src
grasp_cell_routine.cpp
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1
#include "
impl/abstract_robot.h
"
2
#include "
impl/abstract_map_loader.h
"
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#include "
impl/map_loader.h
"
4
#include "
impl/abstract_robot_element.h
"
5
#include "
impl/abstract_robot_element_decorator.h
"
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#include "
impl/abstract_mediator.h
"
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#include "
impl/moveit_mediator.h
"
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#include "
impl/moveit_grasp_mediator.h
"
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#include "
impl/wing_moveit_decorator.h
"
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#include "
impl/wing.h
"
11
#include "
impl/moveit_robot.h
"
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#include "
impl/collision_helper.h
"
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#include <xmlrpcpp/XmlRpc.h>
14
#include "
reader/abstract_param_reader.h
"
15
#include "
reader/robot_reader.h
"
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#include "
reader/wing_reader.h
"
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#include "
reader/cuboid_reader.h
"
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#include <moveit_grasps/two_finger_grasp_generator.h>
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#include <moveit_grasps/two_finger_grasp_data.h>
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#include <moveit_grasps/two_finger_grasp_filter.h>
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#include <moveit_grasps/grasp_planner.h>
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int
main
(
int
argc,
char
**argv){
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ros::init(argc, argv,
"grasp_cell_routine"
);
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std::shared_ptr<ros::NodeHandle> nnh = std::make_shared<ros::NodeHandle>();
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ros::AsyncSpinner spinner(1);
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spinner.start();
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XmlRpc::XmlRpcValue map, task;
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nnh->getParam(
"/data"
,map);
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nnh->getParam(
"/task/groups"
,task);
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Abstract_map_loader
* map_loader =
new
Map_loader
(map, task);
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ros::Publisher* pub =
new
ros::Publisher(nnh->advertise< visualization_msgs::MarkerArray >(
"visualization_marker_array"
, 1));
//refractor
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Abstract_mediator
* mediator =
new
Moveit_grasp_mediator
(map_loader->
task_grasps
(), pub, nnh);
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Moveit_grasp_mediator
* moveit_grasp_mediator =
dynamic_cast<
Moveit_grasp_mediator
*
>
(mediator);
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moveit_grasp_mediator->
mediate
();
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while
(ros::ok()){
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ros::spinOnce();
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}
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}
moveit_robot.h
abstract_robot_element.h
cuboid_reader.h
Abstract_mediator
Abstract mediator.
Definition:
impl/abstract_mediator.h:33
Moveit_grasp_mediator::mediate
void mediate() override
Definition:
moveit_grasp_mediator.cpp:141
abstract_map_loader.h
abstract_param_reader.h
Moveit_grasp_mediator
Definition:
moveit_grasp_mediator.h:23
Abstract_map_loader::task_grasps
std::vector< std::vector< tf2::Transform > > & task_grasps()
Definition:
abstract_map_loader.h:46
moveit_grasp_mediator.h
wing_moveit_decorator.h
abstract_mediator.h
map_loader.h
abstract_robot.h
Abstract_map_loader
Definition:
abstract_map_loader.h:24
collision_helper.h
wing_reader.h
robot_reader.h
Map_loader
Definition:
map_loader.h:10
moveit_mediator.h
main
int main(int argc, char **argv)
Definition:
grasp_cell_routine.cpp:26
wing.h
abstract_robot_element_decorator.h
multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43