Public Member Functions | List of all members
AbstractBaseImplementation Class Referenceabstract

Abstract base implementation. More...

#include <abstract_base_implementation.h>

Inheritance diagram for AbstractBaseImplementation:
Inheritance graph
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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
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ AbstractBaseImplementation()

AbstractBaseImplementation::AbstractBaseImplementation ( )
default

◆ ~AbstractBaseImplementation()

AbstractBaseImplementation::~AbstractBaseImplementation ( )
default

Member Function Documentation

◆ cloudCalculation()

virtual void AbstractBaseImplementation::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 
)
pure virtual

pure virtual methode to calculate pcl clouds

Manipulates the vector of pcl::cloud of a graspable object

Parameters
inv_mapreference to manipulate member
task_spacereference to manipulate member
target_cloudreference to manipulate member

Implemented in SimpleBaseImplementation.

◆ invMapCreation()

virtual void AbstractBaseImplementation::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 
)
pure virtual

pure virtual methode to calculate the inverse map

Manipulates the inv_map vector

Parameters
mapreference to manipulate member
inv_mapreference to manipulate member
task_spacereference to manipulate member

Implemented in SimpleBaseImplementation.

◆ setGraspOrientations()

virtual void AbstractBaseImplementation::setGraspOrientations ( std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &  var)
pure virtual

pure virtual methode to set grasp orientations

Manipulates the map of grasp orientations of a graspable object, mapped to a robot

Parameters
varcaller reference to manipulate member

Implemented in SimpleBaseImplementation.


The documentation for this class was generated from the following file:


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