Abstract mediator. More...
#include <abstract_mediator.h>
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_reader > | task_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_ |
Abstract mediator.
Mediator abstraction which takes care of robot abstractions
Definition at line 33 of file impl/abstract_mediator.h.
|
inline |
Definition at line 48 of file impl/abstract_mediator.h.
Abstract_mediator::Abstract_mediator | ( | std::shared_ptr< ros::NodeHandle > const & | d | ) |
Abstract mediator constructor.
initializes task_space reader
d | Ros nodehandle |
Definition at line 3 of file mediator/abstract_mediator.cpp.
|
pure virtual |
Implemented in Base_calculation_mediator, Mediator, and Moveit_mediator.
|
pure virtual |
pure virtual methode to build specific wings
wing | bitmap showing which wing should be build |
robot | Robot index |
Implemented in Base_calculation_mediator, Mediator, and Moveit_mediator.
|
pure virtual |
Implemented in Base_calculation_mediator, Moveit_mediator, and Mediator.
|
pure virtual |
pure virtual robot collision checker
robot | Robot index |
Implemented in Base_calculation_mediator, Moveit_mediator, and Mediator.
|
pure virtual |
Implemented in Moveit_mediator, Moveit_grasp_mediator, and Mediator.
|
pure virtual |
pure virtual robot connecting methode
robot | robot decorator |
Implemented in Base_calculation_mediator.
|
inline |
Definition at line 58 of file impl/abstract_mediator.h.
|
inline |
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.
|
pure virtual |
Implemented in Base_calculation_mediator, Moveit_mediator, Moveit_grasp_mediator, and Mediator.
|
pure virtual |
pure virtual mediate methode
Implemented in Base_calculation_mediator, Moveit_mediator, Moveit_grasp_mediator, and Mediator.
|
inline |
Definition at line 53 of file impl/abstract_mediator.h.
|
inline |
|
inline |
Definition at line 54 of file impl/abstract_mediator.h.
|
inline |
|
inline |
Definition at line 57 of file impl/abstract_mediator.h.
|
inline |
|
inline |
Set result vector.
res | result vector |
Definition at line 56 of file mediator/abstract_mediator.h.
|
inline |
Definition at line 51 of file impl/abstract_mediator.h.
|
pure virtual |
Implemented in Moveit_mediator, and Mediator.
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.
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
vector | Vector of XYZPoints |
|
inline |
Definition at line 52 of file impl/abstract_mediator.h.
|
inline |
Get wings.
Definition at line 62 of file mediator/abstract_mediator.h.
|
protected |
Dirname of the reference protobuff.
Definition at line 41 of file impl/abstract_mediator.h.
|
protected |
Ros nodehandle object.
Definition at line 35 of file mediator/abstract_mediator.h.
|
protected |
Definition at line 36 of file impl/abstract_mediator.h.
|
protected |
Definition at line 38 of file impl/abstract_mediator.h.
|
protected |
total bound a workspace
Definition at line 37 of file impl/abstract_mediator.h.
|
protected |
Definition at line 39 of file impl/abstract_mediator.h.
|
protected |
Result_vector of base positions linked to robot.
Definition at line 40 of file mediator/abstract_mediator.h.
|
protected |
Definition at line 35 of file impl/abstract_mediator.h.
|
protected |
Robots agents.
Definition at line 37 of file mediator/abstract_mediator.h.
|
protected |
Task_space reader which provides drop off positions.
Definition at line 36 of file mediator/abstract_mediator.h.
|
protected |
Definition at line 40 of file impl/abstract_mediator.h.
|
protected |
Definition at line 41 of file mediator/abstract_mediator.h.