refined base implementation More...
#include <simple_base_implementation.h>
Public Member Functions | |
void | inv_map_creation (std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space) override |
Create inversed reachability map. More... | |
void | set_grasp_orientations (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override |
Store grasp orientations as endeffector transforms. More... | |
Simple_base_implementation ()=default | |
Default simple base implementation constructor. More... | |
~Simple_base_implementation ()=default | |
Default simple base implementation destructor. More... | |
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Abstract_base_implementation ()=default | |
Abstract base implementation default constructor. More... | |
~Abstract_base_implementation ()=default | |
Abstract base implementation default destructor. More... | |
refined base implementation
generel base calculation approach
Definition at line 12 of file simple_base_implementation.h.
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default |
Default simple base implementation constructor.
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default |
Default simple base implementation destructor.
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overridevirtual |
Create inversed reachability map.
Creating inversed reachability map by inverting reachability map if grasp orientations match reachability map entries
map | store inversed reachability map data |
inv_map | store inversed reachability map data |
task_space | store inversed reachability map data |
Implements Abstract_base_implementation.
Definition at line 16 of file simple_base_implementation.cpp.
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overridevirtual |
Store grasp orientations as endeffector transforms.
The 5 most basic Orientatations (x, -x, y, -y, z) for all graspable objects
var | manipulate grasp orienattions mapped to object and robot |
Implements Abstract_base_implementation.
Definition at line 3 of file simple_base_implementation.cpp.