#include <moveit_mediator.h>
Public Member Functions | |
void | build_wings (std::bitset< 3 > &wing, int &robot) override |
bool | check_collision (const int &robot) override |
void | connect_robots (Abstract_robot *robot) override |
moveit::task_constructor::Task | create_Task (Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target) |
void | mediate () override |
void | merge_acm (moveit_msgs::PlanningScene &in) |
void | merge_ps (moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr) |
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > | mgi () |
Moveit_mediator (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh) | |
void | parallel_exec (Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps) |
void | publish_tables () |
void | rewrite_task_template (Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target) |
void | set_tasks (std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks) |
void | set_wings (std::vector< std::pair< std::vector< object_data >, int >> &wbp) override |
void | setup_task () |
std::map< std::string, std::vector< moveit::task_constructor::Task > > & | task_map () |
void | task_planner () |
![]() | |
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 | 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) |
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) |
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::map< std::string, std::vector< uint8_t > > | acm_ |
std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > | cartesian_planner_ |
std::unique_ptr< Cuboid_reader > | cuboid_reader_ |
std::unique_ptr< Job_reader > | job_reader_ |
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > | mgi_ |
std::shared_ptr< ros::NodeHandle > | nh_ |
std::shared_ptr< ros::Publisher > | planning_scene_diff_publisher_ |
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > | planning_scene_monitor_ |
std::shared_ptr< planning_scene::PlanningScene > | ps_ |
std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > | psi_ |
std::shared_ptr< moveit::core::RobotModel > | robot_model_ |
std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > | sampling_planner_ |
std::map< std::string, std::vector< moveit::task_constructor::Task > > | task_map_ |
std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > | tasks_ |
std::shared_ptr< moveit_visual_tools::MoveItVisualTools > | visual_tools_ |
![]() | |
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_ |
Definition at line 54 of file moveit_mediator.h.
Moveit_mediator::Moveit_mediator | ( | std::vector< std::vector< tf2::Transform >> | objects, |
ros::Publisher * | pub, | ||
std::shared_ptr< ros::NodeHandle > const & | nh | ||
) |
Definition at line 1262 of file moveit_mediator.cpp.
|
overridevirtual |
Implements Abstract_mediator.
Definition at line 76 of file moveit_mediator.cpp.
|
overridevirtual |
Implements Abstract_mediator.
Definition at line 61 of file moveit_mediator.cpp.
|
overridevirtual |
Implements Abstract_mediator.
Definition at line 14 of file moveit_mediator.cpp.
moveit::task_constructor::Task Moveit_mediator::create_Task | ( | Moveit_robot * | r, |
moveit_msgs::CollisionObject & | source, | ||
tf2::Transform & | target | ||
) |
Definition at line 877 of file moveit_mediator.cpp.
|
overridevirtual |
Implements Abstract_mediator.
Definition at line 67 of file moveit_mediator.cpp.
void Moveit_mediator::merge_acm | ( | moveit_msgs::PlanningScene & | in | ) |
Definition at line 812 of file moveit_mediator.cpp.
void Moveit_mediator::merge_ps | ( | moveit_msgs::PlanningScene & | out, |
moveit_msgs::PlanningScene * | in, | ||
Moveit_robot * | mr | ||
) |
Definition at line 828 of file moveit_mediator.cpp.
|
inline |
Definition at line 87 of file moveit_mediator.h.
void Moveit_mediator::parallel_exec | ( | Moveit_robot & | r, |
moveit_msgs::RobotTrajectory | rt, | ||
moveit_msgs::PlanningScene | ps | ||
) |
Definition at line 871 of file moveit_mediator.cpp.
void Moveit_mediator::publish_tables | ( | ) |
Definition at line 24 of file moveit_mediator.cpp.
void Moveit_mediator::rewrite_task_template | ( | Abstract_robot * | r, |
moveit_msgs::CollisionObject & | source, | ||
tf2::Transform & | target | ||
) |
Definition at line 1162 of file moveit_mediator.cpp.
|
inline |
Definition at line 106 of file moveit_mediator.h.
|
overridevirtual |
Implements Abstract_mediator.
Definition at line 87 of file moveit_mediator.cpp.
void Moveit_mediator::setup_task | ( | ) |
Definition at line 98 of file moveit_mediator.cpp.
|
inline |
Definition at line 105 of file moveit_mediator.h.
void Moveit_mediator::task_planner | ( | ) |
Definition at line 696 of file moveit_mediator.cpp.
|
protected |
Definition at line 76 of file moveit_mediator.h.
|
protected |
Definition at line 70 of file moveit_mediator.h.
|
protected |
Definition at line 74 of file moveit_mediator.h.
|
protected |
Definition at line 73 of file moveit_mediator.h.
|
protected |
Definition at line 61 of file moveit_mediator.h.
|
protected |
Definition at line 56 of file moveit_mediator.h.
|
protected |
Definition at line 64 of file moveit_mediator.h.
|
protected |
Definition at line 65 of file moveit_mediator.h.
|
protected |
Definition at line 63 of file moveit_mediator.h.
|
protected |
Definition at line 62 of file moveit_mediator.h.
|
protected |
Definition at line 57 of file moveit_mediator.h.
|
protected |
Definition at line 69 of file moveit_mediator.h.
|
protected |
Definition at line 71 of file moveit_mediator.h.
|
protected |
Definition at line 77 of file moveit_mediator.h.
|
protected |
Definition at line 58 of file moveit_mediator.h.