AbstractBaseClass. More...
#include <abstract_base.h>
Public Member Functions | |
AbstractBase (std::shared_ptr< ros::NodeHandle > const &nh) | |
constructor More... | |
virtual void | baseCalculation ()=0 |
pure virtual template methode More... | |
AbstractBaseImplementation * | implementation () |
std::vector< tf2::Transform > & | invMap () |
std::vector< tf2::Transform > & | map () |
std::map< const std::string, std::vector< pcl::PointXYZ > > & | result () |
void | setImplementation (std::shared_ptr< AbstractBaseImplementation > implementation) |
void | setInvMap (std::vector< tf2::Transform > &inv_map) |
void | setMap (std::vector< tf2::Transform > &map) |
void | setResult (std::map< const std::string, std::vector< pcl::PointXYZ >> &result) |
void | setTargetCloud (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud) |
void | setTaskSpace (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans) |
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & | targetCloud () |
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > & | taskSpace () |
Static Public Member Functions | |
static std::vector< pcl::PointXYZ > | createPCLBox () |
createPCLBox box More... | |
Protected Attributes | |
std::shared_ptr< AbstractBaseImplementation > | implementation_ |
refined implementation More... | |
std::vector< tf2::Transform > | inv_map_ |
InverseReachabilityMap structure (Zacharias) More... | |
std::vector< tf2::Transform > | map_ |
ReachabilityMap structure (Zacharias) More... | |
std::shared_ptr< ros::NodeHandle > | nh_ |
Nodehandle for access to the Rosparam server. More... | |
std::map< const std::string, std::vector< pcl::PointXYZ > > | result_ |
Result basepositions, mapped to robot. More... | |
std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > | target_cloud_ |
Pointcloud structure, mapped to robot. More... | |
std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > | task_space_ |
Drop-off locations with their grasp orientations, mapped to a robot. More... | |
AbstractBaseClass.
Abstract base class that calls functions of the implementation class members. Its members represent the data structures of the Zacharias concept and enable costume approaches through the design of bridge patterns.
Definition at line 27 of file abstract_base.h.
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inline |
constructor
nh | ros::NodeHandle to interact with paramserver |
Definition at line 44 of file abstract_base.h.
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pure virtual |
pure virtual template methode
bridge template methode, in which implementation is called to calculate base positions
Implemented in SimpleBase.
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static |
createPCLBox box
creates box shaped discretization of space, centered at origin (0,0,0)
Definition at line 78 of file simple_base.cpp.
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inline |
Definition at line 47 of file abstract_base.h.
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inline |
Definition at line 51 of file abstract_base.h.
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Definition at line 53 of file abstract_base.h.
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Definition at line 49 of file abstract_base.h.
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Definition at line 48 of file abstract_base.h.
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inline |
Definition at line 52 of file abstract_base.h.
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Definition at line 54 of file abstract_base.h.
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Definition at line 50 of file abstract_base.h.
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Definition at line 58 of file abstract_base.h.
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Definition at line 56 of file abstract_base.h.
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inline |
Definition at line 57 of file abstract_base.h.
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inline |
Definition at line 55 of file abstract_base.h.
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protected |
refined implementation
Definition at line 37 of file abstract_base.h.
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protected |
InverseReachabilityMap structure (Zacharias)
Definition at line 31 of file abstract_base.h.
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protected |
ReachabilityMap structure (Zacharias)
Definition at line 30 of file abstract_base.h.
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protected |
Nodehandle for access to the Rosparam server.
Definition at line 29 of file abstract_base.h.
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protected |
Result basepositions, mapped to robot.
Definition at line 34 of file abstract_base.h.
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protected |
Pointcloud structure, mapped to robot.
Definition at line 33 of file abstract_base.h.
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protected |
Drop-off locations with their grasp orientations, mapped to a robot.
Definition at line 32 of file abstract_base.h.