4 for (
int i = 0; i <= 2; i++){
5 for (
int j = 0; j <= 2; j++){
6 if(i == 0 && j == 0) {
continue;}
7 if(i == 2 && j == 2) {
continue;}
10 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0.8f*j,0))));
11 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-0.8f*j,0))));
13 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.8f*i,0,0))));
14 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.8f*i,0,0))));
16 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.8f*i,0.8f*j,0))));
17 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.8f*i,0.8f*j,0))));
18 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.8f*i,-0.8f*j,0))));
19 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.8f*i,-0.8f*j,0))));
24 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1.305f,0,0))));
25 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-1.305f,0,0))));
26 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,1.305f,0))));
27 access_fields_.push_back(
new Field(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-1.305f,0))));
33 (B.getOrigin().getX() * A.getOrigin().getY()) - (A.getOrigin().getX() * B.getOrigin().getY()) +
34 (C.getOrigin().getX() * B.getOrigin().getY()) - (B.getOrigin().getX() * C.getOrigin().getY()) +
35 (A.getOrigin().getX() * C.getOrigin().getY()) - (C.getOrigin().getX() * A.getOrigin().getY()))*0.5f;
50 if ((std::floor(sum*100)/100.f) <= full_area) {
51 count_vector[i]++;
return;
65 if ((std::floor(sum*100)/100.f) <= full_area) count_vector.back()++;
return;
79 if ((std::floor(sum*100)/100.f) <= full_area) {
return false; }
82 ss <<
"base_" <<
name_.back();
90 if ((std::floor(sum*100)/100.f) <= full_area){
96 std::vector<Abstract_robot_element*>::const_iterator it =
observers_.begin();
107 if ((std::floor(sum*100)/100.f) <= full_area) {
122 tf_ = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,
tf().getOrigin().getZ()));
138 if ((std::floor(sum*100)/100.f) <= full_area)
return true;
185 std::vector<tf2::Transform> plane;