Public Member Functions | List of all members
SimpleBaseImplementation Class Reference

SimpleBaseImplementation as refinement of AbstractBaseImplementation. More...

#include <simple_base_implementation.h>

Inheritance diagram for SimpleBaseImplementation:
Inheritance graph
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Public Member Functions

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) override
 PCL Cloud calculation for every Object. More...
 
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) override
 Create inversed reachability map. More...
 
void setGraspOrientations (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override
 Store grasp orientations as endeffector transforms. More...
 
 SimpleBaseImplementation ()=default
 
 ~SimpleBaseImplementation ()=default
 
- Public Member Functions inherited from AbstractBaseImplementation
 AbstractBaseImplementation ()=default
 
 ~AbstractBaseImplementation ()=default
 

Detailed Description

SimpleBaseImplementation as refinement of AbstractBaseImplementation.

general approach to the calculation of the base, in which the orientations of the objects are considered to be equivalent

Definition at line 13 of file simple_base_implementation.h.

Constructor & Destructor Documentation

◆ SimpleBaseImplementation()

SimpleBaseImplementation::SimpleBaseImplementation ( )
default

◆ ~SimpleBaseImplementation()

SimpleBaseImplementation::~SimpleBaseImplementation ( )
default

Member Function Documentation

◆ cloudCalculation()

void SimpleBaseImplementation::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 
)
overridevirtual

PCL Cloud calculation for every Object.

Parameters
varstore cload data in proper map

Implements AbstractBaseImplementation.

Definition at line 35 of file simple_base_implementation.cpp.

◆ invMapCreation()

void SimpleBaseImplementation::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 
)
overridevirtual

Create inversed reachability map.

Creating inversed reachability map by inverting reachability map if grasp orientations match reachability map entries

Parameters
mapstore inversed reachability map data
inv_mapstore inversed reachability map data
task_spacestore inversed reachability map data

Implements AbstractBaseImplementation.

Definition at line 16 of file simple_base_implementation.cpp.

◆ setGraspOrientations()

void SimpleBaseImplementation::setGraspOrientations ( std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &  var)
overridevirtual

Store grasp orientations as endeffector transforms.

The 5 most basic Orientatations (x, -x, y, -y, z) for all graspable objects

Parameters
varmanipulate grasp orienattions mapped to object and robot

Implements AbstractBaseImplementation.

Definition at line 3 of file simple_base_implementation.cpp.


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