Public Member Functions | Protected Attributes | List of all members
Abstract_mediator Class Referenceabstract

Abstract mediator. More...

#include <abstract_mediator.h>

Inheritance diagram for Abstract_mediator:
Inheritance graph
[legend]

Public Member Functions

 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 build_wings (std::bitset< 3 > &wing, int &robot)=0
 
virtual void build_wings (std::bitset< 3 > &wing, int &robot)=0
 pure virtual methode to build specific wings More...
 
virtual bool check_collision (const int &robot)=0
 
virtual bool check_collision (const int &robot)=0
 pure virtual robot collision checker More...
 
virtual void connect_robots (Abstract_robot *robot)=0
 
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)
 
virtual void mediate ()=0
 
virtual void mediate ()=0
 pure virtual mediate methode More...
 
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)
 
virtual void set_wings (std::vector< std::pair< std::vector< object_data >, int >> &wbp)=0
 
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::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

Abstract mediator.

Mediator abstraction which takes care of robot abstractions

Definition at line 33 of file impl/abstract_mediator.h.

Constructor & Destructor Documentation

◆ Abstract_mediator() [1/2]

Abstract_mediator::Abstract_mediator ( std::vector< std::vector< tf2::Transform >>  objects,
ros::Publisher *  pub 
)
inline

Definition at line 48 of file impl/abstract_mediator.h.

◆ Abstract_mediator() [2/2]

Abstract_mediator::Abstract_mediator ( std::shared_ptr< ros::NodeHandle > const &  d)

Abstract mediator constructor.

initializes task_space reader

Parameters
dRos nodehandle

Definition at line 3 of file mediator/abstract_mediator.cpp.

Member Function Documentation

◆ build_wings() [1/2]

virtual void Abstract_mediator::build_wings ( std::bitset< 3 > &  wing,
int &  robot 
)
pure virtual

◆ build_wings() [2/2]

virtual void Abstract_mediator::build_wings ( std::bitset< 3 > &  wing,
int &  robot 
)
pure virtual

pure virtual methode to build specific wings

Parameters
wingbitmap showing which wing should be build
robotRobot index

Implemented in Base_calculation_mediator, Mediator, and Moveit_mediator.

◆ check_collision() [1/2]

virtual bool Abstract_mediator::check_collision ( const int &  robot)
pure virtual

◆ check_collision() [2/2]

virtual bool Abstract_mediator::check_collision ( const int &  robot)
pure virtual

pure virtual robot collision checker

Parameters
robotRobot index

Implemented in Base_calculation_mediator, Moveit_mediator, and Mediator.

◆ connect_robots() [1/2]

virtual void Abstract_mediator::connect_robots ( Abstract_robot robot)
pure virtual

◆ connect_robots() [2/2]

virtual void Abstract_mediator::connect_robots ( std::unique_ptr< Abstract_robot_decorator robot)
pure virtual

pure virtual robot connecting methode

Parameters
robotrobot decorator

Implemented in Base_calculation_mediator.

◆ dirname() [1/2]

std::string& Abstract_mediator::dirname ( )
inline

Definition at line 58 of file impl/abstract_mediator.h.

◆ dirname() [2/2]

std::string& Abstract_mediator::dirname ( )
inline

Get dirname.

Returns
dirname

Definition at line 86 of file mediator/abstract_mediator.h.

◆ generate_Ground()

std::vector< pcl::PointXYZ > Abstract_mediator::generate_Ground ( const tf2::Vector3  origin,
const float  diameter,
float  resolution 
)

Definition at line 4 of file impl/abstract_mediator.cpp.

◆ mediate() [1/2]

virtual void Abstract_mediator::mediate ( )
pure virtual

◆ mediate() [2/2]

virtual void Abstract_mediator::mediate ( )
pure virtual

pure virtual mediate methode

Implemented in Base_calculation_mediator, Moveit_mediator, Moveit_grasp_mediator, and Mediator.

◆ result_vector() [1/2]

std::vector<std::vector<pcl::PointXYZ> >& Abstract_mediator::result_vector ( )
inline

Definition at line 53 of file impl/abstract_mediator.h.

◆ result_vector() [2/2]

std::map<const std::string, std::vector<pcl::PointXYZ> >& Abstract_mediator::result_vector ( )
inline

Get result_vector.

Returns
result_vector

Definition at line 68 of file mediator/abstract_mediator.h.

◆ robots() [1/2]

std::vector<Abstract_robot*> Abstract_mediator::robots ( )
inline

Definition at line 54 of file impl/abstract_mediator.h.

◆ robots() [2/2]

std::vector<std::unique_ptr<Abstract_robot_decorator> >& Abstract_mediator::robots ( )
inline

Get robots.

Returns
robots as decorators

Definition at line 74 of file mediator/abstract_mediator.h.

◆ set_dirname() [1/2]

void Abstract_mediator::set_dirname ( std::string &  dirn)
inline

Definition at line 57 of file impl/abstract_mediator.h.

◆ set_dirname() [2/2]

void Abstract_mediator::set_dirname ( std::string &  dirn)
inline

Set dirname.

Parameters
dirnnew dirname

Definition at line 80 of file mediator/abstract_mediator.h.

◆ set_result_vector() [1/2]

void Abstract_mediator::set_result_vector ( std::map< const std::string, std::vector< pcl::PointXYZ >> &  res)
inline

Set result vector.

Parameters
resresult vector

Definition at line 56 of file mediator/abstract_mediator.h.

◆ set_result_vector() [2/2]

void Abstract_mediator::set_result_vector ( std::vector< std::vector< pcl::PointXYZ >> &  res)
inline

Definition at line 51 of file impl/abstract_mediator.h.

◆ set_wings()

virtual void Abstract_mediator::set_wings ( std::vector< std::pair< std::vector< object_data >, int >> &  wbp)
pure virtual

Implemented in Moveit_mediator, and Mediator.

◆ vector_to_cloud() [1/2]

pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud ( std::vector< pcl::PointXYZ > &  vector)

Definition at line 16 of file impl/abstract_mediator.cpp.

◆ vector_to_cloud() [2/2]

pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud ( std::vector< pcl::PointXYZ > &  vector)

Cloud converter.

Converts vector of pcl::PointXYZ to a pcl::Pointcloud

Parameters
vectorVector of XYZPoints
Returns
Pointcloud

◆ wings() [1/2]

std::vector<std::vector<Abstract_robot_element*> > Abstract_mediator::wings ( )
inline

Definition at line 52 of file impl/abstract_mediator.h.

◆ wings() [2/2]

std::map<const std::string, std::vector<std::unique_ptr<Abstract_robot_element> > >& Abstract_mediator::wings ( )
inline

Get wings.

Returns
map of panals linked to their robots

Definition at line 62 of file mediator/abstract_mediator.h.

Member Data Documentation

◆ dirname_

std::string Abstract_mediator::dirname_
protected

Dirname of the reference protobuff.

Definition at line 41 of file impl/abstract_mediator.h.

◆ nh_

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

Ros nodehandle object.

Definition at line 35 of file mediator/abstract_mediator.h.

◆ objects_

std::vector<std::vector<tf2::Transform> > Abstract_mediator::objects_
protected

Definition at line 36 of file impl/abstract_mediator.h.

◆ pub_

ros::Publisher* Abstract_mediator::pub_
protected

Definition at line 38 of file impl/abstract_mediator.h.

◆ relative_bounds_

std::vector< std::vector< std::vector< tf2::Transform > > > Abstract_mediator::relative_bounds_
protected

total bound a workspace

Definition at line 37 of file impl/abstract_mediator.h.

◆ result_vector_ [1/2]

std::vector<std::vector<pcl::PointXYZ> > Abstract_mediator::result_vector_
protected

Definition at line 39 of file impl/abstract_mediator.h.

◆ result_vector_ [2/2]

std::map<const std::string, std::vector<pcl::PointXYZ> > Abstract_mediator::result_vector_
protected

Result_vector of base positions linked to robot.

Definition at line 40 of file mediator/abstract_mediator.h.

◆ robots_ [1/2]

std::vector<Abstract_robot*> Abstract_mediator::robots_
protected

Definition at line 35 of file impl/abstract_mediator.h.

◆ robots_ [2/2]

std::vector<std::unique_ptr<Abstract_robot_decorator> > Abstract_mediator::robots_
protected

Robots agents.

Definition at line 37 of file mediator/abstract_mediator.h.

◆ task_space_reader_

std::unique_ptr<Ts_reader> Abstract_mediator::task_space_reader_
protected

Task_space reader which provides drop off positions.

Definition at line 36 of file mediator/abstract_mediator.h.

◆ wings_ [1/2]

std::vector<std::vector<Abstract_robot_element*> > Abstract_mediator::wings_
protected

Definition at line 40 of file impl/abstract_mediator.h.

◆ wings_ [2/2]

std::map<const std::string, std::vector<std::unique_ptr<Abstract_robot_element> > > Abstract_mediator::wings_
protected

Definition at line 41 of file mediator/abstract_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