Abstract Robot implementation.
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#include <abstract_robot.h>
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| AbstractRobot (std::string name, tf2::Transform tf, tf2::Vector3 size) |
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float | areaCalculation (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C) |
| Triangle area calculator. More...
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virtual std::vector< tf2::Transform > & | bounds ()=0 |
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virtual bool | checkSingleObjectCollision (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask)=0 |
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virtual std::string & | name ()=0 |
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virtual void | notify ()=0 |
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virtual std::vector< tf2::Transform > & | robotRootBounds ()=0 |
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virtual tf2::Transform & | rootTf ()=0 |
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void | rotate (float deg) |
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void | setTf (tf2::Transform &t) |
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virtual tf2::Vector3 & | size ()=0 |
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void | size (tf2::Vector3 &s) |
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virtual tf2::Transform & | tf ()=0 |
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void | translate (tf2::Vector3 t) |
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Abstract Robot implementation.
Defines a Robot as table plus Manipulator on top.
Definition at line 25 of file abstract_robot.h.
◆ AbstractRobot()
AbstractRobot::AbstractRobot |
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std::string |
name, |
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tf2::Transform |
tf, |
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tf2::Vector3 |
size |
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) |
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◆ areaCalculation()
float AbstractRobot::areaCalculation |
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tf2::Transform & |
A, |
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tf2::Transform & |
B, |
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tf2::Transform & |
C |
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) |
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Triangle area calculator.
Calculates triangle with 3 vertices
- Parameters
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A | pose of triagnel vertice |
B | pose of triagnel vertice |
C | pose of triagnel vertice |
- Returns
- float triangle area
Definition at line 22 of file abstract_robot.cpp.
◆ bounds()
virtual std::vector<tf2::Transform>& AbstractRobot::bounds |
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pure virtual |
◆ checkSingleObjectCollision()
virtual bool AbstractRobot::checkSingleObjectCollision |
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tf2::Transform & |
obj, |
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std::string & |
robot_element, |
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std::bitset< 3 > & |
panel_mask |
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) |
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pure virtual |
◆ name()
virtual std::string& AbstractRobot::name |
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pure virtual |
◆ notify()
virtual void AbstractRobot::notify |
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pure virtual |
◆ robotRootBounds()
virtual std::vector<tf2::Transform>& AbstractRobot::robotRootBounds |
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pure virtual |
◆ rootTf()
virtual tf2::Transform& AbstractRobot::rootTf |
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pure virtual |
◆ rotate()
void AbstractRobot::rotate |
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float |
deg | ) |
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inline |
◆ setTf()
void AbstractRobot::setTf |
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tf2::Transform & |
t | ) |
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inline |
◆ size() [1/2]
virtual tf2::Vector3& AbstractRobot::size |
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pure virtual |
◆ size() [2/2]
void AbstractRobot::size |
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tf2::Vector3 & |
s | ) |
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inline |
◆ tf()
virtual tf2::Transform& AbstractRobot::tf |
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pure virtual |
◆ translate()
void AbstractRobot::translate |
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tf2::Vector3 |
t | ) |
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inline |
◆ bounds_
std::vector<tf2::Transform> AbstractRobot::bounds_ |
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◆ name_
std::string AbstractRobot::name_ |
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◆ robot_root_bounds_
std::vector<tf2::Transform> AbstractRobot::robot_root_bounds_ |
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Bounds of robot arm as sub-region of table top.
Definition at line 32 of file abstract_robot.h.
◆ root_tf_
tf2::Transform AbstractRobot::root_tf_ |
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◆ size_
tf2::Vector3 AbstractRobot::size_ |
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◆ tf_
tf2::Transform AbstractRobot::tf_ |
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protected |
The documentation for this class was generated from the following files: