Public Member Functions | Protected Attributes | List of all members
AbstractRobotDecorator Class Referenceabstract

Abstract Robot Decorator. More...

#include <abstract_robot_decorator.h>

Inheritance diagram for AbstractRobotDecorator:
Inheritance graph
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Public Member Functions

 AbstractRobotDecorator (std::unique_ptr< AbstractRobot > next)
 Abstract Robot Decorator. More...
 
std::vector< tf2::Transform > & bounds () override
 Redirects bounds call to next_. More...
 
bool checkSingleObjectCollision (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override
 Redirects check_single_object_collision call. More...
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi ()
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgiHand ()
 
std::string & name () override
 Redirects name call to next_. More...
 
AbstractRobotnext ()
 Call of mimiced objects. More...
 
void notify () override
 Redirects notify call to next_. More...
 
std::string & pattern ()
 
std::vector< tf2::Transform > & robotRootBounds () override
 Redirects robot_root_bounds call to next_. More...
 
tf2::Transform & rootTf () override
 Redirects root_tf call to next_. More...
 
tf2::Vector3 & size () override
 Redirects size call to next_. More...
 
virtual void spezifieRobotGroups ()=0
 Pure virtual function to specify root groupts. More...
 
virtual void spezifieRootBounds ()=0
 Pure virtual function to specify root bounds. More...
 
tf2::Transform & tf () override
 Redirects tf call to next_. More...
 
- Public Member Functions inherited from AbstractRobot
 AbstractRobot (std::string name, tf2::Transform tf, tf2::Vector3 size)
 
float areaCalculation (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)
 Triangle area calculator. More...
 
void rotate (float deg)
 
void setTf (tf2::Transform &t)
 
void size (tf2::Vector3 &s)
 
void translate (tf2::Vector3 t)
 

Protected Attributes

std::shared_ptr< MapGenerator > grasp_map_generator_
 Coming soon. More...
 
std::map< std::string, std::string > map_
 //!< Mapping of specific task constructor variables More...
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_
 MoveGroup Interface for the robots arm. More...
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_
 MoveGroup Interface for the Robots manipulator. More...
 
std::unique_ptr< AbstractRobotnext_
 Abstract Robot which is mimiced. More...
 
std::string pattern_
 Regexpattern. More...
 
- Protected Attributes inherited from AbstractRobot
std::vector< tf2::Transform > bounds_
 Bounds of table top surface. More...
 
std::string name_
 Name of robot. More...
 
std::vector< tf2::Transform > robot_root_bounds_
 Bounds of robot arm as sub-region of table top. More...
 
tf2::Transform root_tf_
 Robot root on table top. More...
 
tf2::Vector3 size_
 Size of table. More...
 
tf2::Transform tf_
 Pose of table. More...
 

Detailed Description

Abstract Robot Decorator.

Implements the concept of different manifactures, who can set their own Tf_root area

Definition at line 22 of file abstract_robot_decorator.h.

Constructor & Destructor Documentation

◆ AbstractRobotDecorator()

AbstractRobotDecorator::AbstractRobotDecorator ( std::unique_ptr< AbstractRobot next)
inline

Abstract Robot Decorator.

initializes Abstract Robot Decorator

Parameters
nextAbstract Robot to be mimiced

Definition at line 39 of file abstract_robot_decorator.h.

Member Function Documentation

◆ bounds()

std::vector<tf2::Transform>& AbstractRobotDecorator::bounds ( )
inlineoverridevirtual

Redirects bounds call to next_.

Implements AbstractRobot.

Definition at line 62 of file abstract_robot_decorator.h.

◆ checkSingleObjectCollision()

bool AbstractRobotDecorator::checkSingleObjectCollision ( tf2::Transform &  obj,
std::string &  robot_element,
std::bitset< 3 > &  panel_mask 
)
inlineoverridevirtual

Redirects check_single_object_collision call.

Implements AbstractRobot.

Definition at line 50 of file abstract_robot_decorator.h.

◆ mgi()

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> AbstractRobotDecorator::mgi ( )
inline

Definition at line 87 of file abstract_robot_decorator.h.

◆ mgiHand()

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> AbstractRobotDecorator::mgiHand ( )
inline

Definition at line 88 of file abstract_robot_decorator.h.

◆ name()

std::string& AbstractRobotDecorator::name ( )
inlineoverridevirtual

Redirects name call to next_.

Implements AbstractRobot.

Definition at line 47 of file abstract_robot_decorator.h.

◆ next()

AbstractRobot* AbstractRobotDecorator::next ( )
inline

Call of mimiced objects.

Returns
Abstract_robot* to mimiced object

Definition at line 74 of file abstract_robot_decorator.h.

◆ notify()

void AbstractRobotDecorator::notify ( )
inlineoverridevirtual

Redirects notify call to next_.

Implements AbstractRobot.

Definition at line 68 of file abstract_robot_decorator.h.

◆ pattern()

std::string& AbstractRobotDecorator::pattern ( )
inline

Definition at line 82 of file abstract_robot_decorator.h.

◆ robotRootBounds()

std::vector<tf2::Transform>& AbstractRobotDecorator::robotRootBounds ( )
inlineoverridevirtual

Redirects robot_root_bounds call to next_.

Implements AbstractRobot.

Definition at line 65 of file abstract_robot_decorator.h.

◆ rootTf()

tf2::Transform& AbstractRobotDecorator::rootTf ( )
inlineoverridevirtual

Redirects root_tf call to next_.

Implements AbstractRobot.

Definition at line 59 of file abstract_robot_decorator.h.

◆ size()

tf2::Vector3& AbstractRobotDecorator::size ( )
inlineoverridevirtual

Redirects size call to next_.

Implements AbstractRobot.

Definition at line 56 of file abstract_robot_decorator.h.

◆ spezifieRobotGroups()

virtual void AbstractRobotDecorator::spezifieRobotGroups ( )
pure virtual

Pure virtual function to specify root groupts.

Implemented in PandaDecorator, UR5Decorator, and UR10Decorator.

◆ spezifieRootBounds()

virtual void AbstractRobotDecorator::spezifieRootBounds ( )
pure virtual

Pure virtual function to specify root bounds.

Implemented in UR5Decorator, PandaDecorator, and UR10Decorator.

◆ tf()

tf2::Transform& AbstractRobotDecorator::tf ( )
inlineoverridevirtual

Redirects tf call to next_.

Implements AbstractRobot.

Definition at line 53 of file abstract_robot_decorator.h.

Member Data Documentation

◆ grasp_map_generator_

std::shared_ptr<MapGenerator> AbstractRobotDecorator::grasp_map_generator_
protected

Coming soon.

Definition at line 29 of file abstract_robot_decorator.h.

◆ map_

std::map<std::string, std::string> AbstractRobotDecorator::map_
protected

//!< Mapping of specific task constructor variables

Definition at line 28 of file abstract_robot_decorator.h.

◆ mgi_

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> AbstractRobotDecorator::mgi_
protected

MoveGroup Interface for the robots arm.

Definition at line 25 of file abstract_robot_decorator.h.

◆ mgi_hand_

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> AbstractRobotDecorator::mgi_hand_
protected

MoveGroup Interface for the Robots manipulator.

Definition at line 26 of file abstract_robot_decorator.h.

◆ next_

std::unique_ptr<AbstractRobot> AbstractRobotDecorator::next_
protected

Abstract Robot which is mimiced.

Definition at line 24 of file abstract_robot_decorator.h.

◆ pattern_

std::string AbstractRobotDecorator::pattern_
protected

Regexpattern.

Definition at line 30 of file abstract_robot_decorator.h.


The documentation for this class was generated from the following file:


multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51