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

Abstract Robot implementation. More...

#include <abstract_robot.h>

Inheritance diagram for AbstractRobot:
Inheritance graph
[legend]

Public Member Functions

 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...
 
virtual std::vector< tf2::Transform > & bounds ()=0
 
virtual bool checkSingleObjectCollision (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask)=0
 
virtual std::string & name ()=0
 
virtual void notify ()=0
 
virtual std::vector< tf2::Transform > & robotRootBounds ()=0
 
virtual tf2::Transform & rootTf ()=0
 
void rotate (float deg)
 
void setTf (tf2::Transform &t)
 
virtual tf2::Vector3 & size ()=0
 
void size (tf2::Vector3 &s)
 
virtual tf2::Transform & tf ()=0
 
void translate (tf2::Vector3 t)
 

Protected Attributes

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...
 

Detailed Description

Abstract Robot implementation.

Defines a Robot as table plus Manipulator on top.

Definition at line 25 of file abstract_robot.h.

Constructor & Destructor Documentation

◆ AbstractRobot()

AbstractRobot::AbstractRobot ( std::string  name,
tf2::Transform  tf,
tf2::Vector3  size 
)

Definition at line 4 of file abstract_robot.cpp.

Member Function Documentation

◆ areaCalculation()

float AbstractRobot::areaCalculation ( tf2::Transform &  A,
tf2::Transform &  B,
tf2::Transform &  C 
)

Triangle area calculator.

Calculates triangle with 3 vertices

Parameters
Apose of triagnel vertice
Bpose of triagnel vertice
Cpose of triagnel vertice
Returns
float triangle area

Definition at line 22 of file abstract_robot.cpp.

◆ bounds()

virtual std::vector<tf2::Transform>& AbstractRobot::bounds ( )
pure virtual

Implemented in AbstractRobotDecorator, and CetiRobot.

◆ checkSingleObjectCollision()

virtual bool AbstractRobot::checkSingleObjectCollision ( tf2::Transform &  obj,
std::string &  robot_element,
std::bitset< 3 > &  panel_mask 
)
pure virtual

Implemented in CetiRobot, and AbstractRobotDecorator.

◆ name()

virtual std::string& AbstractRobot::name ( )
pure virtual

Implemented in AbstractRobotDecorator, and CetiRobot.

◆ notify()

virtual void AbstractRobot::notify ( )
pure virtual

Implemented in CetiRobot, and AbstractRobotDecorator.

◆ robotRootBounds()

virtual std::vector<tf2::Transform>& AbstractRobot::robotRootBounds ( )
pure virtual

Implemented in AbstractRobotDecorator, and CetiRobot.

◆ rootTf()

virtual tf2::Transform& AbstractRobot::rootTf ( )
pure virtual

Implemented in AbstractRobotDecorator, and CetiRobot.

◆ rotate()

void AbstractRobot::rotate ( float  deg)
inline

Definition at line 49 of file abstract_robot.h.

◆ setTf()

void AbstractRobot::setTf ( tf2::Transform &  t)
inline

Definition at line 48 of file abstract_robot.h.

◆ size() [1/2]

virtual tf2::Vector3& AbstractRobot::size ( )
pure virtual

Implemented in AbstractRobotDecorator, and CetiRobot.

◆ size() [2/2]

void AbstractRobot::size ( tf2::Vector3 &  s)
inline

Definition at line 47 of file abstract_robot.h.

◆ tf()

virtual tf2::Transform& AbstractRobot::tf ( )
pure virtual

Implemented in AbstractRobotDecorator, and CetiRobot.

◆ translate()

void AbstractRobot::translate ( tf2::Vector3  t)
inline

Definition at line 50 of file abstract_robot.h.

Member Data Documentation

◆ bounds_

std::vector<tf2::Transform> AbstractRobot::bounds_
protected

Bounds of table top surface.

Definition at line 31 of file abstract_robot.h.

◆ name_

std::string AbstractRobot::name_
protected

Name of robot.

Definition at line 27 of file abstract_robot.h.

◆ robot_root_bounds_

std::vector<tf2::Transform> AbstractRobot::robot_root_bounds_
protected

Bounds of robot arm as sub-region of table top.

Definition at line 32 of file abstract_robot.h.

◆ root_tf_

tf2::Transform AbstractRobot::root_tf_
protected

Robot root on table top.

Definition at line 30 of file abstract_robot.h.

◆ size_

tf2::Vector3 AbstractRobot::size_
protected

Size of table.

Definition at line 28 of file abstract_robot.h.

◆ tf_

tf2::Transform AbstractRobot::tf_
protected

Pose of table.

Definition at line 29 of file abstract_robot.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