SimpleBase as refinement of AbstractBase. More...
#include <simple_base.h>
Public Member Functions | |
void | baseCalculation () override |
refined Template methode More... | |
SimpleBase (std::shared_ptr< ros::NodeHandle > const &d) | |
Simple base constructor. More... | |
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AbstractBase (std::shared_ptr< ros::NodeHandle > const &nh) | |
constructor 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 () |
Protected Attributes | |
std::unique_ptr< MapReader > | map_reader_ |
std::unique_ptr< TSReader > | task_space_reader_ |
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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... | |
Additional Inherited Members | |
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static std::vector< pcl::PointXYZ > | createPCLBox () |
createPCLBox box More... | |
SimpleBase as refinement of AbstractBase.
A simple refinement of AbstractBase where concept variables are set by reader instances instead of being computed.
Definition at line 24 of file simple_base.h.
SimpleBase::SimpleBase | ( | std::shared_ptr< ros::NodeHandle > const & | d | ) |
Simple base constructor.
d | ros::NodeHandle to interact with paramserver |
Definition at line 4 of file simple_base.cpp.
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overridevirtual |
refined Template methode
Overriden methide which calls necessary functions from implementation
var | store inversed reachability map data |
Implements AbstractBase.
Definition at line 20 of file simple_base.cpp.
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protected |
Reachability map reader instance
Definition at line 27 of file simple_base.h.
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protected |
Task space reader instance
Definition at line 26 of file simple_base.h.