grasp_mediator.h
Go to the documentation of this file.
1 #ifndef GRASP_MEDIATOR_
2 #define GRASP_MEDIATOR_
3 
4 #include "abstract_mediator.h"
5 #include "moveit_mediator.h"
6 #include "gb_grasp/MapConfigLoader.h"
7 #include "gb_grasp/GraspMap.h"
8 #include "gb_grasp/Cuboid.h"
9 #include "gb_grasp/MapGenerator.h"
10 #include "gb_grasp/VoxelManager.h"
11 #include "gb_grasp/GraspPipelineDemo.h"
12 
13 
14 
16  protected:
17  std::shared_ptr<moveit_visual_tools::MoveItVisualTools> visual_tools_;
18  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_;
19  std::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> grasp_pipeline_demo_;
20  std::string referenceRobot_;
21  std::string resultPath_;
22  std::vector<Cuboid> relevant_boxes_;
23 
24 
25  public:
26  GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh);
27  void rewriteResult();
28  void mediate() override;
29  void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override;
30  void setPanel() override;
31 
32 };
33 
34 #endif
GraspMediator::planning_scene_monitor_
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_
Planningscene monitor.
Definition: grasp_mediator.h:18
abstract_mediator.h
GraspMediator::setPanel
void setPanel() override
pure virtual Sets panels for robots
Definition: grasp_mediator.cpp:18
GraspMediator::rewriteResult
void rewriteResult()
Definition: grasp_mediator.cpp:125
GraspMediator
Definition: grasp_mediator.h:15
GraspMediator::relevant_boxes_
std::vector< Cuboid > relevant_boxes_
Definition: grasp_mediator.h:22
AbstractMediator
AbstractMediator.
Definition: abstract_mediator.h:43
GraspMediator::grasp_pipeline_demo_
std::unique_ptr< moveit_grasps_demo::GraspPipelineDemo > grasp_pipeline_demo_
Auerswald grasp pipeline.
Definition: grasp_mediator.h:19
GraspMediator::connectRobots
void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override
pure virtual robot connecting methode
Definition: grasp_mediator.cpp:13
GraspMediator::visual_tools_
std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_
MoveItVisualTools.
Definition: grasp_mediator.h:17
GraspMediator::referenceRobot_
std::string referenceRobot_
Reference Robot.
Definition: grasp_mediator.h:20
GraspMediator::mediate
void mediate() override
pure virtual mediate methode
Definition: grasp_mediator.cpp:55
moveit_mediator.h
GraspMediator::resultPath_
std::string resultPath_
path to the result
Definition: grasp_mediator.h:21
GraspMediator::GraspMediator
GraspMediator(std::shared_ptr< ros::NodeHandle > const &nh)
Definition: grasp_mediator.cpp:3


multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51