Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
AbstractBase Class Referenceabstract

AbstractBaseClass. More...

#include <abstract_base.h>

Inheritance diagram for AbstractBase:
Inheritance graph
[legend]

Public Member Functions

 AbstractBase (std::shared_ptr< ros::NodeHandle > const &nh)
 constructor More...
 
virtual void baseCalculation ()=0
 pure virtual template methode More...
 
AbstractBaseImplementationimplementation ()
 
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< AbstractBaseImplementationimplementation_
 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...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ AbstractBase()

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

constructor

Parameters
nhros::NodeHandle to interact with paramserver

Definition at line 44 of file abstract_base.h.

Member Function Documentation

◆ baseCalculation()

virtual void AbstractBase::baseCalculation ( )
pure virtual

pure virtual template methode

bridge template methode, in which implementation is called to calculate base positions

Implemented in SimpleBase.

◆ createPCLBox()

std::vector< pcl::PointXYZ > AbstractBase::createPCLBox ( )
static

createPCLBox box

creates box shaped discretization of space, centered at origin (0,0,0)

Returns
vector of pcl::PointXYZ data

Definition at line 78 of file simple_base.cpp.

◆ implementation()

AbstractBaseImplementation* AbstractBase::implementation ( )
inline

Definition at line 47 of file abstract_base.h.

◆ invMap()

std::vector<tf2::Transform>& AbstractBase::invMap ( )
inline

Definition at line 51 of file abstract_base.h.

◆ map()

std::vector<tf2::Transform>& AbstractBase::map ( )
inline

Definition at line 53 of file abstract_base.h.

◆ result()

std::map<const std::string, std::vector<pcl::PointXYZ> >& AbstractBase::result ( )
inline

Definition at line 49 of file abstract_base.h.

◆ setImplementation()

void AbstractBase::setImplementation ( std::shared_ptr< AbstractBaseImplementation implementation)
inline

Definition at line 48 of file abstract_base.h.

◆ setInvMap()

void AbstractBase::setInvMap ( std::vector< tf2::Transform > &  inv_map)
inline

Definition at line 52 of file abstract_base.h.

◆ setMap()

void AbstractBase::setMap ( std::vector< tf2::Transform > &  map)
inline

Definition at line 54 of file abstract_base.h.

◆ setResult()

void AbstractBase::setResult ( std::map< const std::string, std::vector< pcl::PointXYZ >> &  result)
inline

Definition at line 50 of file abstract_base.h.

◆ setTargetCloud()

void AbstractBase::setTargetCloud ( std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &  cloud)
inline

Definition at line 58 of file abstract_base.h.

◆ setTaskSpace()

void AbstractBase::setTaskSpace ( std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &  s_trans)
inline

Definition at line 56 of file abstract_base.h.

◆ targetCloud()

std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> >& AbstractBase::targetCloud ( )
inline

Definition at line 57 of file abstract_base.h.

◆ taskSpace()

std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion> > > >& AbstractBase::taskSpace ( )
inline

Definition at line 55 of file abstract_base.h.

Member Data Documentation

◆ implementation_

std::shared_ptr<AbstractBaseImplementation> AbstractBase::implementation_
protected

refined implementation

Definition at line 37 of file abstract_base.h.

◆ inv_map_

std::vector<tf2::Transform> AbstractBase::inv_map_
protected

InverseReachabilityMap structure (Zacharias)

Definition at line 31 of file abstract_base.h.

◆ map_

std::vector<tf2::Transform> AbstractBase::map_
protected

ReachabilityMap structure (Zacharias)

Definition at line 30 of file abstract_base.h.

◆ nh_

std::shared_ptr<ros::NodeHandle> AbstractBase::nh_
protected

Nodehandle for access to the Rosparam server.

Definition at line 29 of file abstract_base.h.

◆ result_

std::map<const std::string, std::vector<pcl::PointXYZ> > AbstractBase::result_
protected

Result basepositions, mapped to robot.

Definition at line 34 of file abstract_base.h.

◆ target_cloud_

std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> > AbstractBase::target_cloud_
protected

Pointcloud structure, mapped to robot.

Definition at line 33 of file abstract_base.h.

◆ task_space_

std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion> > > > AbstractBase::task_space_
protected

Drop-off locations with their grasp orientations, mapped to a robot.

Definition at line 32 of file abstract_base.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