part 1 and 2 merged

.vscode/c_cpp_properties.json

@@ -26,7 +26,8 @@
                 "/home/matteo/ccf_sim_workspace/src/panda_util/include/**",
                 "/home/matteo/ccf_sim_workspace/src/moveit_task_constructor/rviz_marker_tools/include/**",
                 "/home/matteo/ccf_sim_workspace/src/simulation_util/include/**",
-        "/usr/include/**"
+                "/usr/include/**",
+                "${workspaceFolder}/include"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",

CMakeLists.txt

-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.0.2)
 project(multi_cell_builder)
 # C++ 11
 add_compile_options(-std=c++17)
 
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 # Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
   moveit_task_constructor_core
@@ -27,7 +24,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf_conversions
   trajectory_msgs
   pcl_ros
-  actionlib_msgs
 
   gb_grasp
   moveit_grasps
@@ -70,23 +66,9 @@ include_directories(
 
 protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS proto/connector.proto)
 
-add_executable(base_routine src/base_routine.cpp 
-src/impl/abstract_mediator.cpp
-src/impl/base_by_rotation.cpp
-src/impl/field_rviz_decorator.cpp
-src/impl/map_loader.cpp
-src/impl/mediator.cpp
-src/impl/moveit_mediator.cpp
-src/impl/robot.cpp
-src/impl/wing_moveit_decorator.cpp
-src/impl/wing_rviz_decorator.cpp
-src/impl/collision_helper.cpp
-
-src/reader/abstract_param_reader.cpp
-src/reader/robot_reader.cpp
-src/reader/wing_reader.cpp
-src/reader/cuboid_reader.cpp
-src/reader/job_reader.cpp
+add_executable(cell_routine src/cell_routine.cpp
+src/base_bridge/simple_base_implementation.cpp
+src/base_bridge/simple_base.cpp
 
 src/bt/trajetory.cpp
 src/bt/planning_scene.cpp
@@ -94,55 +76,37 @@ src/bt/execution.cpp
 src/bt/position_condition.cpp
 src/bt/parallel_robot.cpp
 
-
-)
-
-add_executable(cell_routine src/cell_routine.cpp
-src/impl/map_loader.cpp
-src/impl/abstract_mediator.cpp
-src/impl/moveit_mediator.cpp
-src/impl/wing_moveit_decorator.cpp
-src/impl/robot.cpp
-
-src/impl/mediator.cpp
-src/impl/wing_moveit_decorator.cpp
-src/impl/wing_rviz_decorator.cpp
-src/impl/collision_helper.cpp
+src/mediator/abstract_mediator.cpp
+src/mediator/base_calculation_mediator.cpp
+src/mediator/moveit_mediator.cpp
 
 src/reader/abstract_param_reader.cpp
-src/reader/robot_reader.cpp
-src/reader/wing_reader.cpp
 src/reader/cuboid_reader.cpp
 src/reader/job_reader.cpp
+src/reader/map_reader.cpp
+src/reader/robot_reader.cpp
+src/reader/task_space_reader.cpp
+src/reader/ts_reader.cpp
+src/reader/wing_reader.cpp
 
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
-src/bt/execution.cpp
-src/bt/position_condition.cpp
-src/bt/parallel_robot.cpp
-
-
+src/robot/decorators/panda_decorator.cpp
+src/robot/decorators/ur5_decorator.cpp
+src/robot/decorators/ur10_decorator.cpp
+src/robot/abstract_robot.cpp
+src/robot/ceti_robot.cpp
+
+src/robot_element/decorators/abstract_robot_element_decorator.cpp
+src/robot_element/decorators/log_decorator.cpp
+src/robot_element/observers/field.cpp
+src/robot_element/observers/moveit_panel.cpp
+src/robot_element/observers/panel.cpp
+src/robot_element/observers/rviz_panel.cpp
 )
 
-add_executable(grasp_cell_routine src/grasp_cell_routine.cpp
-src/impl/map_loader.cpp
-src/impl/abstract_mediator.cpp
-src/impl/moveit_mediator.cpp
-src/impl/wing_moveit_decorator.cpp
-src/impl/robot.cpp
-
-src/impl/mediator.cpp
-src/impl/wing_moveit_decorator.cpp
-src/impl/wing_rviz_decorator.cpp
-src/impl/collision_helper.cpp
-src/impl/moveit_grasp_mediator.cpp
-
-src/reader/abstract_param_reader.cpp
-src/reader/robot_reader.cpp
-src/reader/wing_reader.cpp
-src/reader/cuboid_reader.cpp
-src/reader/job_reader.cpp
 
+add_executable(robot_base_calculation_approach src/robot_base_calculation_approach.cpp
+src/base_bridge/simple_base_implementation.cpp
+src/base_bridge/simple_base.cpp
 
 src/bt/trajetory.cpp
 src/bt/planning_scene.cpp
@@ -150,7 +114,31 @@ src/bt/execution.cpp
 src/bt/position_condition.cpp
 src/bt/parallel_robot.cpp
 
+src/mediator/abstract_mediator.cpp
+src/mediator/base_calculation_mediator.cpp
+src/mediator/moveit_mediator.cpp
+
+src/reader/abstract_param_reader.cpp
+src/reader/cuboid_reader.cpp
+src/reader/job_reader.cpp
+src/reader/map_reader.cpp
+src/reader/robot_reader.cpp
+src/reader/task_space_reader.cpp
+src/reader/ts_reader.cpp
+src/reader/wing_reader.cpp
 
+src/robot/decorators/panda_decorator.cpp
+src/robot/decorators/ur5_decorator.cpp
+src/robot/decorators/ur10_decorator.cpp
+src/robot/abstract_robot.cpp
+src/robot/ceti_robot.cpp
+
+src/robot_element/decorators/abstract_robot_element_decorator.cpp
+src/robot_element/decorators/log_decorator.cpp
+src/robot_element/observers/field.cpp
+src/robot_element/observers/moveit_panel.cpp
+src/robot_element/observers/panel.cpp
+src/robot_element/observers/rviz_panel.cpp
 )
 
 
@@ -160,23 +148,28 @@ src/reader/task_space_reader.cpp
 src/reader/robot_reader.cpp
 src/reader/job_reader.cpp
 
+src/bt/trajetory.cpp
+src/bt/planning_scene.cpp
+src/bt/execution.cpp
+src/bt/position_condition.cpp
+src/bt/parallel_robot.cpp
+
 )
 
 
-add_dependencies(base_routine ${base_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(cell_routine ${cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(mtc2taskspace ${mtc2taskspace_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(grasp_cell_routine ${grasp_cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(robot_base_calculation_approach ${robot_base_calculation_approach_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 
-target_link_libraries(base_routine 
+target_link_libraries(robot_base_calculation_approach 
   ${catkin_LIBRARIES}
   ${OCTOMAP_LIBRARIES}
   ${PCL_LIBRARY_DIRS}
-  ${moveit_grasps_LIBRARIES}
   ${BEHAVIOR_TREE_LIBRARY}
   yaml-cpp
 )
+
 target_link_libraries(cell_routine 
   ${catkin_LIBRARIES}
   ${OCTOMAP_LIBRARIES}
@@ -184,20 +177,12 @@ target_link_libraries(cell_routine
   ${moveit_grasps_LIBRARIES}
   ${BEHAVIOR_TREE_LIBRARY}
   yaml-cpp
-
 )
 
-target_link_libraries(grasp_cell_routine 
-  ${catkin_LIBRARIES}
-  ${OCTOMAP_LIBRARIES}
-  ${PCL_LIBRARY_DIRS}
-  ${moveit_grasps_LIBRARIES}
-  ${BEHAVIOR_TREE_LIBRARY}
-  yaml-cpp
-)
 
 target_link_libraries(mtc2taskspace 
   ${catkin_LIBRARIES}
   ${OCTOMAP_LIBRARIES}
+  ${BEHAVIOR_TREE_LIBRARY}
   yaml-cpp
 )

config/.vscode/c_cpp_properties.json

+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/matteo/ccf_sim_workspace/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/matteo/ccf_sim_workspace/src/BehaviorTree.CPP/include/**",
+        "/home/matteo/ccf_sim_workspace/src/ccf/include/**",
+        "/home/matteo/ccf_sim_workspace/src/ccf_immersive_sorting/include/**",
+        "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_grasp_plugin/include/**",
+        "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_state_plugins/include/**",
+        "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_test_tools/include/**",
+        "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_version_helpers/include/**",
+        "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_world_plugin_loader/include/**",
+        "/home/matteo/ccf_sim_workspace/src/gb-grasp-auerswald/include/**",
+        "/home/matteo/ccf_sim_workspace/src/moveit-grasps-reduced/include/**",
+        "/home/matteo/ccf_sim_workspace/src/moveit_task_constructor/core/include/**",
+        "/home/matteo/ccf_sim_workspace/src/moveit_task_constructor/demo/include/**",
+        "/home/matteo/ccf_sim_workspace/src/multi_cell_builder/include/**",
+        "/home/matteo/ccf_sim_workspace/src/general_message_packages/object_msgs_tools/include/**",
+        "/home/matteo/ccf_sim_workspace/src/panda_grasping/include/**",
+        "/home/matteo/ccf_sim_workspace/src/panda_util/include/**",
+        "/home/matteo/ccf_sim_workspace/src/moveit_task_constructor/rviz_marker_tools/include/**",
+        "/home/matteo/ccf_sim_workspace/src/simulation_util/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file

doc/html/abstract__base_8h.html

+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_base.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">abstract_base.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &quot;ros/ros.h&quot;</code><br />
+<code>#include &lt;xmlrpcpp/XmlRpc.h&gt;</code><br />
+<code>#include &lt;tf2/LinearMath/Transform.h&gt;</code><br />
+<code>#include &quot;octomap/octomap.h&quot;</code><br />
+<code>#include &lt;pcl/point_cloud.h&gt;</code><br />
+<code>#include &lt;pcl/octree/octree.h&gt;</code><br />
+<code>#include &lt;ros/package.h&gt;</code><br />
+<code>#include &lt;yaml-cpp/yaml.h&gt;</code><br />
+<code>#include &lt;fstream&gt;</code><br />
+<code>#include &quot;<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="abstract__base__implementation_8h_source.html">bridge/abstract_base_implementation.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for abstract_base.h:</div>
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+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="abstract__base_8h__dep__incl.png" border="0" usemap="#abstract__base_8hdep" alt=""/></div>
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+</div>
+<p><a href="abstract__base_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html">Abstract_base</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract base class.  <a href="classAbstract__base.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>

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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">abstract_base_implementation.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &quot;<a class="el" href="abstract__base_8h_source.html">bridge/abstract_base.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for abstract_base_implementation.h:</div>
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+<div class="title">abstract_base_implementation.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__base__implementation_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef ABSTRACT_BASE_IMPLEMENTATION_</span></div>
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+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classAbstract__base__implementation.html">   11</a></span>&#160;<span class="keyword">class </span><a class="code" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keyword">public</span>:</div>
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+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">~Abstract_base_implementation</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">set_grasp_orientations</a>(std::map&lt;<span class="keyword">const</span> std::string, std::vector&lt;std::pair&lt;<a class="code" href="structobject__data.html">object_data</a>, std::vector&lt;tf2::Quaternion&gt;&gt;&gt;&gt;&amp; var)=0;</div>
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+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">inv_map_creation</a>(std::vector&lt;tf2::Transform&gt;&amp; map, std::vector&lt;tf2::Transform&gt;&amp; inv_map, std::map&lt;<span class="keyword">const</span> std::string, std::vector&lt;std::pair&lt;<a class="code" href="structobject__data.html">object_data</a>,std::vector&lt;tf2::Quaternion&gt;&gt;&gt;&gt;&amp; task_space)=0;</div>
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+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__base__implementation_html_a33d38400729ffe7b9e60cca9c3ddc12f"><div class="ttname"><a href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">Abstract_base_implementation::inv_map_creation</a></div><div class="ttdeci">virtual void inv_map_creation(std::vector&lt; tf2::Transform &gt; &amp;map, std::vector&lt; tf2::Transform &gt; &amp;inv_map, std::map&lt; const std::string, std::vector&lt; std::pair&lt; object_data, std::vector&lt; tf2::Quaternion &gt;&gt;&gt;&gt; &amp;task_space)=0</div><div class="ttdoc">pure virtual methode to create inverse map</div></div>
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+<div class="ttc" id="aabstract__base_8h_html"><div class="ttname"><a href="abstract__base_8h.html">abstract_base.h</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
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+<div class="ttc" id="aclassAbstract__base__implementation_html"><div class="ttname"><a href="classAbstract__base__implementation.html">Abstract_base_implementation</a></div><div class="ttdoc">abstract base implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00011">abstract_base_implementation.h:11</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>

doc/html/abstract__map__loader_8h.html

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+<div class="title">abstract_map_loader.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &quot;ros/ros.h&quot;</code><br />
+<code>#include &lt;xmlrpcpp/XmlRpc.h&gt;</code><br />
+<code>#include &lt;tf2/LinearMath/Transform.h&gt;</code><br />
+<code>#include &quot;octomap/octomap.h&quot;</code><br />
+<code>#include &lt;pcl/point_cloud.h&gt;</code><br />
+<code>#include &lt;pcl/octree/octree.h&gt;</code><br />
+<code>#include &lt;ros/package.h&gt;</code><br />
+<code>#include &lt;yaml-cpp/yaml.h&gt;</code><br />
+<code>#include &lt;fstream&gt;</code><br />
+<code>#include &quot;<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>&quot;</code><br />
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</div><!-- contents -->
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+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
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