#include <grasp_mediator.h>
Public Member Functions | |
void | connectRobots (std::unique_ptr< AbstractRobotDecorator > robot) override |
pure virtual robot connecting methode More... | |
GraspMediator (std::shared_ptr< ros::NodeHandle > const &nh) | |
void | mediate () override |
pure virtual mediate methode More... | |
void | rewriteResult () |
void | setPanel () override |
pure virtual Sets panels for robots More... | |
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AbstractMediator (std::shared_ptr< ros::NodeHandle > const &d) | |
AbstractMediator constructor. More... | |
CuboidReader * | cuboidReader () |
Get Cuboid_reader. More... | |
std::string & | dirname () |
Get dirname. More... | |
std::map< const std::string, std::vector< pcl::PointXYZ > > & | resultVector () |
Get result_vector. More... | |
RobotReader * | robotReader () |
Get Robot_reader. More... | |
std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > & | robots () |
Get robots. More... | |
void | setDirname (std::string &dirn) |
Set dirname. More... | |
void | setResultVector (std::map< const std::string, std::vector< pcl::PointXYZ >> &res) |
Set result vector. More... | |
pcl::PointCloud< pcl::PointXYZ >::Ptr | vector2cloud (std::vector< pcl::PointXYZ > &vector) |
Cloud converter. More... | |
WingReader * | wingReader () |
Get Wing_reader. More... | |
std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > & | wings () |
Get wings. More... | |
Protected Attributes | |
std::unique_ptr< moveit_grasps_demo::GraspPipelineDemo > | grasp_pipeline_demo_ |
Auerswald grasp pipeline. More... | |
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > | planning_scene_monitor_ |
Planningscene monitor. More... | |
std::string | referenceRobot_ |
Reference Robot. More... | |
std::vector< Cuboid > | relevant_boxes_ |
std::string | resultPath_ |
path to the result More... | |
std::shared_ptr< moveit_visual_tools::MoveItVisualTools > | visual_tools_ |
MoveItVisualTools. More... | |
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std::unique_ptr< CuboidReader > | cuboid_reader_ |
coboidReader instance that distinguishes between scene objects of type bin and box More... | |
std::string | dirname_ |
Dirname of the reference protobuff. More... | |
std::shared_ptr< ros::NodeHandle > | nh_ |
Nodehandle for access to the Rosparam server. More... | |
std::vector< std::vector< std::vector< tf2::Transform > > > | relative_bounds_ |
total bound a workspace More... | |
std::map< const std::string, std::vector< pcl::PointXYZ > > | result_vector_ |
Result_vector of base positions linked to robot. More... | |
std::unique_ptr< RobotReader > | robot_reader_ |
Robot_reader which collects robot poses. More... | |
std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > | robots_ |
Robots agents. More... | |
std::unique_ptr< TSReader > | task_space_reader_ |
Task_space reader which provides drop off positions. More... | |
std::unique_ptr< WingReader > | wing_reader_ |
Wing_reader which collects panel information of robots. More... | |
std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > | wings_ |
Definition at line 15 of file grasp_mediator.h.
GraspMediator::GraspMediator | ( | std::shared_ptr< ros::NodeHandle > const & | nh | ) |
Definition at line 3 of file grasp_mediator.cpp.
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overridevirtual |
pure virtual robot connecting methode
robot | robot decorator |
Implements AbstractMediator.
Definition at line 13 of file grasp_mediator.cpp.
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overridevirtual |
pure virtual mediate methode
Implements AbstractMediator.
Definition at line 55 of file grasp_mediator.cpp.
void GraspMediator::rewriteResult | ( | ) |
Definition at line 125 of file grasp_mediator.cpp.
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overridevirtual |
pure virtual Sets panels for robots
Implements AbstractMediator.
Definition at line 18 of file grasp_mediator.cpp.
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protected |
Auerswald grasp pipeline.
Definition at line 19 of file grasp_mediator.h.
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protected |
Planningscene monitor.
Definition at line 18 of file grasp_mediator.h.
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protected |
Reference Robot.
Definition at line 20 of file grasp_mediator.h.
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protected |
Definition at line 22 of file grasp_mediator.h.
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protected |
path to the result
Definition at line 21 of file grasp_mediator.h.
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protected |
MoveItVisualTools.
Definition at line 17 of file grasp_mediator.h.