Abstract base implementation. More...
#include <abstract_base_implementation.h>
Public Member Functions | |
AbstractBaseImplementation ()=default | |
virtual 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)=0 |
pure virtual methode to calculate pcl clouds More... | |
virtual 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)=0 |
pure virtual methode to calculate the inverse map More... | |
virtual void | setGraspOrientations (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var)=0 |
pure virtual methode to set grasp orientations More... | |
~AbstractBaseImplementation ()=default | |
Abstract base implementation.
Abstract concept implementation for calculating base position by inverse maps. The template allows to set custom handle orientations for specific objects, inverse map and cloud construction.
Definition at line 12 of file abstract_base_implementation.h.
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default |
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default |
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pure virtual |
pure virtual methode to calculate pcl clouds
Manipulates the vector of pcl::cloud of a graspable object
inv_map | reference to manipulate member |
task_space | reference to manipulate member |
target_cloud | reference to manipulate member |
Implemented in SimpleBaseImplementation.
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pure virtual |
pure virtual methode to calculate the inverse map
Manipulates the inv_map vector
map | reference to manipulate member |
inv_map | reference to manipulate member |
task_space | reference to manipulate member |
Implemented in SimpleBaseImplementation.
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pure virtual |
pure virtual methode to set grasp orientations
Manipulates the map of grasp orientations of a graspable object, mapped to a robot
var | caller reference to manipulate member |
Implemented in SimpleBaseImplementation.