SimpleBaseImplementation as refinement of AbstractBaseImplementation. More...
#include <simple_base_implementation.h>
Public Member Functions | |
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) override |
PCL Cloud calculation for every Object. More... | |
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) override |
Create inversed reachability map. More... | |
void | setGraspOrientations (std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override |
Store grasp orientations as endeffector transforms. More... | |
SimpleBaseImplementation ()=default | |
~SimpleBaseImplementation ()=default | |
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AbstractBaseImplementation ()=default | |
~AbstractBaseImplementation ()=default | |
SimpleBaseImplementation as refinement of AbstractBaseImplementation.
general approach to the calculation of the base, in which the orientations of the objects are considered to be equivalent
Definition at line 13 of file simple_base_implementation.h.
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overridevirtual |
PCL Cloud calculation for every Object.
var | store cload data in proper map |
Implements AbstractBaseImplementation.
Definition at line 35 of file simple_base_implementation.cpp.
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overridevirtual |
Create inversed reachability map.
Creating inversed reachability map by inverting reachability map if grasp orientations match reachability map entries
map | store inversed reachability map data |
inv_map | store inversed reachability map data |
task_space | store inversed reachability map data |
Implements AbstractBaseImplementation.
Definition at line 16 of file simple_base_implementation.cpp.
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overridevirtual |
Store grasp orientations as endeffector transforms.
The 5 most basic Orientatations (x, -x, y, -y, z) for all graspable objects
var | manipulate grasp orienattions mapped to object and robot |
Implements AbstractBaseImplementation.
Definition at line 3 of file simple_base_implementation.cpp.