Public Member Functions | Protected Attributes | List of all members
Simple_base Class Reference

refiend base abstraction More...

#include <simple_base.h>

Inheritance diagram for Simple_base:
Inheritance graph
[legend]

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...
 
- Public Member Functions inherited from Abstract_base
 Abstract_base (std::shared_ptr< ros::NodeHandle > const &d)
 Abstract base constructor. More...
 
Abstract_base_implementationimplementation ()
 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_readermap_reader_
 
std::unique_ptr< Ts_readertask_space_reader_
 
- Protected Attributes inherited from Abstract_base
std::shared_ptr< Abstract_base_implementationimplementation_
 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

- Static Public Member Functions inherited from Abstract_base
static std::vector< pcl::PointXYZ > create_pcl_box ()
 box discretization More...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ Simple_base()

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

Simple base constructor.

Parameters
dRos nodehandle to interact with ros

Definition at line 4 of file simple_base.cpp.

Member Function Documentation

◆ base_calculation()

std::map< const std::string, std::vector< pcl::PointXYZ > > Simple_base::base_calculation ( )
overridevirtual

refined Template methode

Overriden methide which calls necessary functions from implementation

Parameters
varstore inversed reachability map data
Returns
map of base positions linked to robots

Implements Abstract_base.

Definition at line 20 of file simple_base.cpp.

◆ write_task()

void Simple_base::write_task ( Abstract_robot robot)
overridevirtual

write trask

Parameters
robot

Implements Abstract_base.

Definition at line 366 of file simple_base.cpp.

Member Data Documentation

◆ map_reader_

std::unique_ptr<Map_reader> Simple_base::map_reader_
protected

Reachability map reader object

Definition at line 29 of file simple_base.h.

◆ task_space_reader_

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

Task space reader object

Definition at line 28 of file simple_base.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