abstract_map_loader.h

#ifndef ABSTRACT_MAP_LOADER_
#define ABSTRACT_MAP_LOADER_

#include "ros/ros.h"
#include <xmlrpcpp/XmlRpc.h>
#include <tf2/LinearMath/Transform.h>

#include "octomap/octomap.h"
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>


#include <ros/package.h>
#include <yaml-cpp/yaml.h>
#include <fstream>

#include "impl/abstract_robot.h"
#include "impl/abstract_strategy.h"

class Abstract_strategy;
class Abstract_robot;


class Abstract_map_loader{
    protected:
    std::vector<tf2::Transform> inv_map_;
    std::vector<tf2::Transform> map_;
    std::vector<std::vector<tf2::Transform>> task_grasps_;
    std::vector<std::vector<std::vector<tf2::Quaternion>>> target_rot_;
    std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> target_cloud_;

    Abstract_strategy *strategy_; 

    public:
    Abstract_map_loader() = default;
    ~Abstract_map_loader() = default;

    inline void set_strategy(Abstract_strategy* some_stratergy) {strategy_ = some_stratergy;}
    inline Abstract_strategy* strategy() {return strategy_;}
    
    inline std::vector<tf2::Transform>& inv_map() {return inv_map_;}
    inline std::vector<tf2::Transform>& map() {return map_;}
    inline void set_inv_map(std::vector<tf2::Transform>& list) {inv_map_ = list;}
    inline void set_map(std::vector<tf2::Transform>& list) {map_ = list;}
    inline void set_task_grasps(std::vector<std::vector<tf2::Transform>>& lists_in_list) {task_grasps_ = lists_in_list;}
    inline std::vector<std::vector<tf2::Transform>>& task_grasps() {return task_grasps_;}
    inline std::vector<std::vector<std::vector<tf2::Quaternion>>>& target_rot() {return target_rot_;}
    inline void set_target_rot (std::vector<std::vector<std::vector<tf2::Quaternion>>>& rots) {target_rot_ = rots;}
    inline void set_target_cloud(std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {target_cloud_ = cloud;}
    inline std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud () { return target_cloud_;}
    static std::vector<pcl::PointXYZ> create_pcl_box();

    virtual void write_task(Abstract_robot* robot)=0;
    virtual std::vector<std::vector<pcl::PointXYZ>> base_calculation()=0;
};
#endif