refiend base abstraction More...
#include <simple_base.h>
Public Member Functions | |
std::map< const std::string, std::vector< pcl::PointXYZ > > | base_calculation () override |
refined Template methode More... | |
Simple_base (std::shared_ptr< ros::NodeHandle > const &d) | |
Simple base constructor. More... | |
void | write_task (Abstract_robot *robot) override |
write trask More... | |
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Abstract_base (std::shared_ptr< ros::NodeHandle > const &d) | |
Abstract base constructor. More... | |
Abstract_base_implementation * | implementation () |
Get used implementation. More... | |
std::vector< tf2::Transform > & | inv_map () |
Get inverse map structure. More... | |
std::vector< tf2::Transform > & | map () |
Get map structure. More... | |
void | set_implementation (std::shared_ptr< Abstract_base_implementation > some_implememntation) |
Set used implementation. More... | |
void | set_inv_map (std::vector< tf2::Transform > &list) |
Set inverse map structure. More... | |
void | set_map (std::vector< tf2::Transform > &list) |
Set map structure. More... | |
void | set_target_cloud (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud) |
Set task cloud. More... | |
void | set_task_space (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans) |
Set task space. More... | |
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & | target_cloud () |
Get task cloud. More... | |
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > & | task_space () |
Get task space. More... | |
Protected Attributes | |
std::unique_ptr< Map_reader > | map_reader_ |
std::unique_ptr< Ts_reader > | task_space_reader_ |
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std::shared_ptr< Abstract_base_implementation > | implementation_ |
refined implementation More... | |
std::vector< tf2::Transform > | inv_map_ |
Inversion of reachability map structure. More... | |
std::vector< tf2::Transform > | map_ |
Reachability map structure of a robot. More... | |
std::shared_ptr< ros::NodeHandle > | nh_ |
Ros nodehandle object. More... | |
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > | target_cloud_ |
Pointcloud structure, mapped to robot. More... | |
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > | task_space_ |
Drop-off locations with their grasp orientations, mapped to a robot. More... | |
Additional Inherited Members | |
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static std::vector< pcl::PointXYZ > | create_pcl_box () |
box discretization More... | |
refiend base abstraction
A simple refined abstraction, which utilizes raeder objects to set upper member vaiables.
Definition at line 26 of file simple_base.h.
Simple_base::Simple_base | ( | std::shared_ptr< ros::NodeHandle > const & | d | ) |
Simple base constructor.
d | Ros nodehandle to interact with ros |
Definition at line 4 of file simple_base.cpp.
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overridevirtual |
refined Template methode
Overriden methide which calls necessary functions from implementation
var | store inversed reachability map data |
Implements Abstract_base.
Definition at line 20 of file simple_base.cpp.
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overridevirtual |
write trask
robot |
Implements Abstract_base.
Definition at line 366 of file simple_base.cpp.
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protected |
Reachability map reader object
Definition at line 29 of file simple_base.h.
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protected |
Task space reader object
Definition at line 28 of file simple_base.h.