector<pcl::PointXYZ> Abstract_base::create_pcl_box |
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static |
box discretization
box shaped representation of space, centered at origin (0,0,0)
- Returns
- vector of pcl::PointXYZ data
◆ implementation()
Get used implementation.
- Returns
- implementation
Definition at line 51 of file abstract_base.h.
◆ inv_map()
std::vector<tf2::Transform>& Abstract_base::inv_map |
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inline |
Get inverse map structure.
- Returns
- inverse map structure
Definition at line 63 of file abstract_base.h.
◆ map()
std::vector<tf2::Transform>& Abstract_base::map |
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inline |
Get map structure.
- Returns
- map structure
Definition at line 75 of file abstract_base.h.
◆ set_implementation()
Set used implementation.
- Parameters
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some_implememntation | specific implementation for bridge pattern |
Definition at line 57 of file abstract_base.h.
◆ set_inv_map()
void Abstract_base::set_inv_map |
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std::vector< tf2::Transform > & |
list | ) |
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inline |
Set inverse map structure.
- Parameters
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list | inverse map structure |
Definition at line 69 of file abstract_base.h.
◆ set_map()
void Abstract_base::set_map |
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std::vector< tf2::Transform > & |
list | ) |
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inline |
◆ set_target_cloud()
void Abstract_base::set_target_cloud |
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std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> & |
cloud | ) |
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inline |
◆ set_task_space()
void Abstract_base::set_task_space |
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std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> & |
s_trans | ) |
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inline |
◆ target_cloud()
std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> >& Abstract_base::target_cloud |
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inline |
◆ task_space()
std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion> > > >& Abstract_base::task_space |
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inline |
◆ write_task()
◆ implementation_
◆ inv_map_
std::vector<tf2::Transform> Abstract_base::inv_map_ |
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protected |
Inversion of reachability map structure.
Definition at line 34 of file abstract_base.h.
◆ map_
std::vector<tf2::Transform> Abstract_base::map_ |
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protected |
Reachability map structure of a robot.
Definition at line 33 of file abstract_base.h.
◆ nh_
std::shared_ptr<ros::NodeHandle> Abstract_base::nh_ |
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protected |
◆ target_cloud_
std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> > Abstract_base::target_cloud_ |
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protected |
Pointcloud structure, mapped to robot.
Definition at line 36 of file abstract_base.h.
◆ task_space_
std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion> > > > Abstract_base::task_space_ |
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protected |
Drop-off locations with their grasp orientations, mapped to a robot.
Definition at line 35 of file abstract_base.h.
The documentation for this class was generated from the following file: