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

SimpleBase as refinement of AbstractBase. More...

#include <simple_base.h>

Inheritance diagram for SimpleBase:
Inheritance graph
[legend]

Public Member Functions

void baseCalculation () override
 refined Template methode More...
 
 SimpleBase (std::shared_ptr< ros::NodeHandle > const &d)
 Simple base constructor. More...
 
- Public Member Functions inherited from AbstractBase
 AbstractBase (std::shared_ptr< ros::NodeHandle > const &nh)
 constructor More...
 
AbstractBaseImplementationimplementation ()
 
std::vector< tf2::Transform > & invMap ()
 
std::vector< tf2::Transform > & map ()
 
std::map< const std::string, std::vector< pcl::PointXYZ > > & result ()
 
void setImplementation (std::shared_ptr< AbstractBaseImplementation > implementation)
 
void setInvMap (std::vector< tf2::Transform > &inv_map)
 
void setMap (std::vector< tf2::Transform > &map)
 
void setResult (std::map< const std::string, std::vector< pcl::PointXYZ >> &result)
 
void setTargetCloud (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)
 
void setTaskSpace (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans)
 
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & targetCloud ()
 
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > & taskSpace ()
 

Protected Attributes

std::unique_ptr< MapReadermap_reader_
 
std::unique_ptr< TSReadertask_space_reader_
 
- Protected Attributes inherited from AbstractBase
std::shared_ptr< AbstractBaseImplementationimplementation_
 refined implementation More...
 
std::vector< tf2::Transform > inv_map_
 InverseReachabilityMap structure (Zacharias) More...
 
std::vector< tf2::Transform > map_
 ReachabilityMap structure (Zacharias) More...
 
std::shared_ptr< ros::NodeHandle > nh_
 Nodehandle for access to the Rosparam server. More...
 
std::map< const std::string, std::vector< pcl::PointXYZ > > result_
 Result basepositions, mapped to robot. 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 AbstractBase
static std::vector< pcl::PointXYZ > createPCLBox ()
 createPCLBox box More...
 

Detailed Description

SimpleBase as refinement of AbstractBase.

A simple refinement of AbstractBase where concept variables are set by reader instances instead of being computed.

Definition at line 24 of file simple_base.h.

Constructor & Destructor Documentation

◆ SimpleBase()

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

Simple base constructor.

Parameters
dros::NodeHandle to interact with paramserver

Definition at line 4 of file simple_base.cpp.

Member Function Documentation

◆ baseCalculation()

void SimpleBase::baseCalculation ( )
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 AbstractBase.

Definition at line 20 of file simple_base.cpp.

Member Data Documentation

◆ map_reader_

std::unique_ptr<MapReader> SimpleBase::map_reader_
protected

Reachability map reader instance

Definition at line 27 of file simple_base.h.

◆ task_space_reader_

std::unique_ptr<TSReader> SimpleBase::task_space_reader_
protected

Task space reader instance

Definition at line 26 of file simple_base.h.


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


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