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

AbstractMediator. More...

#include <abstract_mediator.h>

Inheritance diagram for AbstractMediator:
Inheritance graph
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Public Member Functions

 AbstractMediator (std::shared_ptr< ros::NodeHandle > const &d)
 AbstractMediator constructor. More...
 
virtual void connectRobots (std::unique_ptr< AbstractRobotDecorator > robot)=0
 pure virtual robot connecting methode More...
 
CuboidReadercuboidReader ()
 Get Cuboid_reader. More...
 
std::string & dirname ()
 Get dirname. More...
 
virtual void mediate ()=0
 pure virtual mediate methode More...
 
std::map< const std::string, std::vector< pcl::PointXYZ > > & resultVector ()
 Get result_vector. More...
 
RobotReaderrobotReader ()
 Get Robot_reader. More...
 
std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > & robots ()
 Get robots. More...
 
void setDirname (std::string &dirn)
 Set dirname. More...
 
virtual void setPanel ()=0
 pure virtual Sets panels for robots More...
 
void setResultVector (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)
 Set result vector. More...
 
pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud (std::vector< pcl::PointXYZ > &vector)
 Cloud converter. More...
 
WingReaderwingReader ()
 Get Wing_reader. More...
 
std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > & wings ()
 Get wings. More...
 

Protected Attributes

std::unique_ptr< CuboidReadercuboid_reader_
 coboidReader instance that distinguishes between scene objects of type bin and box More...
 
std::string dirname_
 Dirname of the reference protobuff. More...
 
std::shared_ptr< ros::NodeHandle > nh_
 Nodehandle for access to the Rosparam server. More...
 
std::vector< std::vector< std::vector< tf2::Transform > > > relative_bounds_
 total bound a workspace More...
 
std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_
 Result_vector of base positions linked to robot. More...
 
std::unique_ptr< RobotReaderrobot_reader_
 Robot_reader which collects robot poses. More...
 
std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_
 Robots agents. More...
 
std::unique_ptr< TSReadertask_space_reader_
 Task_space reader which provides drop off positions. More...
 
std::unique_ptr< WingReaderwing_reader_
 Wing_reader which collects panel information of robots. More...
 
std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > wings_
 

Detailed Description

AbstractMediator.

Abstraction of a Mediator which registers Robots.

Definition at line 43 of file abstract_mediator.h.

Constructor & Destructor Documentation

◆ AbstractMediator()

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

AbstractMediator constructor.

initializes task_space reader

Parameters
dRos nodehandle

Definition at line 3 of file abstract_mediator.cpp.

Member Function Documentation

◆ connectRobots()

virtual void AbstractMediator::connectRobots ( std::unique_ptr< AbstractRobotDecorator robot)
pure virtual

pure virtual robot connecting methode

Parameters
robotrobot decorator

Implemented in BaseCalculationMediator, MoveitMediator, and GraspMediator.

◆ cuboidReader()

CuboidReader* AbstractMediator::cuboidReader ( )
inline

Get Cuboid_reader.

Returns
cuboid reader

Definition at line 140 of file abstract_mediator.h.

◆ dirname()

std::string& AbstractMediator::dirname ( )
inline

Get dirname.

Returns
dirname

Definition at line 101 of file abstract_mediator.h.

◆ mediate()

virtual void AbstractMediator::mediate ( )
pure virtual

pure virtual mediate methode

Implemented in BaseCalculationMediator, MoveitMediator, and GraspMediator.

◆ resultVector()

std::map<const std::string, std::vector<pcl::PointXYZ> >& AbstractMediator::resultVector ( )
inline

Get result_vector.

Returns
result_vector

Definition at line 83 of file abstract_mediator.h.

◆ robotReader()

RobotReader* AbstractMediator::robotReader ( )
inline

Get Robot_reader.

Returns
robot reader

Definition at line 134 of file abstract_mediator.h.

◆ robots()

std::map<std::string, std::unique_ptr<AbstractRobotDecorator> >& AbstractMediator::robots ( )
inline

Get robots.

Returns
robots as decorators

Definition at line 89 of file abstract_mediator.h.

◆ setDirname()

void AbstractMediator::setDirname ( std::string &  dirn)
inline

Set dirname.

Parameters
dirnnew dirname

Definition at line 95 of file abstract_mediator.h.

◆ setPanel()

virtual void AbstractMediator::setPanel ( )
pure virtual

pure virtual Sets panels for robots

Implemented in MoveitMediator, BaseCalculationMediator, and GraspMediator.

◆ setResultVector()

void AbstractMediator::setResultVector ( std::map< const std::string, std::vector< pcl::PointXYZ >> &  res)
inline

Set result vector.

Parameters
resresult vector

Definition at line 71 of file abstract_mediator.h.

◆ vector2cloud()

pcl::PointCloud< pcl::PointXYZ >::Ptr AbstractMediator::vector2cloud ( std::vector< pcl::PointXYZ > &  vector)

Cloud converter.

Converts vector of pcl::PointXYZ to a pcl::Pointcloud

Parameters
vectorVector of XYZPoints
Returns
Pointcloud

Definition at line 11 of file abstract_mediator.cpp.

◆ wingReader()

WingReader* AbstractMediator::wingReader ( )
inline

Get Wing_reader.

Returns
wing reader

Definition at line 128 of file abstract_mediator.h.

◆ wings()

std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement> > >& AbstractMediator::wings ( )
inline

Get wings.

Returns
map of panals linked to their robots

Definition at line 77 of file abstract_mediator.h.

Member Data Documentation

◆ cuboid_reader_

std::unique_ptr<CuboidReader> AbstractMediator::cuboid_reader_
protected

coboidReader instance that distinguishes between scene objects of type bin and box

Definition at line 56 of file abstract_mediator.h.

◆ dirname_

std::string AbstractMediator::dirname_
protected

Dirname of the reference protobuff.

Definition at line 52 of file abstract_mediator.h.

◆ nh_

std::shared_ptr<ros::NodeHandle> AbstractMediator::nh_
protected

Nodehandle for access to the Rosparam server.

Definition at line 45 of file abstract_mediator.h.

◆ relative_bounds_

std::vector<std::vector<std::vector<tf2::Transform> > > AbstractMediator::relative_bounds_
protected

total bound a workspace

Definition at line 48 of file abstract_mediator.h.

◆ result_vector_

std::map<const std::string, std::vector<pcl::PointXYZ> > AbstractMediator::result_vector_
protected

Result_vector of base positions linked to robot.

Definition at line 50 of file abstract_mediator.h.

◆ robot_reader_

std::unique_ptr<RobotReader> AbstractMediator::robot_reader_
protected

Robot_reader which collects robot poses.

Definition at line 55 of file abstract_mediator.h.

◆ robots_

std::map<std::string, std::unique_ptr<AbstractRobotDecorator> > AbstractMediator::robots_
protected

Robots agents.

Definition at line 47 of file abstract_mediator.h.

◆ task_space_reader_

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

Task_space reader which provides drop off positions.

Definition at line 46 of file abstract_mediator.h.

◆ wing_reader_

std::unique_ptr<WingReader> AbstractMediator::wing_reader_
protected

Wing_reader which collects panel information of robots.

Definition at line 54 of file abstract_mediator.h.

◆ wings_

std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement> > > AbstractMediator::wings_
protected

Definition at line 51 of file abstract_mediator.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