Abstract Robot Decorator. More...
#include <abstract_robot_decorator.h>
Public Member Functions | |
AbstractRobotDecorator (std::unique_ptr< AbstractRobot > next) | |
Abstract Robot Decorator. More... | |
std::vector< tf2::Transform > & | bounds () override |
Redirects bounds call to next_. More... | |
bool | checkSingleObjectCollision (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override |
Redirects check_single_object_collision call. More... | |
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > | mgi () |
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > | mgiHand () |
std::string & | name () override |
Redirects name call to next_. More... | |
AbstractRobot * | next () |
Call of mimiced objects. More... | |
void | notify () override |
Redirects notify call to next_. More... | |
std::string & | pattern () |
std::vector< tf2::Transform > & | robotRootBounds () override |
Redirects robot_root_bounds call to next_. More... | |
tf2::Transform & | rootTf () override |
Redirects root_tf call to next_. More... | |
tf2::Vector3 & | size () override |
Redirects size call to next_. More... | |
virtual void | spezifieRobotGroups ()=0 |
Pure virtual function to specify root groupts. More... | |
virtual void | spezifieRootBounds ()=0 |
Pure virtual function to specify root bounds. More... | |
tf2::Transform & | tf () override |
Redirects tf call to next_. More... | |
![]() | |
AbstractRobot (std::string name, tf2::Transform tf, tf2::Vector3 size) | |
float | areaCalculation (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C) |
Triangle area calculator. More... | |
void | rotate (float deg) |
void | setTf (tf2::Transform &t) |
void | size (tf2::Vector3 &s) |
void | translate (tf2::Vector3 t) |
Protected Attributes | |
std::shared_ptr< MapGenerator > | grasp_map_generator_ |
Coming soon. More... | |
std::map< std::string, std::string > | map_ |
//!< Mapping of specific task constructor variables More... | |
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > | mgi_ |
MoveGroup Interface for the robots arm. More... | |
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > | mgi_hand_ |
MoveGroup Interface for the Robots manipulator. More... | |
std::unique_ptr< AbstractRobot > | next_ |
Abstract Robot which is mimiced. More... | |
std::string | pattern_ |
Regexpattern. More... | |
![]() | |
std::vector< tf2::Transform > | bounds_ |
Bounds of table top surface. More... | |
std::string | name_ |
Name of robot. More... | |
std::vector< tf2::Transform > | robot_root_bounds_ |
Bounds of robot arm as sub-region of table top. More... | |
tf2::Transform | root_tf_ |
Robot root on table top. More... | |
tf2::Vector3 | size_ |
Size of table. More... | |
tf2::Transform | tf_ |
Pose of table. More... | |
Abstract Robot Decorator.
Implements the concept of different manifactures, who can set their own Tf_root area
Definition at line 22 of file abstract_robot_decorator.h.
|
inline |
Abstract Robot Decorator.
initializes Abstract Robot Decorator
next | Abstract Robot to be mimiced |
Definition at line 39 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects bounds call to next_.
Implements AbstractRobot.
Definition at line 62 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects check_single_object_collision call.
Implements AbstractRobot.
Definition at line 50 of file abstract_robot_decorator.h.
|
inline |
Definition at line 87 of file abstract_robot_decorator.h.
|
inline |
Definition at line 88 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects name call to next_.
Implements AbstractRobot.
Definition at line 47 of file abstract_robot_decorator.h.
|
inline |
Call of mimiced objects.
Definition at line 74 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects notify call to next_.
Implements AbstractRobot.
Definition at line 68 of file abstract_robot_decorator.h.
|
inline |
Definition at line 82 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects robot_root_bounds call to next_.
Implements AbstractRobot.
Definition at line 65 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects root_tf call to next_.
Implements AbstractRobot.
Definition at line 59 of file abstract_robot_decorator.h.
|
inlineoverridevirtual |
Redirects size call to next_.
Implements AbstractRobot.
Definition at line 56 of file abstract_robot_decorator.h.
|
pure virtual |
Pure virtual function to specify root groupts.
Implemented in PandaDecorator, UR5Decorator, and UR10Decorator.
|
pure virtual |
Pure virtual function to specify root bounds.
Implemented in UR5Decorator, PandaDecorator, and UR10Decorator.
|
inlineoverridevirtual |
Redirects tf call to next_.
Implements AbstractRobot.
Definition at line 53 of file abstract_robot_decorator.h.
|
protected |
Coming soon.
Definition at line 29 of file abstract_robot_decorator.h.
|
protected |
//!< Mapping of specific task constructor variables
Definition at line 28 of file abstract_robot_decorator.h.
|
protected |
MoveGroup Interface for the robots arm.
Definition at line 25 of file abstract_robot_decorator.h.
|
protected |
MoveGroup Interface for the Robots manipulator.
Definition at line 26 of file abstract_robot_decorator.h.
|
protected |
Abstract Robot which is mimiced.
Definition at line 24 of file abstract_robot_decorator.h.
|
protected |
Regexpattern.
Definition at line 30 of file abstract_robot_decorator.h.