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

#include <grasp_mediator.h>

Inheritance diagram for GraspMediator:
Inheritance graph
[legend]

Public Member Functions

void connectRobots (std::unique_ptr< AbstractRobotDecorator > robot) override
 pure virtual robot connecting methode More...
 
 GraspMediator (std::shared_ptr< ros::NodeHandle > const &nh)
 
void mediate () override
 pure virtual mediate methode More...
 
void rewriteResult ()
 
void setPanel () override
 pure virtual Sets panels for robots More...
 
- Public Member Functions inherited from AbstractMediator
 AbstractMediator (std::shared_ptr< ros::NodeHandle > const &d)
 AbstractMediator constructor. More...
 
CuboidReadercuboidReader ()
 Get Cuboid_reader. More...
 
std::string & dirname ()
 Get dirname. 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...
 
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< moveit_grasps_demo::GraspPipelineDemo > grasp_pipeline_demo_
 Auerswald grasp pipeline. More...
 
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_
 Planningscene monitor. More...
 
std::string referenceRobot_
 Reference Robot. More...
 
std::vector< Cuboid > relevant_boxes_
 
std::string resultPath_
 path to the result More...
 
std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_
 MoveItVisualTools. More...
 
- Protected Attributes inherited from AbstractMediator
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

Definition at line 15 of file grasp_mediator.h.

Constructor & Destructor Documentation

◆ GraspMediator()

GraspMediator::GraspMediator ( std::shared_ptr< ros::NodeHandle > const &  nh)

Definition at line 3 of file grasp_mediator.cpp.

Member Function Documentation

◆ connectRobots()

void GraspMediator::connectRobots ( std::unique_ptr< AbstractRobotDecorator robot)
overridevirtual

pure virtual robot connecting methode

Parameters
robotrobot decorator

Implements AbstractMediator.

Definition at line 13 of file grasp_mediator.cpp.

◆ mediate()

void GraspMediator::mediate ( )
overridevirtual

pure virtual mediate methode

Implements AbstractMediator.

Definition at line 55 of file grasp_mediator.cpp.

◆ rewriteResult()

void GraspMediator::rewriteResult ( )

Definition at line 125 of file grasp_mediator.cpp.

◆ setPanel()

void GraspMediator::setPanel ( )
overridevirtual

pure virtual Sets panels for robots

Implements AbstractMediator.

Definition at line 18 of file grasp_mediator.cpp.

Member Data Documentation

◆ grasp_pipeline_demo_

std::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> GraspMediator::grasp_pipeline_demo_
protected

Auerswald grasp pipeline.

Definition at line 19 of file grasp_mediator.h.

◆ planning_scene_monitor_

std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> GraspMediator::planning_scene_monitor_
protected

Planningscene monitor.

Definition at line 18 of file grasp_mediator.h.

◆ referenceRobot_

std::string GraspMediator::referenceRobot_
protected

Reference Robot.

Definition at line 20 of file grasp_mediator.h.

◆ relevant_boxes_

std::vector<Cuboid> GraspMediator::relevant_boxes_
protected

Definition at line 22 of file grasp_mediator.h.

◆ resultPath_

std::string GraspMediator::resultPath_
protected

path to the result

Definition at line 21 of file grasp_mediator.h.

◆ visual_tools_

std::shared_ptr<moveit_visual_tools::MoveItVisualTools> GraspMediator::visual_tools_
protected

MoveItVisualTools.

Definition at line 17 of file grasp_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