31 virtual void invMapCreation(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<
const std::string, std::vector<std::pair<
object_data,std::vector<tf2::Quaternion>>>>& task_space)=0;
40 virtual void cloudCalculation(std::vector<tf2::Transform>& inv_map, std::map<
const std::string, std::vector<std::pair<
object_data,std::vector<tf2::Quaternion>>>>& task_space, std::map<
const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud)=0;