Panda Decorator. More...
#include <panda_decorator.h>
Public Member Functions | |
PandaDecorator (std::unique_ptr< AbstractRobot > next) | |
Panda Decorator. More... | |
void | spezifieRobotGroups () override |
Panda Mapping spezififcation. More... | |
void | spezifieRootBounds () override |
Panda Root spezififcation. More... | |
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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... | |
tf2::Transform & | tf () override |
Redirects tf call to next_. More... | |
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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) |
Additional Inherited Members | |
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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... | |
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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... | |
Panda Decorator.
Decorator which describes the root-area of the 'Franca Emika Panda' Robot
Definition at line 13 of file panda_decorator.h.
PandaDecorator::PandaDecorator | ( | std::unique_ptr< AbstractRobot > | next | ) |
Panda Decorator.
initializes Panda Decorator
next | Abstract Robot to be mimiced |
Definition at line 4 of file panda_decorator.cpp.
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overridevirtual |
Panda Mapping spezififcation.
Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor
Implements AbstractRobotDecorator.
Definition at line 20 of file panda_decorator.cpp.
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overridevirtual |
Panda Root spezififcation.
Overrides the actual Robot root bounds with a rectangle, described from information of 'Franka Panda' manual
Implements AbstractRobotDecorator.
Definition at line 11 of file panda_decorator.cpp.