diff --git a/README.md b/README.md index 64b7d9afe0dd7a40f184c8fe5c3d5f433901174a..31a31969e1a64e906a9b760247e26d9f864f96c3 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ State: in progress. Implementing or omitting ideas because some modules do not w :ballot_box_with_check: passing yaml in xacro (franca_description) <br/> :ballot_box_with_check: parallel task execution in container <br/> :ballot_box_with_check: fix acm <br/> -:black_square_button: include ferdinands work (about to be done)<br/> +:ballot_box_with_check: include ferdinands work (about to be done)<br/> Im working non stop, so don't forget to pull. <br/> [Git Docker](https://github.com/cambel/moveit_simultaneous_motions_demo.git "github link for parallel docker") diff --git a/doc/html/abstract__base_8h.html b/doc/html/abstract__base_8h.html index e68ac814568fa5a61da2a8b998ba332acbb48a5d..6bf282530a0db48844a613a9c59be421ff66d791 100644 --- a/doc/html/abstract__base_8h.html +++ b/doc/html/abstract__base_8h.html @@ -91,8 +91,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/abstract__base_8h_source.html b/doc/html/abstract__base_8h_source.html index 089f619bfb63b44e68849a4da9529ba6ba66a00e..d2bf3736811ba063ea0799a8e6e01787e6c1c694 100644 --- a/doc/html/abstract__base_8h_source.html +++ b/doc/html/abstract__base_8h_source.html @@ -119,8 +119,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/abstract__base__implementation_8h.html b/doc/html/abstract__base__implementation_8h.html index 5ed381ffd1f31c55bd184619297f076c1f1ee31e..9dd48a7bd7a181a091dab816aafe091d754c5121 100644 --- a/doc/html/abstract__base__implementation_8h.html +++ b/doc/html/abstract__base__implementation_8h.html @@ -81,8 +81,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/abstract__base__implementation_8h_source.html b/doc/html/abstract__base__implementation_8h_source.html index b07cd5723eb33186924eb680bc66ca9d94698907..7faf4d0e04db0ecb84fe576f8af69f01aa6a89f0 100644 --- a/doc/html/abstract__base__implementation_8h_source.html +++ b/doc/html/abstract__base__implementation_8h_source.html @@ -64,8 +64,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/abstract__mediator_8cpp.html b/doc/html/abstract__mediator_8cpp.html index 7e79c9ac82cc08de831c71396ceda0655b5c6b62..afceffab2c71b9b0b61f2cd77f7dcb93dc70b863 100644 --- a/doc/html/abstract__mediator_8cpp.html +++ b/doc/html/abstract__mediator_8cpp.html @@ -31,39 +31,41 @@ Include dependency graph for abstract_mediator.cpp:</div> <div class="dyncontent"> <div class="center"><img src="abstract__mediator_8cpp__incl.png" border="0" usemap="#abstract__mediator_8cpp" alt=""/></div> <map 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class="code" href="classRobotReader.html">RobotReader</a>>(d))</div> -<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  {}</div> -<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> -<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02"> 10</a></span> pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a>(std::vector<pcl::PointXYZ>& vector){</div> -<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >);</div> -<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">for</span>(pcl::PointXYZ& point : vector)</div> -<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  task_voxel->push_back(point);</div> -<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> -<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordflow">return</span> task_voxel;</div> -<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> }</div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  , cuboid_reader_(std::make_unique<<a class="code" href="classCuboidReader.html">CuboidReader</a>>(d))</div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  {}</div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div> +<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02"> 11</a></span> pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a>(std::vector<pcl::PointXYZ>& vector){</div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >);</div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">for</span>(pcl::PointXYZ& point : vector)</div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  task_voxel->push_back(point);</div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">return</span> task_voxel;</div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> }</div> </div><!-- fragment --></div><!-- contents --> <div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div> <div class="ttc" id="aclassTSReader_html"><div class="ttname"><a href="classTSReader.html">TSReader</a></div><div class="ttdoc">TS reader.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00015">ts_reader.h:15</a></div></div> <div class="ttc" id="aclassAbstractMediator_html_af50d0f408fcef5404043ba49627b42a1"><div class="ttname"><a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator::AbstractMediator</a></div><div class="ttdeci">AbstractMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00003">abstract_mediator.cpp:3</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00010">abstract_mediator.cpp:10</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00011">abstract_mediator.cpp:11</a></div></div> +<div class="ttc" id="aclassCuboidReader_html"><div class="ttname"><a href="classCuboidReader.html">CuboidReader</a></div><div class="ttdoc">Cuboid reader.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00017">cuboid_reader.h:17</a></div></div> <div class="ttc" id="aclassWingReader_html"><div class="ttname"><a href="classWingReader.html">WingReader</a></div><div class="ttdoc">Wing reader.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00014">wing_reader.h:14</a></div></div> <div class="ttc" id="aclassRobotReader_html"><div class="ttname"><a href="classRobotReader.html">RobotReader</a></div><div class="ttdoc">Robot reader.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00015">robot_reader.h:15</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 Mon Mar 27 2023 19:07:14</small> 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class="preprocessor">#include "<a class="code" href="ts__reader_8h.html">reader/ts_reader.h</a>"</span></div> -<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "<a class="code" href="cuboid__reader_8h.html">reader/cuboid_reader.h</a>"</span></div> <div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div> -<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structwing__BP.html"> 24</a></span> <span class="keyword">struct </span><a class="code" href="structwing__BP.html">wing_BP</a> {</div> -<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9"> 25</a></span>  std::string <a class="code" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">name_</a>;</div> -<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca"> 26</a></span>  tf2::Transform <a class="code" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">pos_</a>;</div> -<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56"> 27</a></span>  tf2::Vector3 <a class="code" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">size_</a>;</div> -<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> };</div> -<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> -<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html"> 31</a></span> <span class="keyword">struct </span><a class="code" href="structprotobuf__entry.html">protobuf_entry</a>{</div> -<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b"> 32</a></span>  std::string <a class="code" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">name_</a>; </div> -<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8"> 33</a></span>  tf2::Transform <a class="code" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">tf_</a>; </div> -<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058"> 34</a></span>  <span class="keywordtype">int</span> <a class="code" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">wing_config_</a>;</div> -<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> };</div> -<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div> +<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structwing__BP.html"> 26</a></span> <span class="keyword">struct </span><a class="code" href="structwing__BP.html">wing_BP</a> {</div> +<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9"> 27</a></span>  std::string <a class="code" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">name_</a>;</div> +<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca"> 28</a></span>  tf2::Transform <a class="code" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">pos_</a>;</div> +<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56"> 29</a></span>  tf2::Vector3 <a class="code" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">size_</a>;</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> };</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> +<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html"> 33</a></span> <span class="keyword">struct </span><a class="code" href="structprotobuf__entry.html">protobuf_entry</a>{</div> +<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b"> 34</a></span>  std::string <a class="code" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">name_</a>; </div> +<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8"> 35</a></span>  tf2::Transform <a class="code" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">tf_</a>; </div> +<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058"> 36</a></span>  <span class="keywordtype">int</span> <a class="code" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">wing_config_</a>;</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> };</div> <div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div> -<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstractMediator.html"> 41</a></span> <span class="keyword">class </span><a class="code" href="classAbstractMediator.html">AbstractMediator</a> {</div> -<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">protected</span>:</div> -<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad"> 43</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a>; </div> -<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa"> 44</a></span>  std::unique_ptr<TSReader> <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>; </div> -<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938"> 45</a></span>  std::map<std::string, std::unique_ptr<AbstractRobotDecorator>> <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>; </div> -<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db"> 46</a></span>  std::vector<std::vector<std::vector<tf2::Transform>>> <a class="code" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a>; </div> -<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div> -<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4"> 48</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>; </div> -<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc"> 49</a></span>  std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>> <a class="code" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a>;</div> -<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d"> 50</a></span>  std::string <a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a>; </div> -<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div> -<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907"> 52</a></span>  std::unique_ptr<WingReader> <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>; </div> -<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5"> 53</a></span>  std::unique_ptr<RobotReader> <a class="code" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a>; </div> -<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div> -<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> +<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classAbstractMediator.html"> 43</a></span> <span class="keyword">class </span><a class="code" href="classAbstractMediator.html">AbstractMediator</a> {</div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">protected</span>:</div> +<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad"> 45</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a>; </div> +<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa"> 46</a></span>  std::unique_ptr<TSReader> <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>; </div> +<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938"> 47</a></span>  std::map<std::string, std::unique_ptr<AbstractRobotDecorator>> <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>; </div> +<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db"> 48</a></span>  std::vector<std::vector<std::vector<tf2::Transform>>> <a class="code" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a>; </div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div> +<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4"> 50</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>; </div> +<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc"> 51</a></span>  std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>> <a class="code" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a>;</div> +<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d"> 52</a></span>  std::string <a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a>; </div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div> +<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907"> 54</a></span>  std::unique_ptr<WingReader> <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>; </div> +<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5"> 55</a></span>  std::unique_ptr<RobotReader> <a class="code" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a>; </div> +<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092"> 56</a></span>  std::unique_ptr<CuboidReader> <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>; </div> <div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div> -<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</div> -<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div> -<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div> -<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619"> 67</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>& res) {<a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a> = res;}</div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div> <div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div> -<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div> -<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07"> 73</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>>& <a class="code" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a>;}</div> +<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619"> 71</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>& res) {<a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a> = res;}</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div> <div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div> -<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div> -<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d"> 79</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>;}</div> +<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07"> 77</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>>& <a class="code" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a>;}</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div> <div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div> -<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div> -<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8"> 85</a></span>  <span class="keyword">inline</span> std::map<std::string, std::unique_ptr<AbstractRobotDecorator>>& <a class="code" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>;}</div> +<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d"> 83</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>;}</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div> <div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div> -<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div> -<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd"> 91</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string& dirn) {<a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a> = dirn;}</div> +<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8"> 89</a></span>  <span class="keyword">inline</span> std::map<std::string, std::unique_ptr<AbstractRobotDecorator>>& <a class="code" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>;}</div> +<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div> <div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div> -<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div> -<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6"> 97</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a>;}</div> +<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd"> 95</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string& dirn) {<a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a> = dirn;}</div> +<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div> <div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div> -<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div> -<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div> -<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector<pcl::PointXYZ>& vector);</div> -<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div> -<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div> -<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot)=0; </div> +<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6"> 101</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a>;}</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div> +<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div> +<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div> +<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector<pcl::PointXYZ>& vector);</div> +<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div> <div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div> -<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">mediate</a>()=0;</div> -<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div> -<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">setPanel</a>()=0;</div> -<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div> -<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div> -<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855"> 124</a></span>  <span class="keyword">inline</span> <a class="code" href="classWingReader.html">WingReader</a>* <a class="code" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>.get();}</div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot)=0; </div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div> +<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">mediate</a>()=0;</div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">setPanel</a>()=0;</div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div> <div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div> -<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div> -<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e"> 130</a></span>  <span class="keyword">inline</span> <a class="code" href="classRobotReader.html">RobotReader</a>* <a class="code" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a>.get();}</div> +<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855"> 128</a></span>  <span class="keyword">inline</span> <a class="code" href="classWingReader.html">WingReader</a>* <a class="code" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>.get();}</div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div> <div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div> -<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div> -<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> };</div> -<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div> +<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e"> 134</a></span>  <span class="keyword">inline</span> <a class="code" href="classRobotReader.html">RobotReader</a>* <a class="code" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a>.get();}</div> <div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div> -<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="preprocessor">#endif</span></div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div> +<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500"> 140</a></span>  <span class="keyword">inline</span> <a class="code" href="classCuboidReader.html">CuboidReader</a>* <a class="code" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>.get();}</div> +<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div> +<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div> +<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> };</div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="preprocessor">#endif</span></div> </div><!-- fragment --></div><!-- contents --> -<div class="ttc" id="astructwing__BP_html_a6396b771cdeff0b866020e3293a84eca"><div class="ttname"><a href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP::pos_</a></div><div class="ttdeci">tf2::Transform pos_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00026">abstract_mediator.h:26</a></div></div> -<div class="ttc" id="astructprotobuf__entry_html_a44e08c6e54f4bdd1317f6df29175230b"><div class="ttname"><a href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">protobuf_entry::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00032">abstract_mediator.h:32</a></div></div> +<div class="ttc" id="astructwing__BP_html_a6396b771cdeff0b866020e3293a84eca"><div class="ttname"><a href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP::pos_</a></div><div class="ttdeci">tf2::Transform pos_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00028">abstract_mediator.h:28</a></div></div> +<div class="ttc" id="astructprotobuf__entry_html_a44e08c6e54f4bdd1317f6df29175230b"><div class="ttname"><a href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">protobuf_entry::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00034">abstract_mediator.h:34</a></div></div> <div class="ttc" id="aclassAbstractMediator_html_a135b24638b57ae0d7b01c436a333f3d3"><div class="ttname"><a href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator::mediate</a></div><div class="ttdeci">virtual void mediate()=0</div><div class="ttdoc">pure virtual mediate methode</div></div> -<div class="ttc" id="aclassAbstractMediator_html_a3c7679cefd8f5ef8e208224745f8aac4"><div class="ttname"><a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator::result_vector_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdoc">Result_vector of base positions linked to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00048">abstract_mediator.h:48</a></div></div> -<div class="ttc" id="astructwing__BP_html"><div class="ttname"><a href="structwing__BP.html">wing_BP</a></div><div class="ttdoc">Blueprint of panel data.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00024">abstract_mediator.h:24</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a3c7679cefd8f5ef8e208224745f8aac4"><div class="ttname"><a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator::result_vector_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdoc">Result_vector of base positions linked to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00050">abstract_mediator.h:50</a></div></div> +<div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div> +<div class="ttc" id="astructwing__BP_html"><div class="ttname"><a href="structwing__BP.html">wing_BP</a></div><div class="ttdoc">Blueprint of panel data.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00026">abstract_mediator.h:26</a></div></div> <div class="ttc" id="aabstract__robot__decorator_8h_html"><div class="ttname"><a href="abstract__robot__decorator_8h.html">abstract_robot_decorator.h</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a72eec7045a30201e1b8e2efa3f3c0855"><div class="ttname"><a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">AbstractMediator::wingReader</a></div><div class="ttdeci">WingReader * wingReader()</div><div class="ttdoc">Get Wing_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00124">abstract_mediator.h:124</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a9b24efa2ec432e60f25c6a54970775fc"><div class="ttname"><a href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">AbstractMediator::wings_</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00049">abstract_mediator.h:49</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a72eec7045a30201e1b8e2efa3f3c0855"><div class="ttname"><a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">AbstractMediator::wingReader</a></div><div class="ttdeci">WingReader * wingReader()</div><div class="ttdoc">Get Wing_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00128">abstract_mediator.h:128</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a9b24efa2ec432e60f25c6a54970775fc"><div class="ttname"><a href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">AbstractMediator::wings_</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00051">abstract_mediator.h:51</a></div></div> <div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div> <div class="ttc" id="aceti__robot_8h_html"><div class="ttname"><a href="ceti__robot_8h.html">ceti_robot.h</a></div></div> <div class="ttc" id="aclassAbstractMediator_html_ab33c369fe48c88295f9cbdcabe68ddad"><div class="ttname"><a href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator::connectRobots</a></div><div class="ttdeci">virtual void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot)=0</div><div class="ttdoc">pure virtual robot connecting methode</div></div> -<div class="ttc" id="astructwing__BP_html_a294e3a77e24dec89f73422224f4091c9"><div class="ttname"><a href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">wing_BP::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00025">abstract_mediator.h:25</a></div></div> +<div class="ttc" id="astructwing__BP_html_a294e3a77e24dec89f73422224f4091c9"><div class="ttname"><a href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">wing_BP::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00027">abstract_mediator.h:27</a></div></div> <div class="ttc" id="aclassAbstractMediator_html_af50d0f408fcef5404043ba49627b42a1"><div class="ttname"><a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator::AbstractMediator</a></div><div class="ttdeci">AbstractMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00003">abstract_mediator.cpp:3</a></div></div> <div class="ttc" id="aclassAbstractMediator_html_a2ddf9436b7443a7a45fb5b60a7c6ce2b"><div class="ttname"><a href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator::setPanel</a></div><div class="ttdeci">virtual void setPanel()=0</div><div class="ttdoc">pure virtual Sets panels for robots</div></div> -<div class="ttc" id="aclassAbstractMediator_html_a93c390745716f6a5b2920c8ffaa58b3d"><div class="ttname"><a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">AbstractMediator::dirname_</a></div><div class="ttdeci">std::string dirname_</div><div class="ttdoc">Dirname of the reference protobuff.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00050">abstract_mediator.h:50</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a0158088e933cb5031370809db6132d07"><div class="ttname"><a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">AbstractMediator::wings</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > & wings()</div><div class="ttdoc">Get wings.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00073">abstract_mediator.h:73</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a6caa36a0e7ca24bc97a9558cf46c72ad"><div class="ttname"><a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> -<div class="ttc" id="astructwing__BP_html_ad3cb0666a2473c6a2c5397f393812f56"><div class="ttname"><a href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">wing_BP::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00027">abstract_mediator.h:27</a></div></div> -<div class="ttc" id="astructprotobuf__entry_html"><div class="ttname"><a href="structprotobuf__entry.html">protobuf_entry</a></div><div class="ttdoc">Protobuf entry.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00031">abstract_mediator.h:31</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a6b7c63d2283d9a34cfe53c75bc6294e8"><div class="ttname"><a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">AbstractMediator::robots</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > & robots()</div><div class="ttdoc">Get robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00085">abstract_mediator.h:85</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a2fb941ec8ffe4da38ace5e4d504268f5"><div class="ttname"><a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">AbstractMediator::robot_reader_</a></div><div class="ttdeci">std::unique_ptr< RobotReader > robot_reader_</div><div class="ttdoc">Robot_reader which collects robot poses.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00053">abstract_mediator.h:53</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00010">abstract_mediator.cpp:10</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_abfeda444314311dd931237ff8eea943d"><div class="ttname"><a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator::resultVector</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > & resultVector()</div><div class="ttdoc">Get result_vector.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00079">abstract_mediator.h:79</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a93c390745716f6a5b2920c8ffaa58b3d"><div class="ttname"><a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">AbstractMediator::dirname_</a></div><div class="ttdeci">std::string dirname_</div><div class="ttdoc">Dirname of the reference protobuff.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a0158088e933cb5031370809db6132d07"><div class="ttname"><a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">AbstractMediator::wings</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > & wings()</div><div class="ttdoc">Get wings.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00077">abstract_mediator.h:77</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00054">abstract_mediator.h:54</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a6caa36a0e7ca24bc97a9558cf46c72ad"><div class="ttname"><a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div> +<div class="ttc" id="astructwing__BP_html_ad3cb0666a2473c6a2c5397f393812f56"><div class="ttname"><a href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">wing_BP::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00029">abstract_mediator.h:29</a></div></div> +<div class="ttc" id="astructprotobuf__entry_html"><div class="ttname"><a href="structprotobuf__entry.html">protobuf_entry</a></div><div class="ttdoc">Protobuf entry.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00033">abstract_mediator.h:33</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a6b7c63d2283d9a34cfe53c75bc6294e8"><div class="ttname"><a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">AbstractMediator::robots</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > & robots()</div><div class="ttdoc">Get robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00089">abstract_mediator.h:89</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a2fb941ec8ffe4da38ace5e4d504268f5"><div class="ttname"><a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">AbstractMediator::robot_reader_</a></div><div class="ttdeci">std::unique_ptr< RobotReader > robot_reader_</div><div class="ttdoc">Robot_reader which collects robot poses.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00055">abstract_mediator.h:55</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00011">abstract_mediator.cpp:11</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a7d381a7596104cf59560a4cc9659f500"><div class="ttname"><a href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">AbstractMediator::cuboidReader</a></div><div class="ttdeci">CuboidReader * cuboidReader()</div><div class="ttdoc">Get Cuboid_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00140">abstract_mediator.h:140</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_abfeda444314311dd931237ff8eea943d"><div class="ttname"><a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator::resultVector</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > & resultVector()</div><div class="ttdoc">Get result_vector.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00083">abstract_mediator.h:83</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00047">abstract_mediator.h:47</a></div></div> <div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div> <div class="ttc" id="arobot__reader_8h_html"><div class="ttname"><a href="robot__reader_8h.html">robot_reader.h</a></div></div> <div class="ttc" id="ats__reader_8h_html"><div class="ttname"><a href="ts__reader_8h.html">ts_reader.h</a></div></div> -<div class="ttc" id="astructprotobuf__entry_html_a58a9c2211f7cbe40929516dbbed73058"><div class="ttname"><a href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">protobuf_entry::wing_config_</a></div><div class="ttdeci">int wing_config_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00034">abstract_mediator.h:34</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a0d4451e49f9e7953ca5e32126b597619"><div class="ttname"><a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">AbstractMediator::setResultVector</a></div><div class="ttdeci">void setResultVector(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</div><div class="ttdoc">Set result vector.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00067">abstract_mediator.h:67</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a2e0808dd0543e36562ff7074241a37c6"><div class="ttname"><a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">AbstractMediator::dirname</a></div><div class="ttdeci">std::string & dirname()</div><div class="ttdoc">Get dirname.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00097">abstract_mediator.h:97</a></div></div> +<div class="ttc" id="astructprotobuf__entry_html_a58a9c2211f7cbe40929516dbbed73058"><div class="ttname"><a href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">protobuf_entry::wing_config_</a></div><div class="ttdeci">int wing_config_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00036">abstract_mediator.h:36</a></div></div> +<div class="ttc" id="aclassCuboidReader_html"><div class="ttname"><a href="classCuboidReader.html">CuboidReader</a></div><div class="ttdoc">Cuboid reader.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00017">cuboid_reader.h:17</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a0d4451e49f9e7953ca5e32126b597619"><div class="ttname"><a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">AbstractMediator::setResultVector</a></div><div class="ttdeci">void setResultVector(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</div><div class="ttdoc">Set result vector.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00071">abstract_mediator.h:71</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a2e0808dd0543e36562ff7074241a37c6"><div class="ttname"><a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">AbstractMediator::dirname</a></div><div class="ttdeci">std::string & dirname()</div><div class="ttdoc">Get dirname.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00101">abstract_mediator.h:101</a></div></div> <div class="ttc" id="aclassWingReader_html"><div class="ttname"><a href="classWingReader.html">WingReader</a></div><div class="ttdoc">Wing reader.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00014">wing_reader.h:14</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_abb194f54b87b500eb91e05283681b092"><div class="ttname"><a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">AbstractMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00056">abstract_mediator.h:56</a></div></div> <div class="ttc" id="aclassRobotReader_html"><div class="ttname"><a href="classRobotReader.html">RobotReader</a></div><div class="ttdoc">Robot reader.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00015">robot_reader.h:15</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a14fb98326c6c14fceb9b7b4749490afd"><div class="ttname"><a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator::setDirname</a></div><div class="ttdeci">void setDirname(std::string &dirn)</div><div class="ttdoc">Set dirname.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00091">abstract_mediator.h:91</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_ad5f1373899bb6bec89a51e3295bac45e"><div class="ttname"><a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">AbstractMediator::robotReader</a></div><div class="ttdeci">RobotReader * robotReader()</div><div class="ttdoc">Get Robot_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00130">abstract_mediator.h:130</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_ac6e8ea822143df20ec6ecec2ff1603db"><div class="ttname"><a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator::relative_bounds_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Transform > > > relative_bounds_</div><div class="ttdoc">total bound a workspace</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00046">abstract_mediator.h:46</a></div></div> -<div class="ttc" id="astructprotobuf__entry_html_ac556a276e962d022fd32dcbdd50cd0c8"><div class="ttname"><a href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">protobuf_entry::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00033">abstract_mediator.h:33</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a14fb98326c6c14fceb9b7b4749490afd"><div class="ttname"><a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator::setDirname</a></div><div class="ttdeci">void setDirname(std::string &dirn)</div><div class="ttdoc">Set dirname.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00095">abstract_mediator.h:95</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_ad5f1373899bb6bec89a51e3295bac45e"><div class="ttname"><a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">AbstractMediator::robotReader</a></div><div class="ttdeci">RobotReader * robotReader()</div><div class="ttdoc">Get Robot_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00134">abstract_mediator.h:134</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_ac6e8ea822143df20ec6ecec2ff1603db"><div class="ttname"><a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator::relative_bounds_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Transform > > > relative_bounds_</div><div class="ttdoc">total bound a workspace</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00048">abstract_mediator.h:48</a></div></div> +<div class="ttc" id="astructprotobuf__entry_html_ac556a276e962d022fd32dcbdd50cd0c8"><div class="ttname"><a href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">protobuf_entry::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00035">abstract_mediator.h:35</a></div></div> <div class="ttc" id="aabstract__robot__element_8h_html"><div class="ttname"><a href="abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a4786aa6941e2776476ca71829d771faa"><div class="ttname"><a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< TSReader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a 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2a778eb67cb82ed8623dc2cc5ae1c7872f80fd51..71a6702ef00084aa21731be7ee4adbb107b31a79 100644 Binary files a/doc/html/abstract__robot__element__decorator_8h__dep__incl.png and b/doc/html/abstract__robot__element__decorator_8h__dep__incl.png differ diff --git a/doc/html/abstract__robot__element__decorator_8h_source.html b/doc/html/abstract__robot__element__decorator_8h_source.html index edb2bdc76abb739e3da354f9df531145449cb69b..63b5b937f418f0bf862dd8696eebd0e9d129799b 100644 --- a/doc/html/abstract__robot__element__decorator_8h_source.html +++ b/doc/html/abstract__robot__element__decorator_8h_source.html @@ -75,8 +75,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/annotated.html b/doc/html/annotated.html index ed2356b4c16b3526ff8999ddf16e1ca44709e298..06855bfe1c38cb4ca22e179530366f0e0ad2a7dc 100644 --- a/doc/html/annotated.html +++ b/doc/html/annotated.html @@ -35,28 +35,29 @@ $(function() { <tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCetiRobot.html" target="_self">CetiRobot</a></td><td class="desc">Concrete Ceti-Robot </td></tr> <tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCuboidReader.html" target="_self">CuboidReader</a></td><td class="desc">Cuboid reader </td></tr> <tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classExecution.html" target="_self">Execution</a></td><td class="desc"><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode </td></tr> -<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structjob__data.html" target="_self">job_data</a></td><td class="desc">Job data </td></tr> -<tr id="row_13_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classJobReader.html" target="_self">JobReader</a></td><td class="desc">Job reader </td></tr> -<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLogDecorator.html" target="_self">LogDecorator</a></td><td class="desc"></td></tr> -<tr id="row_15_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMapReader.html" target="_self">MapReader</a></td><td class="desc">Map reader </td></tr> -<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitMediator.html" target="_self">MoveitMediator</a></td><td class="desc">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a> </td></tr> -<tr id="row_17_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitPanel.html" target="_self">MoveitPanel</a></td><td class="desc"></td></tr> -<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc">Object data </td></tr> -<tr id="row_19_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPandaDecorator.html" target="_self">PandaDecorator</a></td><td class="desc">Panda Decorator </td></tr> -<tr id="row_20_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPanel.html" target="_self">Panel</a></td><td class="desc"></td></tr> -<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classParallel__robot.html" target="_self">Parallel_robot</a></td><td class="desc"></td></tr> -<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPositionCondition.html" target="_self">PositionCondition</a></td><td class="desc"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node </td></tr> -<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structprotobuf__entry.html" target="_self">protobuf_entry</a></td><td class="desc">Protobuf entry </td></tr> -<tr id="row_24_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRobotReader.html" target="_self">RobotReader</a></td><td class="desc">Robot reader </td></tr> -<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRvizPanel.html" target="_self">RvizPanel</a></td><td class="desc"></td></tr> -<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSimpleBase.html" target="_self">SimpleBase</a></td><td class="desc"><a class="el" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a> </td></tr> -<tr id="row_27_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSimpleBaseImplementation.html" target="_self">SimpleBaseImplementation</a></td><td class="desc"><a class="el" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a> </td></tr> -<tr id="row_28_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTaskSpaceReader.html" target="_self">TaskSpaceReader</a></td><td class="desc">Task space reader </td></tr> -<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTSReader.html" target="_self">TSReader</a></td><td class="desc">TS reader </td></tr> -<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR10Decorator.html" target="_self">UR10Decorator</a></td><td class="desc">Panda Mediator </td></tr> -<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR5Decorator.html" target="_self">UR5Decorator</a></td><td class="desc">UR5 Decorator </td></tr> -<tr id="row_32_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structwing__BP.html" target="_self">wing_BP</a></td><td class="desc">Blueprint of panel data </td></tr> -<tr id="row_33_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWingReader.html" target="_self">WingReader</a></td><td class="desc">Wing reader </td></tr> +<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classGraspMediator.html" target="_self">GraspMediator</a></td><td class="desc"></td></tr> +<tr id="row_13_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structjob__data.html" target="_self">job_data</a></td><td class="desc">Job data </td></tr> +<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classJobReader.html" target="_self">JobReader</a></td><td class="desc">Job reader </td></tr> +<tr id="row_15_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLogDecorator.html" target="_self">LogDecorator</a></td><td class="desc"></td></tr> +<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMapReader.html" target="_self">MapReader</a></td><td class="desc">Map reader </td></tr> +<tr id="row_17_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitMediator.html" target="_self">MoveitMediator</a></td><td class="desc">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a> </td></tr> +<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitPanel.html" target="_self">MoveitPanel</a></td><td class="desc"></td></tr> +<tr id="row_19_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc">Object data </td></tr> +<tr id="row_20_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPandaDecorator.html" target="_self">PandaDecorator</a></td><td class="desc">Panda Decorator </td></tr> +<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPanel.html" target="_self">Panel</a></td><td class="desc"></td></tr> +<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classParallel__robot.html" target="_self">Parallel_robot</a></td><td class="desc"></td></tr> +<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPositionCondition.html" target="_self">PositionCondition</a></td><td class="desc"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node </td></tr> +<tr id="row_24_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structprotobuf__entry.html" target="_self">protobuf_entry</a></td><td class="desc">Protobuf entry </td></tr> +<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRobotReader.html" target="_self">RobotReader</a></td><td class="desc">Robot reader </td></tr> +<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRvizPanel.html" target="_self">RvizPanel</a></td><td class="desc"></td></tr> +<tr id="row_27_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSimpleBase.html" target="_self">SimpleBase</a></td><td class="desc"><a class="el" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a> </td></tr> +<tr id="row_28_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSimpleBaseImplementation.html" target="_self">SimpleBaseImplementation</a></td><td class="desc"><a class="el" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a> </td></tr> +<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTaskSpaceReader.html" target="_self">TaskSpaceReader</a></td><td class="desc">Task space reader </td></tr> +<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTSReader.html" target="_self">TSReader</a></td><td class="desc">TS reader </td></tr> +<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR10Decorator.html" target="_self">UR10Decorator</a></td><td class="desc">Panda Mediator </td></tr> +<tr id="row_32_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR5Decorator.html" target="_self">UR5Decorator</a></td><td class="desc">UR5 Decorator </td></tr> +<tr id="row_33_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structwing__BP.html" target="_self">wing_BP</a></td><td class="desc">Blueprint of panel data </td></tr> +<tr id="row_34_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWingReader.html" target="_self">WingReader</a></td><td class="desc">Wing reader </td></tr> </table> </div><!-- directory --> </div><!-- contents --> @@ -64,8 +65,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/base__calculation__mediator_8cpp.html b/doc/html/base__calculation__mediator_8cpp.html index 541261e6499f836e1dad95f1fd45bf5720b189bd..54bf3a34ea001ab4d6ef8bd9d7575051b8b0eb4b 100644 --- a/doc/html/base__calculation__mediator_8cpp.html +++ b/doc/html/base__calculation__mediator_8cpp.html @@ -31,44 +31,46 @@ Include dependency graph for base_calculation_mediator.cpp:</div> <div class="dyncontent"> <div class="center"><img src="base__calculation__mediator_8cpp__incl.png" border="0" usemap="#base__calculation__mediator_8cpp" alt=""/></div> <map name="base__calculation__mediator_8cpp" 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wc_solution){</div> -<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  std::stringstream ss;</div> -<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  std::stringstream panel_ss;</div> -<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  std::stringstream root_ss;</div> -<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  </div> -<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  ss << <span class="stringliteral">"{ 'objects' : [ \n"</span>;</div> -<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c < wc_solution.size(); c++){</div> -<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  <span class="keywordflow">try</span>{ </div> -<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  std::regex rx(<span class="stringliteral">"panda_arm([0-9]+)"</span>);</div> -<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  std::smatch match;</div> -<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  std::regex_match(wc_solution[c].name_, match, rx);</div> +<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  </div> +<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  std::string resultFile = std::to_string(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(ros::Time::now().toNSec()));</div> +<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  std::filesystem::create_directory(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + resultFile);</div> +<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  std::filesystem::create_directory(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + resultFile + <span class="stringliteral">"/configs"</span>);</div> +<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  std::filesystem::create_directory(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + resultFile + <span class="stringliteral">"/launch"</span>);</div> +<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  </div> +<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  std::stringstream ss;</div> +<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  std::stringstream panel_ss;</div> +<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  std::stringstream root_ss;</div> +<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  std::stringstream box_ss;</div> <div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div> -<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keyword">auto</span> ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(wc_solution[c].name_)->next());</div> -<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  ceti-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(wc_solution[c].tf_);</div> -<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  ceti->notify();</div> -<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  </div> -<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="keywordtype">double</span> r,p,y;</div> -<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  tf2::Matrix3x3 m(wc_solution[c].tf_.getRotation());</div> -<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  m.getRPY(r,p,y);</div> -<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  </div> -<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  <span class="keywordtype">float</span> size_x = ceti->size().getX();</div> -<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="keywordtype">float</span> size_y = ceti->size().getY();</div> -<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordtype">float</span> size_z = ceti->size().getZ();</div> -<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  </div> -<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="keywordtype">float</span> pos_x = ceti->tf().getOrigin().getX();</div> -<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="keywordtype">float</span> pos_y = ceti->tf().getOrigin().getY();</div> -<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="keywordtype">float</span> pos_z = ceti->tf().getOrigin().getZ() *2 ;</div> -<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  <span class="keywordtype">float</span> rot_x = ceti->tf().getRotation().getX();</div> -<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <span class="keywordtype">float</span> rot_y = ceti->tf().getRotation().getY();</div> -<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <span class="keywordtype">float</span> rot_z = ceti->tf().getRotation().getZ();</div> -<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  <span class="keywordtype">float</span> rot_w = ceti->tf().getRotation().getW();</div> +<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  </div> +<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& box : <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>->cuboidBox()){</div> +<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  box_ss << <span class="stringliteral">"{ 'id': '"</span> << box.Name << <span class="stringliteral">"', 'type': 'BOX', 'pos': { 'x': "</span><<box.Pose.position.x<<<span class="stringliteral">", 'y': "</span><<box.Pose.position.y<<<span class="stringliteral">", 'z': "</span><< box.Pose.position.z<<<span class="stringliteral">" },'size': { 'length': "</span><< box.x_depth<<<span class="stringliteral">", 'width': "</span><<box.y_width<<<span class="stringliteral">", 'height': "</span><< box.z_heigth<<<span class="stringliteral">" },'orientation': { 'x':"</span><< box.Pose.orientation.x <<<span class="stringliteral">", 'y':"</span> << box.Pose.orientation.y<< <span class="stringliteral">", 'z':"</span> << box.Pose.orientation.z << <span class="stringliteral">", 'w':"</span> << box.Pose.orientation.w<< <span class="stringliteral">"},'color': { 'b': 1 } }, \n"</span>;</div> +<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  }</div> +<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  </div> +<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& box : <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>->cuboidObstacle()){</div> +<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  box_ss << <span class="stringliteral">"{ 'id': '"</span> << box.Name << <span class="stringliteral">"', 'type': 'BIN', 'pos': { 'x': "</span><<box.Pose.position.x<<<span class="stringliteral">", 'y': "</span><<box.Pose.position.y<<<span class="stringliteral">", 'z': "</span><< box.Pose.position.z<<<span class="stringliteral">" },'size': { 'length': "</span><< box.x_depth<<<span class="stringliteral">", 'width': "</span><<box.y_width<<<span class="stringliteral">", 'height': "</span><< box.z_heigth<<<span class="stringliteral">" },'orientation': { 'x':"</span><< box.Pose.orientation.x <<<span class="stringliteral">", 'y':"</span> << box.Pose.orientation.y<< <span class="stringliteral">", 'z':"</span> << box.Pose.orientation.z << <span class="stringliteral">", 'w':"</span> << box.Pose.orientation.w<< <span class="stringliteral">"},'color': { 'b': 1 } }, \n"</span>;</div> +<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  }</div> +<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  </div> +<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  ss << <span class="stringliteral">"{ 'objects' : [ \n"</span>;</div> +<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c < wc_solution.size(); c++){</div> +<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="keywordflow">try</span>{ </div> +<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  std::regex rx(<span class="stringliteral">"panda_arm([0-9]+)"</span>);</div> +<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  std::smatch match;</div> +<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  std::regex_match(wc_solution[c].name_, match, rx);</div> +<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  </div> +<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <span class="keyword">auto</span> ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(wc_solution[c].name_)->next());</div> +<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  ceti-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(wc_solution[c].tf_);</div> +<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  ceti->notify();</div> <div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  </div> -<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},\n"</span>;</div> -<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> -<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_table_top', 'pos': { 'x': "</span> << std::to_string(pos_x) << <span class="stringliteral">" , 'y': "</span><< std::to_string(pos_y) << <span class="stringliteral">" , 'z': "</span><< std::to_string(pos_z) << <span class="stringliteral">" },'size': { 'length': "</span><< std::to_string(size_x) << <span class="stringliteral">" ,'width': "</span><< std::to_string(size_y) << <span class="stringliteral">" ,'height': "</span><< std::to_string(size_z) << <span class="stringliteral">" },'orientation': { 'x': "</span> << std::to_string(rot_x) << <span class="stringliteral">" , 'y': "</span> << std::to_string(rot_y) << <span class="stringliteral">" , 'z': "</span> << std::to_string(rot_z) << <span class="stringliteral">" , 'w': "</span> << std::to_string(rot_w) << <span class="stringliteral">" },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': "</span> << std::to_string(r) << <span class="stringliteral">" , 'p': "</span> << std::to_string(p) << <span class="stringliteral">" , 'y': "</span> << std::to_string(y) << <span class="stringliteral">" } },\n"</span>;</div> -<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  </div> -<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  std::bitset<3> panel_mask(wc_solution[c].wing_config_);</div> -<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordflow">for</span>(std::size_t i = 0; i < ceti->observers().size(); i++){</div> -<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <span class="keywordflow">if</span>(ceti->observerMask()[i] & panel_mask[i]){</div> -<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  <span class="keywordtype">float</span> x = ceti->observers()[i]->worldTf().getOrigin().getX();</div> -<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  <span class="keywordtype">float</span> y = ceti->observers()[i]->worldTf().getOrigin().getY();</div> -<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="keywordtype">float</span> z = ceti->observers()[i]->worldTf().getOrigin().getZ();</div> -<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  <span class="keywordtype">float</span> qx = ceti->observers()[i]->worldTf().getRotation().getX();</div> -<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordtype">float</span> qy = ceti->observers()[i]->worldTf().getRotation().getY();</div> -<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keywordtype">float</span> qz = ceti->observers()[i]->worldTf().getRotation().getZ();</div> -<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <span class="keywordtype">float</span> qw = ceti->observers()[i]->worldTf().getRotation().getW();</div> -<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  </div> -<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <span class="keywordtype">float</span> length = ceti->observers()[i]->size().getX();</div> -<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  <span class="keywordtype">float</span> width = ceti->observers()[i]->size().getY();</div> -<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  <span class="keywordtype">float</span> height = ceti->observers()[i]->size().getZ();</div> -<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  panel_ss << <span class="stringliteral">"{ 'id': '"</span> << ceti->observers()[i]->name() << <span class="stringliteral">"' , 'pos': { 'x': "</span><< std::to_string(x) << <span class="stringliteral">" , 'y': "</span><< std::to_string(y) << <span class="stringliteral">" , 'z': "</span><< std::to_string(z - 0.25*height) << <span class="stringliteral">" } , 'size': { 'length': "</span><< std::to_string(length) << <span class="stringliteral">" , 'width': "</span><< std::to_string(width) << <span class="stringliteral">" , 'height': "</span><< std::to_string(height) << <span class="stringliteral">" } , 'orientation': { 'x': "</span><< std::to_string(qx) << <span class="stringliteral">" , 'y': "</span><< std::to_string(qy) << <span class="stringliteral">" , 'z': "</span><< std::to_string(qz) << <span class="stringliteral">" , 'w': "</span><< std::to_string(qw) << <span class="stringliteral">" } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, \n"</span>;</div> -<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  } </div> -<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  }</div> -<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  </div> -<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  tf2::Transform tf_arm = wc_solution[c].tf_ * ceti->rootTf();</div> -<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <span class="keywordtype">float</span> arm_x = tf_arm.getOrigin().getX();</div> -<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  <span class="keywordtype">float</span> arm_y = tf_arm.getOrigin().getY();</div> -<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  <span class="keywordtype">float</span> arm_z = tf_arm.getOrigin().getZ();</div> -<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <span class="keywordtype">float</span> arm_qx = tf_arm.getRotation().getX();</div> -<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordtype">float</span> arm_qy = tf_arm.getRotation().getY();</div> -<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  <span class="keywordtype">float</span> arm_qz = tf_arm.getRotation().getZ();</div> -<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keywordtype">float</span> arm_qw = tf_arm.getRotation().getW();</div> -<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  </div> -<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  <span class="keywordflow">if</span> (!(c == wc_solution.size())){</div> -<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <span class="comment">// begin</span></div> -<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  root_ss << <span class="stringliteral">"{ 'id': 'arm"</span> << match[1] << <span class="stringliteral">"','type': 'ARM','pos': { 'x': "</span> << std::to_string(arm_x) << <span class="stringliteral">", 'y': "</span> << std::to_string(arm_y) << <span class="stringliteral">", 'z': 0.89 },'size': { },'orientation': { 'x': "</span> << std::to_string(arm_qx) <<<span class="stringliteral">", 'y': "</span> << std::to_string(arm_qy) << <span class="stringliteral">", 'z': "</span> << std::to_string(arm_qz) << <span class="stringliteral">", 'w': "</span> << std::to_string(arm_qw) << <span class="stringliteral">" },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, \n"</span>;</div> -<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  } <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  root_ss << <span class="stringliteral">"{ 'id': 'arm"</span> << match[1] << <span class="stringliteral">"','type': 'ARM','pos': { 'x': "</span> << std::to_string(arm_x) << <span class="stringliteral">", 'y': "</span> << std::to_string(arm_y) << <span class="stringliteral">", 'z': 0.89 },'size': { },'orientation': { 'x': "</span> << std::to_string(arm_qx) <<<span class="stringliteral">", 'y': "</span> << std::to_string(arm_qy) << <span class="stringliteral">", 'z': "</span> << std::to_string(arm_qz) << <span class="stringliteral">", 'w': "</span> << std::to_string(arm_qw) << <span class="stringliteral">" },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }"</span>;</div> -<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  }</div> -<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  </div> -<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor) {</div> -<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  }</div> -<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  }</div> -<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  </div> -<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  </div> -<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  </div> -<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  </div> -<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span>+ <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + std::to_string(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(ros::Time::now().toNSec())) + <span class="stringliteral">".yaml"</span>);</div> -<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  ss << panel_ss.str();</div> -<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  ss << root_ss.str();</div> -<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  ss << <span class="stringliteral">"]}"</span>;</div> -<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  o << ss.str();</div> -<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  o.close();</div> -<div class="line"><a name="l00644"></a><span class="lineno"> 644</span> }</div> +<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  <span class="keywordtype">double</span> r,p,y;</div> +<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  tf2::Matrix3x3 m(wc_solution[c].tf_.getRotation());</div> +<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  m.getRPY(r,p,y);</div> +<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  </div> +<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  <span class="keywordtype">float</span> size_x = ceti->size().getX();</div> +<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <span class="keywordtype">float</span> size_y = ceti->size().getY();</div> +<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  <span class="keywordtype">float</span> size_z = ceti->size().getZ();</div> +<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  </div> +<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  <span class="keywordtype">float</span> pos_x = ceti->tf().getOrigin().getX();</div> +<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  <span class="keywordtype">float</span> pos_y = ceti->tf().getOrigin().getY();</div> +<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  <span class="keywordtype">float</span> pos_z = ceti->tf().getOrigin().getZ() *2 ;</div> +<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordtype">float</span> rot_x = ceti->tf().getRotation().getX();</div> +<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <span class="keywordtype">float</span> rot_y = ceti->tf().getRotation().getY();</div> +<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  <span class="keywordtype">float</span> rot_z = ceti->tf().getRotation().getZ();</div> +<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  <span class="keywordtype">float</span> rot_w = ceti->tf().getRotation().getW();</div> +<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  </div> +<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  <span class="comment">// initial stardconfig</span></div> +<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},\n"</span>;</div> +<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div> +<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_table_top', 'pos': { 'x': "</span> << std::to_string(pos_x) << <span class="stringliteral">" , 'y': "</span><< std::to_string(pos_y) << <span class="stringliteral">" , 'z': "</span><< std::to_string(pos_z) << <span class="stringliteral">" },'size': { 'length': "</span><< std::to_string(size_x) << <span class="stringliteral">" ,'width': "</span><< std::to_string(size_y) << <span class="stringliteral">" ,'height': "</span><< std::to_string(size_z) << <span class="stringliteral">" },'orientation': { 'x': "</span> << std::to_string(rot_x) << <span class="stringliteral">" , 'y': "</span> << std::to_string(rot_y) << <span class="stringliteral">" , 'z': "</span> << std::to_string(rot_z) << <span class="stringliteral">" , 'w': "</span> << std::to_string(rot_w) << <span class="stringliteral">" },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': "</span> << std::to_string(r) << <span class="stringliteral">" , 'p': "</span> << std::to_string(p) << <span class="stringliteral">" , 'y': "</span> << std::to_string(y) << <span class="stringliteral">" } },\n"</span>;</div> +<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  </div> +<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <span class="comment">// config</span></div> +<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  std::stringstream config;</div> +<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  config << <span class="stringliteral">"mapspace: {'dim': ["</span>;</div> +<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  config << size_x/2 << <span class="stringliteral">", "</span>;</div> +<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  config << size_y/2 << <span class="stringliteral">", 0.04], "</span>;</div> +<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  config << <span class="stringliteral">"'pos': ["</span>;</div> +<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  config << pos_x << <span class="stringliteral">", "</span>;</div> +<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  config << pos_y << <span class="stringliteral">", "</span>;</div> +<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  config << (pos_z + size_z/2.0f + 0.04f/2.0f) << <span class="stringliteral">"], "</span>;</div> +<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  config << <span class="stringliteral">"'rot': ["</span>;</div> +<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  config << r << <span class="stringliteral">", "</span> << p << <span class="stringliteral">", "</span> << y <<<span class="stringliteral">"], "</span>;</div> +<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  config << <span class="stringliteral">"'verbose': false }\n"</span>;</div> +<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  config << <span class="stringliteral">"voxel_size: 0.02 \n"</span>;</div> +<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  config << <span class="stringliteral">"voxel_space: {'dim': ["</span>;</div> +<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  config << (size_x + 0.1f)/2 << <span class="stringliteral">", "</span>;</div> +<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  config << (size_y + 0.1f)/2 << <span class="stringliteral">", 0.2], "</span>;</div> +<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  config << <span class="stringliteral">"'pos': ["</span>;</div> +<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  config << pos_x << <span class="stringliteral">", "</span>;</div> +<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  config << pos_y << <span class="stringliteral">", "</span>;</div> +<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  config << (pos_z + size_z/2.0f + 0.2f/2.0f) << <span class="stringliteral">"], "</span>;</div> +<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  config << <span class="stringliteral">"'rot': ["</span>;</div> +<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  config << r << <span class="stringliteral">", "</span> << p << <span class="stringliteral">", "</span> << y <<<span class="stringliteral">"]}\n"</span>;</div> +<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  config << <span class="stringliteral">"voxel_verbose_level: 0\n"</span>;</div> +<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  config << <span class="stringliteral">"translation_rate: 0.03\n"</span>;</div> +<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  config << <span class="stringliteral">"rotation_rate: 45.0\n"</span>;</div> +<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  config << <span class="stringliteral">"rotation_max: 90.0\n"</span>;</div> +<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  config << <span class="stringliteral">"clearance: 0.01\n"</span>;</div> +<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  config << <span class="stringliteral">"min_quality: 0.1\n"</span>;</div> +<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  config << <span class="stringliteral">"max_candidate_count: 10\n"</span>;</div> +<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  config << <span class="stringliteral">"allow_dependencies: true\n"</span>;</div> +<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  config << <span class="stringliteral">"top_grasps_only: true\n"</span>;</div> <div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  </div> -<div class="line"><a name="l00646"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9"> 646</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a>(<a class="code" href="classCetiRobot.html">CetiRobot</a>* ar){</div> -<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  visualization_msgs::MarkerArray ma;</div> -<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  visualization_msgs::Marker marker;</div> -<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div> -<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  marker.header.stamp = ros::Time();</div> -<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  marker.ns = ar-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>();</div> -<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  marker.id = 1;</div> -<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  marker.type = visualization_msgs::Marker::CUBE;</div> -<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  marker.action = visualization_msgs::Marker::MODIFY;</div> -<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  marker.pose.position.x = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div> -<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  marker.pose.position.y = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div> -<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  marker.pose.position.z = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div> -<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  marker.pose.orientation.x = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div> -<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  marker.pose.orientation.y = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div> -<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  marker.pose.orientation.z = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div> -<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  marker.pose.orientation.w = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div> -<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  marker.scale.x = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX();</div> -<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  marker.scale.y = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY();</div> -<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  marker.scale.z = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getZ();</div> -<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  marker.color.r = 1.0;</div> -<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  marker.color.g = 1.0;</div> -<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  marker.color.b = 1.0;</div> -<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  marker.color.a = 1.0;</div> -<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ar-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>().size(); i++){</div> -<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(ar-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i].get());</div> -<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  ma.markers.push_back(wrd->marker());</div> -<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  }</div> -<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  </div> -<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="comment">//pub_->publish(ma);</span></div> -<div class="line"><a name="l00675"></a><span class="lineno"> 675</span> }</div> +<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span>+ <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + resultFile + <span class="stringliteral">"/configs/"</span> + resultFile + <span class="stringliteral">"_"</span>+ wc_solution[c].name_+<span class="stringliteral">".yaml"</span>);</div> +<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  o << config.str();</div> +<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  o.close();</div> +<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  </div> +<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  </div> +<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  std::bitset<3> panel_mask(wc_solution[c].wing_config_);</div> +<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="keywordflow">for</span>(std::size_t i = 0; i < ceti->observers().size(); i++){</div> +<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="keywordflow">if</span>(ceti->observerMask()[i] & panel_mask[i]){</div> +<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <span class="keywordtype">float</span> x = ceti->observers()[i]->worldTf().getOrigin().getX();</div> +<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  <span class="keywordtype">float</span> y = ceti->observers()[i]->worldTf().getOrigin().getY();</div> +<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <span class="keywordtype">float</span> z = ceti->observers()[i]->worldTf().getOrigin().getZ();</div> +<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <span class="keywordtype">float</span> qx = ceti->observers()[i]->worldTf().getRotation().getX();</div> +<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  <span class="keywordtype">float</span> qy = ceti->observers()[i]->worldTf().getRotation().getY();</div> +<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <span class="keywordtype">float</span> qz = ceti->observers()[i]->worldTf().getRotation().getZ();</div> +<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  <span class="keywordtype">float</span> qw = ceti->observers()[i]->worldTf().getRotation().getW();</div> +<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  </div> +<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  <span class="keywordtype">float</span> length = ceti->observers()[i]->size().getX();</div> +<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  <span class="keywordtype">float</span> width = ceti->observers()[i]->size().getY();</div> +<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  <span class="keywordtype">float</span> height = ceti->observers()[i]->size().getZ();</div> +<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  panel_ss << <span class="stringliteral">"{ 'id': '"</span> << ceti->observers()[i]->name() << <span class="stringliteral">"' , 'pos': { 'x': "</span><< std::to_string(x) << <span class="stringliteral">" , 'y': "</span><< std::to_string(y) << <span class="stringliteral">" , 'z': "</span><< std::to_string(z - 0.25*height) << <span class="stringliteral">" } , 'size': { 'length': "</span><< std::to_string(length) << <span class="stringliteral">" , 'width': "</span><< std::to_string(width) << <span class="stringliteral">" , 'height': "</span><< std::to_string(height) << <span class="stringliteral">" } , 'orientation': { 'x': "</span><< std::to_string(qx) << <span class="stringliteral">" , 'y': "</span><< std::to_string(qy) << <span class="stringliteral">" , 'z': "</span><< std::to_string(qz) << <span class="stringliteral">" , 'w': "</span><< std::to_string(qw) << <span class="stringliteral">" } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, \n"</span>;</div> +<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  } </div> +<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  }</div> +<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  </div> +<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  tf2::Transform tf_arm = wc_solution[c].tf_ * ceti->rootTf();</div> +<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <span class="keywordtype">float</span> arm_x = tf_arm.getOrigin().getX();</div> +<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  <span class="keywordtype">float</span> arm_y = tf_arm.getOrigin().getY();</div> +<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordtype">float</span> arm_z = tf_arm.getOrigin().getZ();</div> +<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  <span class="keywordtype">float</span> arm_qx = tf_arm.getRotation().getX();</div> +<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="keywordtype">float</span> arm_qy = tf_arm.getRotation().getY();</div> +<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  <span class="keywordtype">float</span> arm_qz = tf_arm.getRotation().getZ();</div> +<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="keywordtype">float</span> arm_qw = tf_arm.getRotation().getW();</div> +<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  </div> +<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  <span class="keywordflow">if</span> (!(c == wc_solution.size())){</div> +<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  <span class="comment">// begin</span></div> +<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  root_ss << <span class="stringliteral">"{ 'id': 'arm"</span> << match[1] << <span class="stringliteral">"','type': 'ARM','pos': { 'x': "</span> << std::to_string(arm_x) << <span class="stringliteral">", 'y': "</span> << std::to_string(arm_y) << <span class="stringliteral">", 'z': 0.89 },'size': { },'orientation': { 'x': "</span> << std::to_string(arm_qx) <<<span class="stringliteral">", 'y': "</span> << std::to_string(arm_qy) << <span class="stringliteral">", 'z': "</span> << std::to_string(arm_qz) << <span class="stringliteral">", 'w': "</span> << std::to_string(arm_qw) << <span class="stringliteral">" },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, \n"</span>;</div> +<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  } <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  root_ss << <span class="stringliteral">"{ 'id': 'arm"</span> << match[1] << <span class="stringliteral">"','type': 'ARM','pos': { 'x': "</span> << std::to_string(arm_x) << <span class="stringliteral">", 'y': "</span> << std::to_string(arm_y) << <span class="stringliteral">", 'z': 0.89 },'size': { },'orientation': { 'x': "</span> << std::to_string(arm_qx) <<<span class="stringliteral">", 'y': "</span> << std::to_string(arm_qy) << <span class="stringliteral">", 'z': "</span> << std::to_string(arm_qz) << <span class="stringliteral">", 'w': "</span> << std::to_string(arm_qw) << <span class="stringliteral">" },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }"</span>;</div> +<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  }</div> +<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  </div> +<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <span class="comment">//launch</span></div> +<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  std::stringstream launch;</div> +<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  launch << <span class="stringliteral">"<launch>\n"</span>;</div> +<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  launch << <span class="stringliteral">"<arg name=\"referenceRobot\" default=\""</span><< wc_solution[c].name_ << <span class="stringliteral">"\" />\n"</span>;</div> +<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  launch << <span class="stringliteral">"<arg name=\"referenceXYZ\" default=\""</span><< arm_x <<<span class="stringliteral">" "</span><< arm_y << <span class="stringliteral">" "</span> << arm_z <<<span class="stringliteral">"\"/>\n"</span>;</div> +<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  launch << <span class="stringliteral">"<arg name=\"referenceRPY\" default=\""</span> << r << <span class="stringliteral">" "</span> << p << <span class="stringliteral">" "</span> << y << <span class="stringliteral">"\"/>\n"</span>;</div> +<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  launch << <span class="stringliteral">"<arg name=\"result\" default=\""</span> << <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> <<<span class="stringliteral">"/"</span> << resultFile << <span class="stringliteral">"/"</span> << resultFile <<<span class="stringliteral">".yaml\" />\n"</span>;</div> +<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  launch << <span class="stringliteral">"<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/$(arg result)\"/>\n"</span>;</div> +<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  launch << <span class="stringliteral">"<rosparam param=\"referenceRobot\" subst_value=\"True\"> $(arg referenceRobot)</rosparam>\n"</span>;</div> +<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  launch << <span class="stringliteral">"<rosparam param=\"resultPath\" subst_value=\"True\"> $(arg result)</rosparam>\n"</span>;</div> +<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  launch << <span class="stringliteral">"<arg name=\"pipeline\" default=\"ompl\"/>\n"</span>;</div> +<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  launch << <span class="stringliteral">"<arg name=\"db\" default=\"false\"/>\n"</span>;</div> +<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  launch << <span class="stringliteral">"<arg name=\"db_path\" default=\"$(find panda_moveit_config)/default_warehouse_mongo_db\"/>\n"</span>;</div> +<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  launch << <span class="stringliteral">"<arg name=\"debug\" default=\"false\" />\n"</span>;</div> +<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  launch << <span class="stringliteral">"<arg name=\"load_robot_description\" default=\"true\"/>\n"</span>;</div> +<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  launch << <span class="stringliteral">"<arg name=\"moveit_controller_manager\" default=\"fake\"/>\n"</span>;</div> +<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  launch << <span class="stringliteral">"<arg name=\"fake_execution_type\" default=\"interpolate\"/>\n"</span>;</div> +<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  launch << <span class="stringliteral">"<arg name=\"use_gui\" default=\"false\"/>\n"</span>;</div> +<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  launch << <span class="stringliteral">"<arg name=\"use_rviz\" default=\"true\"/>\n"</span>;</div> +<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  launch << <span class="stringliteral">"<node pkg=\"tf2_ros\" type=\"static_transform_publisher\" name=\"virtual_joint_broadcaster_0\" args=\"0 0 0 0 0 0 world panda_link0\"/>\n"</span>;</div> +<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  launch << <span class="stringliteral">"<group if=\"$(eval arg('moveit_controller_manager') == 'fake')\">\n"</span>;</div> +<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  launch << <span class="stringliteral">"<node name=\"joint_state_publisher\" pkg=\"joint_state_publisher\" type=\"joint_state_publisher\" unless=\"$(arg use_gui)\">\n"</span>;</div> +<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  launch << <span class="stringliteral">"<rosparam param=\"source_list\">[move_group/fake_controller_joint_states]</rosparam>\n"</span>;</div> +<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  launch << <span class="stringliteral">"</node>\n"</span>;</div> +<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  launch << <span class="stringliteral">"<node name=\"joint_state_publisher\" pkg=\"joint_state_publisher_gui\" type=\"joint_state_publisher_gui\" if=\"$(arg use_gui)\">\n"</span>;</div> +<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  launch << <span class="stringliteral">"<rosparam param=\"source_list\">[move_group/fake_controller_joint_states]</rosparam>\n"</span>;</div> +<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  launch << <span class="stringliteral">"</node>\n"</span>;</div> +<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  launch << <span class="stringliteral">"<node name=\"robot_state_publisher\" pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" respawn=\"true\" output=\"screen\"/>\n"</span>;</div> +<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  launch << <span class="stringliteral">"</group>\n"</span>;</div> +<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  launch << <span class="stringliteral">"<include file=\"$(find panda_moveit_config)/launch/move_group.launch\">\n"</span>;</div> +<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  launch << <span class="stringliteral">"<arg name=\"allow_trajectory_execution\" value=\"true\"/>\n"</span>;</div> +<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  launch << <span class="stringliteral">"<arg name=\"moveit_controller_manager\" value=\"$(arg moveit_controller_manager)\"/>\n"</span>;</div> +<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  launch << <span class="stringliteral">"<arg name=\"fake_execution_type\" value=\"$(arg fake_execution_type)\"/>\n"</span>;</div> +<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  launch << <span class="stringliteral">"<arg name=\"info\" value=\"true\"/>\n"</span>;</div> +<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  launch << <span class="stringliteral">"<arg name=\"debug\" value=\"$(arg debug)\"/>\n"</span>;</div> +<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  launch << <span class="stringliteral">"<arg name=\"pipeline\" value=\"$(arg pipeline)\"/>\n"</span>;</div> +<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  launch << <span class="stringliteral">"<arg name=\"load_robot_description\" value=\"$(arg load_robot_description)\"/>\n"</span>;</div> +<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  launch << <span class="stringliteral">"<arg name=\"referenceXYZ\" value=\"$(arg referenceXYZ)\"/>\n"</span>;</div> +<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  launch << <span class="stringliteral">"<arg name=\"referenceRPY\" value=\"$(arg referenceRPY)\"/>\n"</span>;</div> +<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  launch << <span class="stringliteral">"</include>\n"</span>;</div> +<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  </div> +<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  launch << <span class="stringliteral">"<include file=\"$(find panda_moveit_config)/launch/default_warehouse_db.launch\" if=\"$(arg db)\">\n"</span>;</div> +<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  launch << <span class="stringliteral">"<arg name=\"moveit_warehouse_database_path\" value=\"$(arg db_path)\"/>\n"</span>;</div> +<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  launch << <span class="stringliteral">"</include>\n"</span>;</div> +<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  </div> +<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  launch << <span class="stringliteral">"<node name=\"$(anon rviz)\" pkg=\"rviz\" type=\"rviz\" respawn=\"false\" args=\"-d $(find moveit_grasps)/launch/rviz/grasps.rviz\" output=\"screen\">\n"</span>;</div> +<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  launch << <span class="stringliteral">"<rosparam command=\"load\" file=\"$(find panda_moveit_config)/config/kinematics.yaml\"/>\n"</span>;</div> +<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  launch << <span class="stringliteral">"</node>\n"</span>;</div> +<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  </div> +<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  launch << <span class="stringliteral">"<node name=\"config_routine\" pkg=\"multi_cell_builder\" type=\"config_routine\" output=\"screen\">\n"</span>;</div> +<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  launch << <span class="stringliteral">"<param name=\"gripper\" value=\"two_finger\"/>\n"</span>;</div> +<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  launch << <span class="stringliteral">"<param name=\"ee_group_name\" value=\"hand\"/>\n"</span>;</div> +<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  launch << <span class="stringliteral">"<param name=\"planning_group_name\" value=\"panda_arm_hand\" />\n"</span>;</div> +<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  launch << <span class="stringliteral">"<rosparam command=\"load\" file=\"$(find gb_grasp)/config_robot/panda_grasp_data.yaml\"/>\n"</span>;</div> +<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  launch << <span class="stringliteral">"<rosparam command=\"load\" file=\"$(find gb_grasp)/config/moveit_grasps_config.yaml\"/>\n"</span>;</div> +<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  launch << <span class="stringliteral">"<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/"</span> << <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> << <span class="stringliteral">"/"</span> << resultFile << <span class="stringliteral">"/configs/"</span> << resultFile << <span class="stringliteral">"_"</span> << wc_solution[c].name_ << <span class="stringliteral">".yaml\"/>\n"</span>;</div> +<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  launch << <span class="stringliteral">"</node>\n"</span>;</div> +<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  </div> +<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  launch << <span class="stringliteral">"<arg name=\"planner\" default=\"ompl\" />\n"</span>;</div> +<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  launch << <span class="stringliteral">"<include ns=\"moveit_grasps_demo\" file=\"$(find panda_moveit_config)/launch/planning_pipeline.launch.xml\">\n"</span>;</div> +<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  launch << <span class="stringliteral">"<arg name=\"pipeline\" value=\"$(arg planner)\" />\n"</span>;</div> +<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  launch << <span class="stringliteral">"</include>\n"</span>;</div> +<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  launch << <span class="stringliteral">"</launch>\n"</span>;</div> +<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  </div> +<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  std::ofstream l(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span>+ <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + resultFile + <span class="stringliteral">"/launch/"</span> + wc_solution[c].name_+ <span class="stringliteral">"_"</span> + resultFile + <span class="stringliteral">".launch"</span>);</div> +<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  l << launch.str();</div> +<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  l.close();</div> +<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  </div> +<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  </div> +<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor) {</div> +<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  }</div> +<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  }</div> +<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  </div> +<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  </div> +<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  </div> +<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  </div> +<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span>+ <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + resultFile + <span class="stringliteral">"/"</span> + resultFile + <span class="stringliteral">".yaml"</span>);</div> +<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  ss << panel_ss.str();</div> +<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  ss << box_ss.str();</div> +<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  ss << root_ss.str();</div> +<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  ss << <span class="stringliteral">"]}"</span>;</div> +<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  o << ss.str();</div> +<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  o.close();</div> +<div class="line"><a name="l00768"></a><span class="lineno"> 768</span> }</div> +<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  </div> +<div class="line"><a name="l00770"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9"> 770</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a>(<a class="code" href="classCetiRobot.html">CetiRobot</a>* ar){</div> +<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  visualization_msgs::MarkerArray ma;</div> +<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  visualization_msgs::Marker marker;</div> +<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div> +<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  marker.header.stamp = ros::Time();</div> +<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  marker.ns = ar-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>();</div> +<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  marker.id = 1;</div> +<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  marker.type = visualization_msgs::Marker::CUBE;</div> +<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  marker.action = visualization_msgs::Marker::MODIFY;</div> +<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  marker.pose.position.x = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div> +<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  marker.pose.position.y = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div> +<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  marker.pose.position.z = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div> +<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  marker.pose.orientation.x = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div> +<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  marker.pose.orientation.y = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div> +<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  marker.pose.orientation.z = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div> +<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  marker.pose.orientation.w = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div> +<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  marker.scale.x = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX();</div> +<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  marker.scale.y = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY();</div> +<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  marker.scale.z = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getZ();</div> +<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  marker.color.r = 1.0;</div> +<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  marker.color.g = 1.0;</div> +<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  marker.color.b = 1.0;</div> +<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  marker.color.a = 1.0;</div> +<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ar-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>().size(); i++){</div> +<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(ar-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i].get());</div> +<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  ma.markers.push_back(wrd->marker());</div> +<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  }</div> +<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  </div> +<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  <span class="comment">//pub_->publish(ma);</span></div> +<div class="line"><a name="l00799"></a><span class="lineno"> 799</span> }</div> </div><!-- fragment --></div><!-- contents --> <div class="ttc" id="aclassBaseCalculationMediator_html_a71b1c29a63fb269359155c9da5bd98dd"><div class="ttname"><a href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">BaseCalculationMediator::calculate</a></div><div class="ttdeci">void calculate(std::map< const std::string, std::vector< tf2::Transform >> &workcell)</div><div class="ttdoc">Workspace calculator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00203">base_calculation_mediator.cpp:203</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a3c7679cefd8f5ef8e208224745f8aac4"><div class="ttname"><a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator::result_vector_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdoc">Result_vector of base positions linked to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00048">abstract_mediator.h:48</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a3c7679cefd8f5ef8e208224745f8aac4"><div class="ttname"><a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator::result_vector_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdoc">Result_vector of base positions linked to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00050">abstract_mediator.h:50</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_ad0a7b1bdcbb5cf791e21ef6a54d27b9c"><div class="ttname"><a href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">BaseCalculationMediator::checkCollision</a></div><div class="ttdeci">bool checkCollision(const std::string &robot, std::bitset< 3 > &panel_mask, bool &workload, std::vector< object_data > &ts)</div><div class="ttdoc">check_collision</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00063">base_calculation_mediator.cpp:63</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_a473e10b5d9be7303626d19c376bfb989"><div class="ttname"><a href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator::BaseCalculationMediator</a></div><div class="ttdeci">BaseCalculationMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">BaseCalculationMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00003">base_calculation_mediator.cpp:3</a></div></div> <div class="ttc" id="aclassCetiRobot_html_a0ea161092fdc570497c5a94554e2ee50"><div class="ttname"><a href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">CetiRobot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< AbstractRobotElementDecorator > > & observers()</div><div class="ttdoc">Get observers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00053">ceti_robot.h:53</a></div></div> @@ -716,35 +840,36 @@ $(function() { <div class="ttc" id="aclassBaseCalculationMediator_html_ac5d3fbee8f8d0cfe400014da7be6ac98"><div class="ttname"><a href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">BaseCalculationMediator::filename_</a></div><div class="ttdeci">std::string filename_</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00029">base_calculation_mediator.h:29</a></div></div> <div class="ttc" id="abase__calculation__mediator_8h_html"><div class="ttname"><a href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_a475d026e0344626a5b68f7a8db3b4f5a"><div class="ttname"><a href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">Robot Connector implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00025">base_calculation_mediator.cpp:25</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00054">abstract_mediator.h:54</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_af1e8d7efc6cdfae12f18decc0008187c"><div class="ttname"><a href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator::generateGrounds</a></div><div class="ttdeci">void generateGrounds(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdoc">Ground generator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00013">base_calculation_mediator.cpp:13</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a6caa36a0e7ca24bc97a9558cf46c72ad"><div class="ttname"><a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a6caa36a0e7ca24bc97a9558cf46c72ad"><div class="ttname"><a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div> <div class="ttc" id="aclassCetiRobot_html_a7a57e87b0c6d8e471901ec5b16b6b44e"><div class="ttname"><a href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">CetiRobot::observerMask</a></div><div class="ttdeci">std::bitset< 3 > observerMask()</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00082">ceti_robot.h:82</a></div></div> -<div class="ttc" id="astructprotobuf__entry_html"><div class="ttname"><a href="structprotobuf__entry.html">protobuf_entry</a></div><div class="ttdoc">Protobuf entry.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00031">abstract_mediator.h:31</a></div></div> +<div class="ttc" id="astructprotobuf__entry_html"><div class="ttname"><a href="structprotobuf__entry.html">protobuf_entry</a></div><div class="ttdoc">Protobuf entry.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00033">abstract_mediator.h:33</a></div></div> <div class="ttc" id="aclassCetiRobot_html_aa6c0a4be3271f80cd721a0229c4e821f"><div class="ttname"><a href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00034">ceti_robot.h:34</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> <div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_ab90e7d35612b9548d823fee2b81ce5fa"><div class="ttname"><a href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">pure virtual Sets panels for robots</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00030">base_calculation_mediator.cpp:30</a></div></div> <div class="ttc" id="aclassRvizPanel_html_a0bdbda591a566ca44cc8f61d89011c22"><div class="ttname"><a href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">RvizPanel::marker</a></div><div class="ttdeci">visualization_msgs::Marker & marker()</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00018">rviz_panel.h:18</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00010">abstract_mediator.cpp:10</a></div></div> -<div class="ttc" id="aclassBaseCalculationMediator_html_a6a1ec0763b38dc5b84abc74ddf8a77a9"><div class="ttname"><a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a></div><div class="ttdeci">void publish(CetiRobot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00646">base_calculation_mediator.cpp:646</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00011">abstract_mediator.cpp:11</a></div></div> +<div class="ttc" id="aclassBaseCalculationMediator_html_a6a1ec0763b38dc5b84abc74ddf8a77a9"><div class="ttname"><a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a></div><div class="ttdeci">void publish(CetiRobot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00770">base_calculation_mediator.cpp:770</a></div></div> <div class="ttc" id="aclassCetiRobot_html_aec53b09b5915dd3f444567a5fb821f79"><div class="ttname"><a href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot::checkSingleObjectCollision</a></div><div class="ttdeci">bool checkSingleObjectCollision(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</div><div class="ttdoc">Collsion calculation for single objects.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00010">ceti_robot.cpp:10</a></div></div> <div class="ttc" id="aclassRvizPanel_html"><div class="ttname"><a href="classRvizPanel.html">RvizPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00010">rviz_panel.h:10</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00047">abstract_mediator.h:47</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_af021b903e94426375568964bc90973e3"><div class="ttname"><a href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">BaseCalculationMediator::pub_</a></div><div class="ttdeci">std::unique_ptr< ros::Publisher > pub_</div><div class="ttdoc">Publisher sharing visualization messages of the scene.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00025">base_calculation_mediator.h:25</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_a329be680a6366d7a31e9d009eff70920"><div class="ttname"><a href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">Mediator implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00130">base_calculation_mediator.cpp:130</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_a127fc02c11e4aad5ac4aa58b793c1e54"><div class="ttname"><a href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">BaseCalculationMediator::writeFile</a></div><div class="ttdeci">void writeFile(std::vector< protobuf_entry > &wc_solution)</div><div class="ttdoc">Writes result file.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00555">base_calculation_mediator.cpp:555</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_a2c28239ef77e98ca768784e441a9e012"><div class="ttname"><a href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator::sceneCollision</a></div><div class="ttdeci">bool sceneCollision(std::vector< protobuf_entry > &wc_solution)</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00469">base_calculation_mediator.cpp:469</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_abb194f54b87b500eb91e05283681b092"><div class="ttname"><a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">AbstractMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00056">abstract_mediator.h:56</a></div></div> <div class="ttc" id="aclassCetiRobot_html_a6573899bb57e886d4d3aea1952682992"><div class="ttname"><a href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">CetiRobot::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00032">ceti_robot.h:32</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_ad0821305631031904031b6ca17c9b278"><div class="ttname"><a href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">BaseCalculationMediator::approximation</a></div><div class="ttdeci">void approximation(std::map< const std::string, std::vector< tf2::Transform >> &workcell, std::vector< protobuf_entry > &wc_solution)</div><div class="ttdoc">Approximates other robots to fit in the workspace.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00305">base_calculation_mediator.cpp:305</a></div></div> <div class="ttc" id="aclassCetiRobot_html_a153ed782c15db3966bea479d4e5917f3"><div class="ttname"><a href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00033">ceti_robot.h:33</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a4786aa6941e2776476ca71829d771faa"><div class="ttname"><a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< TSReader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00044">abstract_mediator.h:44</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a4786aa6941e2776476ca71829d771faa"><div class="ttname"><a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< TSReader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00046">abstract_mediator.h:46</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/base__calculation__mediator_8h.html b/doc/html/base__calculation__mediator_8h.html index 3b1c6797b56ebed1414bc8f996eef23e48069ae1..04191383f1a12fc861864d3302205b7fe1f37026 100644 --- a/doc/html/base__calculation__mediator_8h.html +++ b/doc/html/base__calculation__mediator_8h.html @@ -44,43 +44,45 @@ Include dependency 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100644 --- a/doc/html/base__calculation__mediator_8h_source.html +++ b/doc/html/base__calculation__mediator_8h_source.html @@ -106,11 +106,11 @@ $(function() { <div class="ttc" id="aclassBaseCalculationMediator_html_a5a9ec25501705a48e1d2fe47f1d00add"><div class="ttname"><a href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">BaseCalculationMediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< std::unique_ptr< AbstractRobotElement > > > wings_</div><div class="ttdoc">Possible panels per robot.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00027">base_calculation_mediator.h:27</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_a475d026e0344626a5b68f7a8db3b4f5a"><div class="ttname"><a href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">Robot Connector implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00025">base_calculation_mediator.cpp:25</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_af1e8d7efc6cdfae12f18decc0008187c"><div class="ttname"><a href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator::generateGrounds</a></div><div class="ttdeci">void generateGrounds(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdoc">Ground generator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00013">base_calculation_mediator.cpp:13</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> <div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_ab90e7d35612b9548d823fee2b81ce5fa"><div class="ttname"><a href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">pure virtual Sets panels for robots</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00030">base_calculation_mediator.cpp:30</a></div></div> <div class="ttc" id="arviz__panel_8h_html"><div class="ttname"><a href="rviz__panel_8h.html">rviz_panel.h</a></div></div> -<div class="ttc" id="aclassBaseCalculationMediator_html_a6a1ec0763b38dc5b84abc74ddf8a77a9"><div class="ttname"><a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a></div><div class="ttdeci">void publish(CetiRobot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00646">base_calculation_mediator.cpp:646</a></div></div> +<div class="ttc" id="aclassBaseCalculationMediator_html_a6a1ec0763b38dc5b84abc74ddf8a77a9"><div class="ttname"><a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a></div><div class="ttdeci">void publish(CetiRobot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00770">base_calculation_mediator.cpp:770</a></div></div> <div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div> <div class="ttc" id="aclassBaseCalculationMediator_html_af021b903e94426375568964bc90973e3"><div class="ttname"><a href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">BaseCalculationMediator::pub_</a></div><div class="ttdeci">std::unique_ptr< ros::Publisher > pub_</div><div class="ttdoc">Publisher sharing visualization messages of the scene.</div><div class="ttdef"><b>Definition:</b> <a 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diff --git a/doc/html/cell__routine_8cpp_source.html b/doc/html/cell__routine_8cpp_source.html index 9fa4edf35d67143546c0a0939d328b1a31f1321a..6a2b49a9932a6c0a4ce014d7330f2f5e77a0ab66 100644 --- a/doc/html/cell__routine_8cpp_source.html +++ b/doc/html/cell__routine_8cpp_source.html @@ -59,31 +59,28 @@ $(function() { <div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  mediator->connectRobots(std::move(ceti_panda));</div> <div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  }</div> <div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div> -<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="comment">//mediator->set_dirname(filename);</span></div> -<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div> -<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  mediator->setPanel();</div> -<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div> -<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  mediator->mediate();</div> -<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> -<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">while</span> (ros::ok()){</div> -<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  ros::spinOnce();</div> -<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  }</div> -<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div> -<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">/*</span></div> -<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> for (int i = 0; i < rd.size() ;i++){</span></div> -<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> std::unique_ptr<Abstract_robot> ceti = std::make_unique<Ceti_robot>(rd[i].name_, rd[i].pose_, rd[i].size_);</span></div> -<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> std::unique_ptr<Panda_decorator> ceti_panda = std::make_unique<Panda_decorator>(std::move(ceti));</span></div> -<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> mediator->connect_robots(std::move(ceti_panda));</span></div> -<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> }</span></div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="comment">//mediator->set_dirname(filename); </span></div> +<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  mediator->mediate();</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">while</span> (ros::ok()){</div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  ros::spinOnce();</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  }</div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="comment">/*</span></div> +<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> for (int i = 0; i < rd.size() ;i++){</span></div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> std::unique_ptr<Abstract_robot> ceti = std::make_unique<Ceti_robot>(rd[i].name_, rd[i].pose_, rd[i].size_);</span></div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> std::unique_ptr<Panda_decorator> ceti_panda = std::make_unique<Panda_decorator>(std::move(ceti));</span></div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> mediator->connect_robots(std::move(ceti_panda));</span></div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> }</span></div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"></span> </div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> mediator->set_result_vector(simple_base->result());</span></div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> //mediator->set_dirname(filename);</span></div> <div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"></span> </div> -<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> mediator->set_result_vector(simple_base->result());</span></div> -<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> //mediator->set_dirname(filename);</span></div> -<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"></span> </div> -<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> mediator->set_panel();</span></div> -<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> </span></div> -<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> mediator->mediate();</span></div> -<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> */</span></div> -<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> }</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> mediator->set_panel();</span></div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> </span></div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> mediator->mediate();</span></div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> */</span></div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> }</div> </div><!-- fragment --></div><!-- contents --> <div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div> <div class="ttc" id="acell__routine_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="cell__routine_8cpp_source.html#l00019">cell_routine.cpp:19</a></div></div> @@ -97,8 +94,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ceti__robot_8cpp.html b/doc/html/ceti__robot_8cpp.html index 06f3b9c25b317738f81549c501da193433700da6..5660413aea8904f7280c0b47e7d89bae01d06674 100644 --- a/doc/html/ceti__robot_8cpp.html +++ b/doc/html/ceti__robot_8cpp.html @@ -51,8 +51,8 @@ Include dependency graph for ceti_robot.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 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e452700834771da9701cdf7ce9cd80ada3490493..23d813246182294d7080b68002e054417c44026f 100644 --- a/doc/html/ceti__robot_8h__dep__incl.md5 +++ b/doc/html/ceti__robot_8h__dep__incl.md5 @@ -1 +1 @@ -30bed715dafea7eb7691c4d388a6c95d \ No newline at end of file +b73da96c6aa91329a54ba6a685100278 \ No newline at end of file diff --git a/doc/html/ceti__robot_8h__dep__incl.png b/doc/html/ceti__robot_8h__dep__incl.png index a19bf486df8c535532b694026f93ed90422fdb60..6dd786ac3b460e817865b7e97a2e730b963e6cf3 100644 Binary files a/doc/html/ceti__robot_8h__dep__incl.png and b/doc/html/ceti__robot_8h__dep__incl.png differ diff --git a/doc/html/ceti__robot_8h_source.html b/doc/html/ceti__robot_8h_source.html index 6669a006e172b096205dfc8bbb8384a7c518f439..fac71ccfad2656f908ca59ac68066917d0d0932a 100644 --- a/doc/html/ceti__robot_8h_source.html +++ b/doc/html/ceti__robot_8h_source.html @@ -120,8 +120,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractBase-members.html b/doc/html/classAbstractBase-members.html index 8fda3c1e140bb2c6e86a0873b3fbf523a2ec9f5f..f66c69f8b362b5a0a102a8ba26612e504ad771b4 100644 --- a/doc/html/classAbstractBase-members.html +++ b/doc/html/classAbstractBase-members.html @@ -51,8 +51,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractBase.html b/doc/html/classAbstractBase.html index 3d84551efef49428319f7da2876f9b46a26dc010..0a876490653ca35346e2ef048c80cab2b5aef55d 100644 --- a/doc/html/classAbstractBase.html +++ b/doc/html/classAbstractBase.html @@ -729,8 +729,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractBaseImplementation-members.html b/doc/html/classAbstractBaseImplementation-members.html index c512cfa88345c8cdafb085638bf31b82aaa21970..e55f270eb4aa4c06d9ca14246cb54af98e03439a 100644 --- a/doc/html/classAbstractBaseImplementation-members.html +++ b/doc/html/classAbstractBaseImplementation-members.html @@ -34,8 +34,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractBaseImplementation.html b/doc/html/classAbstractBaseImplementation.html index 30bf0c6f26c557dfce4d71ee9af62a47dc4bb37d..8838e85e4b26411ba2a9482b9f6f1c80590863b1 100644 --- a/doc/html/classAbstractBaseImplementation.html +++ b/doc/html/classAbstractBaseImplementation.html @@ -264,8 +264,8 @@ Public Member Functions</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractMediator-members.html b/doc/html/classAbstractMediator-members.html index 6441dc8aa82f9e8ec5efd75196c53b8222a1dd4c..770932d9ccaea62351b83f784a3afad0d076cdd8 100644 --- a/doc/html/classAbstractMediator-members.html +++ b/doc/html/classAbstractMediator-members.html @@ -26,6 +26,8 @@ $(function() { <table class="directory"> <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr> <tr><td class="entry"><a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot)=0</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">mediate</a>()=0</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr> @@ -51,8 +53,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractMediator.html b/doc/html/classAbstractMediator.html index d102ea9ad04a50875dbccfa907367e3c7e014eb2..ec5c820022f6594274a1f259d4cd9e93116087bc 100644 --- a/doc/html/classAbstractMediator.html +++ b/doc/html/classAbstractMediator.html @@ -35,9 +35,10 @@ Inheritance diagram for AbstractMediator:</div> <div class="dyncontent"> <div class="center"><img src="classAbstractMediator__inherit__graph.png" border="0" usemap="#AbstractMediator_inherit__map" alt="Inheritance graph"/></div> <map name="AbstractMediator_inherit__map" id="AbstractMediator_inherit__map"> -<area shape="rect" title="AbstractMediator." alt="" coords="120,5,255,32"/> +<area shape="rect" title="AbstractMediator." alt="" coords="207,5,341,32"/> <area shape="rect" href="classBaseCalculationMediator.html" title="Concrete Mediator." alt="" coords="5,80,191,107"/> -<area shape="rect" href="classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="215,80,341,107"/> +<area shape="rect" href="classGraspMediator.html" title=" " alt="" coords="215,80,333,107"/> +<area shape="rect" href="classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="358,80,483,107"/> </map> <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div> <table class="memberdecls"> @@ -49,6 +50,9 @@ Public Member Functions</h2></td></tr> <tr class="memitem:ab33c369fe48c88295f9cbdcabe68ddad"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a> (std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > robot)=0</td></tr> <tr class="memdesc:ab33c369fe48c88295f9cbdcabe68ddad"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">More...</a><br /></td></tr> <tr class="separator:ab33c369fe48c88295f9cbdcabe68ddad"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a7d381a7596104cf59560a4cc9659f500"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCuboidReader.html">CuboidReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a> ()</td></tr> +<tr class="memdesc:a7d381a7596104cf59560a4cc9659f500"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid_reader. <a href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">More...</a><br /></td></tr> +<tr class="separator:a7d381a7596104cf59560a4cc9659f500"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a2e0808dd0543e36562ff7074241a37c6"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr> <tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr> <tr class="separator:a2e0808dd0543e36562ff7074241a37c6"><td class="memSeparator" colspan="2"> </td></tr> @@ -85,6 +89,9 @@ Public Member Functions</h2></td></tr> </table><table class="memberdecls"> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a> Protected Attributes</h2></td></tr> +<tr class="memitem:abb194f54b87b500eb91e05283681b092"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboidReader.html">CuboidReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td></tr> +<tr class="memdesc:abb194f54b87b500eb91e05283681b092"><td class="mdescLeft"> </td><td class="mdescRight">coboidReader instance that distinguishes between scene objects of type bin and box <a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">More...</a><br /></td></tr> +<tr class="separator:abb194f54b87b500eb91e05283681b092"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a93c390745716f6a5b2920c8ffaa58b3d"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr> <tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr> <tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d"><td class="memSeparator" colspan="2"> </td></tr> @@ -116,7 +123,7 @@ Protected Attributes</h2></td></tr> <div class="textblock"><p><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a>. </p> <p>Abstraction of a Mediator which registers Robots. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00041">41</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00043">43</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div><h2 class="groupheader">Constructor & Destructor Documentation</h2> <a id="af50d0f408fcef5404043ba49627b42a1"></a> <h2 class="memtitle"><span class="permalink"><a href="#af50d0f408fcef5404043ba49627b42a1">◆ </a></span>AbstractMediator()</h2> @@ -179,7 +186,37 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p>Implemented in <a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a>, and <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</a>.</p> +<p>Implemented in <a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a>, <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</a>, and <a class="el" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">GraspMediator</a>.</p> + +</div> +</div> +<a id="a7d381a7596104cf59560a4cc9659f500"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a7d381a7596104cf59560a4cc9659f500">◆ </a></span>cuboidReader()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname"><a class="el" href="classCuboidReader.html">CuboidReader</a>* AbstractMediator::cuboidReader </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">inline</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>Get Cuboid_reader. </p> +<dl class="section return"><dt>Returns</dt><dd>cuboid reader </dd></dl> + +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00140">140</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -209,7 +246,7 @@ Protected Attributes</h2></td></tr> <p>Get dirname. </p> <dl class="section return"><dt>Returns</dt><dd>dirname </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00097">97</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00101">101</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -238,7 +275,7 @@ Protected Attributes</h2></td></tr> <p>pure virtual mediate methode </p> -<p>Implemented in <a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a>, and <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a>.</p> +<p>Implemented in <a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a>, <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a>, and <a class="el" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">GraspMediator</a>.</p> </div> </div> @@ -268,7 +305,7 @@ Protected Attributes</h2></td></tr> <p>Get result_vector. </p> <dl class="section return"><dt>Returns</dt><dd>result_vector </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00079">79</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00083">83</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -298,7 +335,7 @@ Protected Attributes</h2></td></tr> <p>Get Robot_reader. </p> <dl class="section return"><dt>Returns</dt><dd>robot reader </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00130">130</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00134">134</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -328,7 +365,7 @@ Protected Attributes</h2></td></tr> <p>Get robots. </p> <dl class="section return"><dt>Returns</dt><dd>robots as decorators </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00085">85</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00089">89</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -364,7 +401,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00091">91</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00095">95</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -393,7 +430,7 @@ Protected Attributes</h2></td></tr> <p>pure virtual Sets panels for robots </p> -<p>Implemented in <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a>, and <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a>.</p> +<p>Implemented in <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a>, <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a>, and <a class="el" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">GraspMediator</a>.</p> </div> </div> @@ -429,7 +466,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00067">67</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00071">71</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -458,7 +495,7 @@ Protected Attributes</h2></td></tr> </dl> <dl class="section return"><dt>Returns</dt><dd>Pointcloud </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8cpp_source.html#l00010">10</a> of file <a class="el" href="abstract__mediator_8cpp_source.html">abstract_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8cpp_source.html#l00011">11</a> of file <a class="el" href="abstract__mediator_8cpp_source.html">abstract_mediator.cpp</a>.</p> </div> </div> @@ -488,7 +525,7 @@ Protected Attributes</h2></td></tr> <p>Get Wing_reader. </p> <dl class="section return"><dt>Returns</dt><dd>wing reader </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00124">124</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00128">128</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -518,11 +555,37 @@ Protected Attributes</h2></td></tr> <p>Get wings. </p> <dl class="section return"><dt>Returns</dt><dd>map of panals linked to their robots </dd></dl> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00073">73</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00077">77</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> <h2 class="groupheader">Member Data Documentation</h2> +<a id="abb194f54b87b500eb91e05283681b092"></a> +<h2 class="memtitle"><span class="permalink"><a href="#abb194f54b87b500eb91e05283681b092">◆ </a></span>cuboid_reader_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::unique_ptr<<a class="el" href="classCuboidReader.html">CuboidReader</a>> AbstractMediator::cuboid_reader_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>coboidReader instance that distinguishes between scene objects of type bin and box </p> + +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00056">56</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> + +</div> +</div> <a id="a93c390745716f6a5b2920c8ffaa58b3d"></a> <h2 class="memtitle"><span class="permalink"><a href="#a93c390745716f6a5b2920c8ffaa58b3d">◆ </a></span>dirname_</h2> @@ -545,7 +608,7 @@ Protected Attributes</h2></td></tr> <p>Dirname of the reference protobuff. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00052">52</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -571,7 +634,7 @@ Protected Attributes</h2></td></tr> <p>Nodehandle for access to the Rosparam server. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00043">43</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00045">45</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -597,7 +660,7 @@ Protected Attributes</h2></td></tr> <p>total bound a workspace </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00046">46</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00048">48</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -623,7 +686,7 @@ Protected Attributes</h2></td></tr> <p>Result_vector of base positions linked to robot. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00048">48</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -649,7 +712,7 @@ Protected Attributes</h2></td></tr> <p>Robot_reader which collects robot poses. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00053">53</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00055">55</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -675,7 +738,7 @@ Protected Attributes</h2></td></tr> <p>Robots agents. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00045">45</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00047">47</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -701,7 +764,7 @@ Protected Attributes</h2></td></tr> <p>Task_space reader which provides drop off positions. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00044">44</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00046">46</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -727,7 +790,7 @@ Protected Attributes</h2></td></tr> <p>Wing_reader which collects panel information of robots. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00052">52</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00054">54</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -751,7 +814,7 @@ Protected Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00049">49</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00051">51</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -764,8 +827,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractMediator__inherit__graph.map b/doc/html/classAbstractMediator__inherit__graph.map index 32d167003bb380656d1e3c3fdc264c2f8d130742..816e824f38bfa8743a50168abacc8f9c510a2659 100644 --- a/doc/html/classAbstractMediator__inherit__graph.map +++ b/doc/html/classAbstractMediator__inherit__graph.map @@ -1,5 +1,6 @@ <map id="AbstractMediator" name="AbstractMediator"> -<area shape="rect" id="node1" title="AbstractMediator." alt="" coords="120,5,255,32"/> +<area shape="rect" id="node1" title="AbstractMediator." alt="" coords="207,5,341,32"/> <area shape="rect" id="node2" href="$classBaseCalculationMediator.html" title="Concrete Mediator." alt="" coords="5,80,191,107"/> -<area shape="rect" id="node3" href="$classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="215,80,341,107"/> +<area shape="rect" id="node3" href="$classGraspMediator.html" title=" " alt="" coords="215,80,333,107"/> +<area shape="rect" id="node4" href="$classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="358,80,483,107"/> </map> diff --git a/doc/html/classAbstractMediator__inherit__graph.md5 b/doc/html/classAbstractMediator__inherit__graph.md5 index 9363ad481ca9a5899785145071c41aeeb5679dfb..88bacb51e5e969bb4003fc485a343d71016595cb 100644 --- a/doc/html/classAbstractMediator__inherit__graph.md5 +++ b/doc/html/classAbstractMediator__inherit__graph.md5 @@ -1 +1 @@ -84896e280b018195e42e21105d71a7e2 \ No newline at end of file +9419148df6b134bb07e5c1263c4051f7 \ No newline at end of file diff --git a/doc/html/classAbstractMediator__inherit__graph.png b/doc/html/classAbstractMediator__inherit__graph.png index be2fb07c5ccce01386d41790b827341a34b649c7..93825b25bc2b3be288b2cfc14ef2d72989d07038 100644 Binary files a/doc/html/classAbstractMediator__inherit__graph.png and b/doc/html/classAbstractMediator__inherit__graph.png differ diff --git a/doc/html/classAbstractParamReader-members.html b/doc/html/classAbstractParamReader-members.html index 9d7dc95f4e87b09b6d2cbca65b7a9a8ab7b39393..c7dc65aed7cd4fad2a3c9d98f0cb7f6ddbefb305 100644 --- a/doc/html/classAbstractParamReader-members.html +++ b/doc/html/classAbstractParamReader-members.html @@ -33,8 +33,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractParamReader.html b/doc/html/classAbstractParamReader.html index 7683f3f2cc23a9baedba48d9da65c404bf5f582d..f853458ed04f14007b30b7c2efe9253cfd0aeef6 100644 --- a/doc/html/classAbstractParamReader.html +++ b/doc/html/classAbstractParamReader.html @@ -200,8 +200,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobot-members.html b/doc/html/classAbstractRobot-members.html index d189f787701ebf73ef9e0502c3b0f2b16675aac3..433a8a2fa6be263c80e43584739a1576454583a2 100644 --- a/doc/html/classAbstractRobot-members.html +++ b/doc/html/classAbstractRobot-members.html @@ -49,8 +49,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobot.html b/doc/html/classAbstractRobot.html index 71d4e9f23b7cc5bc7d3a7edb68a7bdf97d9a07ae..16df417397dea826d3c97ddfd22de711051ec91f 100644 --- a/doc/html/classAbstractRobot.html +++ b/doc/html/classAbstractRobot.html @@ -698,8 +698,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobotDecorator-members.html b/doc/html/classAbstractRobotDecorator-members.html index e68e727f0119cd0074b58ea3fe22ee971bee7ee0..484c99e70a125444b50d40be8922b91ca004dea1 100644 --- a/doc/html/classAbstractRobotDecorator-members.html +++ b/doc/html/classAbstractRobotDecorator-members.html @@ -62,8 +62,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobotDecorator.html b/doc/html/classAbstractRobotDecorator.html index 935bab788d047d15af2cc0c49f24c8fcd97e6953..667974b3c1f63c675d95e3b259907c346f54cd85 100644 --- a/doc/html/classAbstractRobotDecorator.html +++ b/doc/html/classAbstractRobotDecorator.html @@ -784,8 +784,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobotElement-members.html b/doc/html/classAbstractRobotElement-members.html index 32110e949cae2becb102f4f790ee8f728c82d734..3a003cde29172081fb1b4f05b40355dee3547d49 100644 --- a/doc/html/classAbstractRobotElement-members.html +++ b/doc/html/classAbstractRobotElement-members.html @@ -44,8 +44,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobotElement.html b/doc/html/classAbstractRobotElement.html index c5fd14a93b595acce9cdc9329b32f5311df2c8e2..7dde6c758bd0ac9f145997d2f057628ed0e10e0f 100644 --- a/doc/html/classAbstractRobotElement.html +++ b/doc/html/classAbstractRobotElement.html @@ -502,8 +502,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobotElementDecorator-members.html b/doc/html/classAbstractRobotElementDecorator-members.html index 9a0511daa374f158767db750b33566ecbbbcebb0..4c81122a74609973e3aef3af6dac52a171a3e56c 100644 --- a/doc/html/classAbstractRobotElementDecorator-members.html +++ b/doc/html/classAbstractRobotElementDecorator-members.html @@ -50,8 +50,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classAbstractRobotElementDecorator.html b/doc/html/classAbstractRobotElementDecorator.html index 73d4063e67c38d585c524fee2e7328db9c1f57d0..f2b2d70f65ed8c1a257505cd1a842df6591bd2d1 100644 --- a/doc/html/classAbstractRobotElementDecorator.html +++ b/doc/html/classAbstractRobotElementDecorator.html @@ -407,8 +407,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classBaseCalculationMediator-members.html b/doc/html/classBaseCalculationMediator-members.html index 17b6c9ddfc58ca7656f8895c56b4ecb04d15ec46..b64b72b2f88aaf291b9c43728ea6bd412975fde7 100644 --- a/doc/html/classBaseCalculationMediator-members.html +++ b/doc/html/classBaseCalculationMediator-members.html @@ -30,6 +30,8 @@ $(function() { <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">calculate</a>(std::map< const std::string, std::vector< tf2::Transform >> &workcell)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">checkCollision</a>(const std::string &robot, std::bitset< 3 > &panel_mask, bool &workload, std::vector< object_data > &ts)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr> <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot) override</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a></td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> @@ -64,8 +66,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classBaseCalculationMediator.html b/doc/html/classBaseCalculationMediator.html index 70c395d02fc9e81b8cd7781859826f35d6383ce6..5036857a8e8d04b56bdfd1a1fa2e2e059bbbe77b 100644 --- a/doc/html/classBaseCalculationMediator.html +++ b/doc/html/classBaseCalculationMediator.html @@ -81,6 +81,9 @@ Public Member Functions</h2></td></tr> <tr class="memitem:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr> <tr class="memdesc:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">More...</a><br /></td></tr> <tr class="separator:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCuboidReader.html">CuboidReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a> ()</td></tr> +<tr class="memdesc:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid_reader. <a href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">More...</a><br /></td></tr> +<tr class="separator:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr> <tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr> <tr class="separator:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> @@ -126,6 +129,9 @@ Protected Attributes</h2></td></tr> <tr class="memdesc:a5a9ec25501705a48e1d2fe47f1d00add"><td class="mdescLeft"> </td><td class="mdescRight">Possible panels per robot. <a href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">More...</a><br /></td></tr> <tr class="separator:a5a9ec25501705a48e1d2fe47f1d00add"><td class="memSeparator" colspan="2"> </td></tr> <tr class="inherit_header pro_attribs_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractMediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr> +<tr class="memitem:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboidReader.html">CuboidReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td></tr> +<tr class="memdesc:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">coboidReader instance that distinguishes between scene objects of type bin and box <a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">More...</a><br /></td></tr> +<tr class="separator:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr> <tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr> <tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> @@ -448,7 +454,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00646">646</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00770">770</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p> </div> </div> @@ -688,8 +694,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classCetiRobot-members.html b/doc/html/classCetiRobot-members.html index 225c8ba6fc9b8369972460383df23ca8fc0d2279..1f8b63bb3b4fc3d8fdebb878263c4effd4939209 100644 --- a/doc/html/classCetiRobot-members.html +++ b/doc/html/classCetiRobot-members.html @@ -58,8 +58,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classCetiRobot.html b/doc/html/classCetiRobot.html index 4978d9382d0d9bca5c64323aeb11e84d3ead41e2..87603fb9f97feef23fe32cd565b0f259323442f3 100644 --- a/doc/html/classCetiRobot.html +++ b/doc/html/classCetiRobot.html @@ -671,8 +671,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classCuboidReader-members.html b/doc/html/classCuboidReader-members.html index a13e41b57819e6fed00e2f786208fa07deb88941..3044f0a95148f1b354e7c1d35876d0365c126b7d 100644 --- a/doc/html/classCuboidReader-members.html +++ b/doc/html/classCuboidReader-members.html @@ -27,21 +27,21 @@ $(function() { <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr><td class="entry"><a class="el" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a></td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a></td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr><td class="entry"><a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">cuboidBin</a>()</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">cuboidObstacle</a>()</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">cuboidBox</a>()</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">cuboidObstacle</a>()</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr><td class="entry"><a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr> <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a>() override</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> - <tr><td class="entry"><a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">setCuboidBinData</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">setCuboidObstacleData</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">setCuboidBox</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">setCuboidObstacle</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classCuboidReader.html b/doc/html/classCuboidReader.html index 2c8338cca831a6aee0b9d44e0d80d068d23f9fbd..5f090bc92a189460c650765d14722f4a82b95800 100644 --- a/doc/html/classCuboidReader.html +++ b/doc/html/classCuboidReader.html @@ -42,24 +42,24 @@ Inheritance diagram for CuboidReader:</div> <table class="memberdecls"> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a> Public Member Functions</h2></td></tr> -<tr class="memitem:a2bc121e539f485a3aab88b4b57b9de9b"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">cuboidBin</a> ()</td></tr> -<tr class="memdesc:a2bc121e539f485a3aab88b4b57b9de9b"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid box. <a href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">More...</a><br /></td></tr> -<tr class="separator:a2bc121e539f485a3aab88b4b57b9de9b"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:a986635198367e1d869e1dcaccb021827"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">cuboidObstacle</a> ()</td></tr> -<tr class="memdesc:a986635198367e1d869e1dcaccb021827"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid obstacle. <a href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">More...</a><br /></td></tr> -<tr class="separator:a986635198367e1d869e1dcaccb021827"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a9d897cb00ad2db2458d7759b8fa848ca"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">cuboidBox</a> ()</td></tr> +<tr class="memdesc:a9d897cb00ad2db2458d7759b8fa848ca"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid box. <a href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">More...</a><br /></td></tr> +<tr class="separator:a9d897cb00ad2db2458d7759b8fa848ca"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:aaf3b435f5bb8bea2fd47508ffdb0791a"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">cuboidObstacle</a> ()</td></tr> +<tr class="memdesc:aaf3b435f5bb8bea2fd47508ffdb0791a"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid obstacle. <a href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">More...</a><br /></td></tr> +<tr class="separator:aaf3b435f5bb8bea2fd47508ffdb0791a"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a2a0fc34bf937185bdbda05e008ada8e1"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr> <tr class="memdesc:a2a0fc34bf937185bdbda05e008ada8e1"><td class="mdescLeft"> </td><td class="mdescRight">Cuboid reader constructor. <a href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">More...</a><br /></td></tr> <tr class="separator:a2a0fc34bf937185bdbda05e008ada8e1"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a0a07f5fb34f7867d3bd861451ff3f624"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a> () override</td></tr> <tr class="memdesc:a0a07f5fb34f7867d3bd861451ff3f624"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">More...</a><br /></td></tr> <tr class="separator:a0a07f5fb34f7867d3bd861451ff3f624"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:af590521a56d12391fbf96411cd8f6926"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">setCuboidBinData</a> (std::vector< Cuboid > &cuboid_data)</td></tr> -<tr class="memdesc:af590521a56d12391fbf96411cd8f6926"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid box. <a href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">More...</a><br /></td></tr> -<tr class="separator:af590521a56d12391fbf96411cd8f6926"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:ac60f1dcb39c0f0e176a5835c5ae97dc7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">setCuboidObstacleData</a> (std::vector< Cuboid > &cuboid_data)</td></tr> -<tr class="memdesc:ac60f1dcb39c0f0e176a5835c5ae97dc7"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid obstacle. <a href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">More...</a><br /></td></tr> -<tr class="separator:ac60f1dcb39c0f0e176a5835c5ae97dc7"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:afbea0efa3f1ac07891c1a1095749a7c7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">setCuboidBox</a> (std::vector< Cuboid > &cuboid_data)</td></tr> +<tr class="memdesc:afbea0efa3f1ac07891c1a1095749a7c7"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid box. <a href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">More...</a><br /></td></tr> +<tr class="separator:afbea0efa3f1ac07891c1a1095749a7c7"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ab342f042b2aed5d298789372ea605273"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">setCuboidObstacle</a> (std::vector< Cuboid > &cuboid_data)</td></tr> +<tr class="memdesc:ab342f042b2aed5d298789372ea605273"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid obstacle. <a href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">More...</a><br /></td></tr> +<tr class="separator:ab342f042b2aed5d298789372ea605273"><td class="memSeparator" colspan="2"> </td></tr> <tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr> <tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr> <tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr> @@ -124,8 +124,8 @@ Protected Attributes</h2></td></tr> </div> </div> <h2 class="groupheader">Member Function Documentation</h2> -<a id="a2bc121e539f485a3aab88b4b57b9de9b"></a> -<h2 class="memtitle"><span class="permalink"><a href="#a2bc121e539f485a3aab88b4b57b9de9b">◆ </a></span>cuboidBin()</h2> +<a id="a9d897cb00ad2db2458d7759b8fa848ca"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a9d897cb00ad2db2458d7759b8fa848ca">◆ </a></span>cuboidBox()</h2> <div class="memitem"> <div class="memproto"> @@ -134,7 +134,7 @@ Protected Attributes</h2></td></tr> <td class="mlabels-left"> <table class="memname"> <tr> - <td class="memname">std::vector<Cuboid> CuboidReader::cuboidBin </td> + <td class="memname">std::vector<Cuboid>& CuboidReader::cuboidBox </td> <td>(</td> <td class="paramname"></td><td>)</td> <td></td> @@ -154,8 +154,8 @@ Protected Attributes</h2></td></tr> </div> </div> -<a id="a986635198367e1d869e1dcaccb021827"></a> -<h2 class="memtitle"><span class="permalink"><a href="#a986635198367e1d869e1dcaccb021827">◆ </a></span>cuboidObstacle()</h2> +<a id="aaf3b435f5bb8bea2fd47508ffdb0791a"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aaf3b435f5bb8bea2fd47508ffdb0791a">◆ </a></span>cuboidObstacle()</h2> <div class="memitem"> <div class="memproto"> @@ -164,7 +164,7 @@ Protected Attributes</h2></td></tr> <td class="mlabels-left"> <table class="memname"> <tr> - <td class="memname">std::vector<Cuboid> CuboidReader::cuboidObstacle </td> + <td class="memname">std::vector<Cuboid>& CuboidReader::cuboidObstacle </td> <td>(</td> <td class="paramname"></td><td>)</td> <td></td> @@ -215,8 +215,8 @@ Protected Attributes</h2></td></tr> </div> </div> -<a id="af590521a56d12391fbf96411cd8f6926"></a> -<h2 class="memtitle"><span class="permalink"><a href="#af590521a56d12391fbf96411cd8f6926">◆ </a></span>setCuboidBinData()</h2> +<a id="afbea0efa3f1ac07891c1a1095749a7c7"></a> +<h2 class="memtitle"><span class="permalink"><a href="#afbea0efa3f1ac07891c1a1095749a7c7">◆ </a></span>setCuboidBox()</h2> <div class="memitem"> <div class="memproto"> @@ -225,7 +225,7 @@ Protected Attributes</h2></td></tr> <td class="mlabels-left"> <table class="memname"> <tr> - <td class="memname">void CuboidReader::setCuboidBinData </td> + <td class="memname">void CuboidReader::setCuboidBox </td> <td>(</td> <td class="paramtype">std::vector< Cuboid > & </td> <td class="paramname"><em>cuboid_data</em></td><td>)</td> @@ -251,8 +251,8 @@ Protected Attributes</h2></td></tr> </div> </div> -<a id="ac60f1dcb39c0f0e176a5835c5ae97dc7"></a> -<h2 class="memtitle"><span class="permalink"><a href="#ac60f1dcb39c0f0e176a5835c5ae97dc7">◆ </a></span>setCuboidObstacleData()</h2> +<a id="ab342f042b2aed5d298789372ea605273"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ab342f042b2aed5d298789372ea605273">◆ </a></span>setCuboidObstacle()</h2> <div class="memitem"> <div class="memproto"> @@ -261,7 +261,7 @@ Protected Attributes</h2></td></tr> <td class="mlabels-left"> <table class="memname"> <tr> - <td class="memname">void CuboidReader::setCuboidObstacleData </td> + <td class="memname">void CuboidReader::setCuboidObstacle </td> <td>(</td> <td class="paramtype">std::vector< Cuboid > & </td> <td class="paramname"><em>cuboid_data</em></td><td>)</td> @@ -349,8 +349,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classExecution-members.html b/doc/html/classExecution-members.html index 50304040acbc6d266b03d5b0b11c9fa2b01a2996..f6436861513ebdac286d1e654d5ff905ead28e31 100644 --- a/doc/html/classExecution-members.html +++ b/doc/html/classExecution-members.html @@ -39,8 +39,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classExecution.html b/doc/html/classExecution.html index 20b9de3e7e067da7c7d308aefbceee51103d1601..1103da880b26635af0cba1bb638577fe225c0bb8 100644 --- a/doc/html/classExecution.html +++ b/doc/html/classExecution.html @@ -168,7 +168,7 @@ Private Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00029">29</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00030">30</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p> </div> </div> @@ -197,7 +197,7 @@ Private Attributes</h2></td></tr> <p>Function called on halt. </p> -<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00027">27</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00028">28</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p> </div> </div> @@ -226,7 +226,7 @@ Private Attributes</h2></td></tr> <p>Function called while node is in running state. </p> -<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00017">17</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00018">18</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p> </div> </div> @@ -402,8 +402,8 @@ Private Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classGraspMediator-members.html b/doc/html/classGraspMediator-members.html new file mode 100644 index 0000000000000000000000000000000000000000..2f22bce0f7b79899181bc85fa499875600a7fd82 --- /dev/null +++ b/doc/html/classGraspMediator-members.html @@ -0,0 +1,68 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: Member List</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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">GraspMediator Member List</div> </div> +</div><!--header--> +<div class="contents"> + +<p>This is the complete list of members for <a class="el" href="classGraspMediator.html">GraspMediator</a>, including all inherited members.</p> +<table class="directory"> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot) override</td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a></td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator</a>(std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">mediate</a>() override</td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">planning_scene_monitor_</a></td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a></td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">relevant_boxes_</a></td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">resultPath_</a></td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">rewriteResult</a>()</td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">setPanel</a>() override</td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">visual_tools_</a></td><td class="entry"><a class="el" href="classGraspMediator.html">GraspMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/classGraspMediator.html b/doc/html/classGraspMediator.html new file mode 100644 index 0000000000000000000000000000000000000000..5ac6f308f4146c71834abdb96cb50487758b37c8 --- /dev/null +++ b/doc/html/classGraspMediator.html @@ -0,0 +1,452 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: GraspMediator Class 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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="header"> + <div class="summary"> +<a href="#pub-methods">Public Member Functions</a> | +<a href="#pro-attribs">Protected Attributes</a> | +<a href="classGraspMediator-members.html">List of all members</a> </div> + <div class="headertitle"> +<div class="title">GraspMediator Class Reference</div> </div> +</div><!--header--> +<div class="contents"> + +<p><code>#include <<a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>></code></p> +<div class="dynheader"> +Inheritance diagram for GraspMediator:</div> +<div class="dyncontent"> +<div class="center"><img src="classGraspMediator__inherit__graph.png" border="0" usemap="#GraspMediator_inherit__map" alt="Inheritance graph"/></div> +<map name="GraspMediator_inherit__map" id="GraspMediator_inherit__map"> +<area shape="rect" title=" " alt="" coords="13,80,132,107"/> +<area shape="rect" href="classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,5,140,32"/> +</map> +<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div> +<table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a> +Public Member Functions</h2></td></tr> +<tr class="memitem:a3fb78d9f221916dfe175951fd8f5b44c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">connectRobots</a> (std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > robot) override</td></tr> +<tr class="memdesc:a3fb78d9f221916dfe175951fd8f5b44c"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">More...</a><br /></td></tr> +<tr class="separator:a3fb78d9f221916dfe175951fd8f5b44c"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a6475967756a6a4f6df187eb6b39523f1"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator</a> (std::shared_ptr< ros::NodeHandle > const &nh)</td></tr> +<tr class="separator:a6475967756a6a4f6df187eb6b39523f1"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a3e964c0b59502bfac52b39d846d088fd"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">mediate</a> () override</td></tr> +<tr class="memdesc:a3e964c0b59502bfac52b39d846d088fd"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual mediate methode <a href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">More...</a><br /></td></tr> +<tr class="separator:a3e964c0b59502bfac52b39d846d088fd"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a2310a931896f1d7d0244c21801f09da4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">rewriteResult</a> ()</td></tr> +<tr class="separator:a2310a931896f1d7d0244c21801f09da4"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a5f669a4c3e5b5c35aa1f792053769b11"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">setPanel</a> () override</td></tr> +<tr class="memdesc:a5f669a4c3e5b5c35aa1f792053769b11"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual Sets panels for robots <a href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">More...</a><br /></td></tr> +<tr class="separator:a5f669a4c3e5b5c35aa1f792053769b11"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="inherit_header pub_methods_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractMediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr> +<tr class="memitem:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr> +<tr class="memdesc:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">More...</a><br /></td></tr> +<tr class="separator:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCuboidReader.html">CuboidReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a> ()</td></tr> +<tr class="memdesc:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid_reader. <a href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">More...</a><br /></td></tr> +<tr class="separator:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr> +<tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr> +<tr class="separator:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a> ()</td></tr> +<tr class="memdesc:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">More...</a><br /></td></tr> +<tr class="separator:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classRobotReader.html">RobotReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a> ()</td></tr> +<tr class="memdesc:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Robot_reader. <a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">More...</a><br /></td></tr> +<tr class="separator:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a> ()</td></tr> +<tr class="memdesc:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">More...</a><br /></td></tr> +<tr class="separator:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a> (std::string &dirn)</td></tr> +<tr class="memdesc:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">More...</a><br /></td></tr> +<tr class="separator:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr> +<tr class="memdesc:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">More...</a><br /></td></tr> +<tr class="separator:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr> +<tr class="memdesc:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">More...</a><br /></td></tr> +<tr class="separator:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classWingReader.html">WingReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a> ()</td></tr> +<tr class="memdesc:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Wing_reader. <a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">More...</a><br /></td></tr> +<tr class="separator:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a> ()</td></tr> +<tr class="memdesc:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">More...</a><br /></td></tr> +<tr class="separator:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +</table><table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a> +Protected Attributes</h2></td></tr> +<tr class="memitem:aa541f8a2627ac8dc30b654dc3f8038d1"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< moveit_grasps_demo::GraspPipelineDemo > </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a></td></tr> +<tr class="memdesc:aa541f8a2627ac8dc30b654dc3f8038d1"><td class="mdescLeft"> </td><td class="mdescRight">Auerswald grasp pipeline. <a href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">More...</a><br /></td></tr> +<tr class="separator:aa541f8a2627ac8dc30b654dc3f8038d1"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a52cf184a1b42c337490ae370e5181a5d"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">planning_scene_monitor_</a></td></tr> +<tr class="memdesc:a52cf184a1b42c337490ae370e5181a5d"><td class="mdescLeft"> </td><td class="mdescRight">Planningscene monitor. <a href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">More...</a><br /></td></tr> +<tr class="separator:a52cf184a1b42c337490ae370e5181a5d"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a38239c00910315ec18a825bb8264086a"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a></td></tr> +<tr class="memdesc:a38239c00910315ec18a825bb8264086a"><td class="mdescLeft"> </td><td class="mdescRight">Reference Robot. <a href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">More...</a><br /></td></tr> +<tr class="separator:a38239c00910315ec18a825bb8264086a"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:afb44fd16a55bee3bd4070267bdfce9c9"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">relevant_boxes_</a></td></tr> +<tr class="separator:afb44fd16a55bee3bd4070267bdfce9c9"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ac91b0b95808e39d8374edde73093d1fd"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">resultPath_</a></td></tr> +<tr class="memdesc:ac91b0b95808e39d8374edde73093d1fd"><td class="mdescLeft"> </td><td class="mdescRight">path to the result <a href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">More...</a><br /></td></tr> +<tr class="separator:ac91b0b95808e39d8374edde73093d1fd"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af098c4d1fcc27489a339ef96c4dda533"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">visual_tools_</a></td></tr> +<tr class="memdesc:af098c4d1fcc27489a339ef96c4dda533"><td class="mdescLeft"> </td><td class="mdescRight">MoveItVisualTools. <a href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">More...</a><br /></td></tr> +<tr class="separator:af098c4d1fcc27489a339ef96c4dda533"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="inherit_header pro_attribs_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractMediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr> +<tr class="memitem:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboidReader.html">CuboidReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td></tr> +<tr class="memdesc:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">coboidReader instance that distinguishes between scene objects of type bin and box <a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">More...</a><br /></td></tr> +<tr class="separator:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr> +<tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr> +<tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td></tr> +<tr class="memdesc:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Nodehandle for access to the Rosparam server. <a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">More...</a><br /></td></tr> +<tr class="separator:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Transform > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td></tr> +<tr class="memdesc:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">More...</a><br /></td></tr> +<tr class="separator:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td></tr> +<tr class="memdesc:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">More...</a><br /></td></tr> +<tr class="separator:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classRobotReader.html">RobotReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td></tr> +<tr class="memdesc:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Robot_reader which collects robot poses. <a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">More...</a><br /></td></tr> +<tr class="separator:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td></tr> +<tr class="memdesc:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">More...</a><br /></td></tr> +<tr class="separator:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTSReader.html">TSReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td></tr> +<tr class="memdesc:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">More...</a><br /></td></tr> +<tr class="separator:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classWingReader.html">WingReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td></tr> +<tr class="memdesc:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Wing_reader which collects panel information of robots. <a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">More...</a><br /></td></tr> +<tr class="separator:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a9b24efa2ec432e60f25c6a54970775fc inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td></tr> +<tr class="separator:a9b24efa2ec432e60f25c6a54970775fc inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +</table> +<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> +<div class="textblock"> +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00015">15</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> +</div><h2 class="groupheader">Constructor & Destructor Documentation</h2> +<a id="a6475967756a6a4f6df187eb6b39523f1"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a6475967756a6a4f6df187eb6b39523f1">◆ </a></span>GraspMediator()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">GraspMediator::GraspMediator </td> + <td>(</td> + <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td> + <td class="paramname"><em>nh</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8cpp_source.html#l00003">3</a> of file <a class="el" href="grasp__mediator_8cpp_source.html">grasp_mediator.cpp</a>.</p> + +</div> +</div> +<h2 class="groupheader">Member Function Documentation</h2> +<a id="a3fb78d9f221916dfe175951fd8f5b44c"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3fb78d9f221916dfe175951fd8f5b44c">◆ </a></span>connectRobots()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void GraspMediator::connectRobots </td> + <td>(</td> + <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > </td> + <td class="paramname"><em>robot</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>pure virtual robot connecting methode </p> +<dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramname">robot</td><td>robot decorator </td></tr> + </table> + </dd> +</dl> + +<p>Implements <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a>.</p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8cpp_source.html#l00013">13</a> of file <a class="el" href="grasp__mediator_8cpp_source.html">grasp_mediator.cpp</a>.</p> + +</div> +</div> +<a id="a3e964c0b59502bfac52b39d846d088fd"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3e964c0b59502bfac52b39d846d088fd">◆ </a></span>mediate()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void GraspMediator::mediate </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>pure virtual mediate methode </p> + +<p>Implements <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a>.</p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8cpp_source.html#l00055">55</a> of file <a class="el" href="grasp__mediator_8cpp_source.html">grasp_mediator.cpp</a>.</p> + +</div> +</div> +<a id="a2310a931896f1d7d0244c21801f09da4"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a2310a931896f1d7d0244c21801f09da4">◆ </a></span>rewriteResult()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void GraspMediator::rewriteResult </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8cpp_source.html#l00125">125</a> of file <a class="el" href="grasp__mediator_8cpp_source.html">grasp_mediator.cpp</a>.</p> + +</div> +</div> +<a id="a5f669a4c3e5b5c35aa1f792053769b11"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a5f669a4c3e5b5c35aa1f792053769b11">◆ </a></span>setPanel()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void GraspMediator::setPanel </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>pure virtual Sets panels for robots </p> + +<p>Implements <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a>.</p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8cpp_source.html#l00018">18</a> of file <a class="el" href="grasp__mediator_8cpp_source.html">grasp_mediator.cpp</a>.</p> + +</div> +</div> +<h2 class="groupheader">Member Data Documentation</h2> +<a id="aa541f8a2627ac8dc30b654dc3f8038d1"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aa541f8a2627ac8dc30b654dc3f8038d1">◆ </a></span>grasp_pipeline_demo_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> GraspMediator::grasp_pipeline_demo_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>Auerswald grasp pipeline. </p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00019">19</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> + +</div> +</div> +<a id="a52cf184a1b42c337490ae370e5181a5d"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a52cf184a1b42c337490ae370e5181a5d">◆ </a></span>planning_scene_monitor_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> GraspMediator::planning_scene_monitor_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>Planningscene monitor. </p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00018">18</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> + +</div> +</div> +<a id="a38239c00910315ec18a825bb8264086a"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a38239c00910315ec18a825bb8264086a">◆ </a></span>referenceRobot_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::string GraspMediator::referenceRobot_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>Reference Robot. </p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00020">20</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> + +</div> +</div> +<a id="afb44fd16a55bee3bd4070267bdfce9c9"></a> +<h2 class="memtitle"><span class="permalink"><a href="#afb44fd16a55bee3bd4070267bdfce9c9">◆ </a></span>relevant_boxes_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::vector<Cuboid> GraspMediator::relevant_boxes_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00022">22</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> + +</div> +</div> +<a id="ac91b0b95808e39d8374edde73093d1fd"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ac91b0b95808e39d8374edde73093d1fd">◆ </a></span>resultPath_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::string GraspMediator::resultPath_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>path to the result </p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00021">21</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> + +</div> +</div> +<a id="af098c4d1fcc27489a339ef96c4dda533"></a> +<h2 class="memtitle"><span class="permalink"><a href="#af098c4d1fcc27489a339ef96c4dda533">◆ </a></span>visual_tools_</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">std::shared_ptr<moveit_visual_tools::MoveItVisualTools> GraspMediator::visual_tools_</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>MoveItVisualTools. </p> + +<p class="definition">Definition at line <a class="el" href="grasp__mediator_8h_source.html#l00017">17</a> of file <a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a>.</p> + +</div> +</div> +<hr/>The documentation for this class was generated from the following files:<ul> +<li><a class="el" href="grasp__mediator_8h_source.html">grasp_mediator.h</a></li> +<li><a class="el" href="grasp__mediator_8cpp_source.html">grasp_mediator.cpp</a></li> +</ul> +</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/classGraspMediator__inherit__graph.map b/doc/html/classGraspMediator__inherit__graph.map new file mode 100644 index 0000000000000000000000000000000000000000..0ceda394d8af30ec98b3f5f9d64595e4b10eb1fb --- /dev/null +++ b/doc/html/classGraspMediator__inherit__graph.map @@ -0,0 +1,4 @@ +<map id="GraspMediator" name="GraspMediator"> +<area shape="rect" id="node1" title=" " alt="" coords="13,80,132,107"/> +<area shape="rect" id="node2" href="$classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,5,140,32"/> +</map> diff --git a/doc/html/classGraspMediator__inherit__graph.md5 b/doc/html/classGraspMediator__inherit__graph.md5 new file mode 100644 index 0000000000000000000000000000000000000000..972c88f561b7f326b30d5a4032308d62170c1594 --- /dev/null +++ b/doc/html/classGraspMediator__inherit__graph.md5 @@ -0,0 +1 @@ +b1beda24cf39eeb46268e1ef7f5d68b6 \ No newline at end of file diff --git a/doc/html/classGraspMediator__inherit__graph.png b/doc/html/classGraspMediator__inherit__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..95f31cbb17a7a51330c4f0d89fe661ae219d7cb8 Binary files /dev/null and b/doc/html/classGraspMediator__inherit__graph.png differ diff --git a/doc/html/classJobReader-members.html b/doc/html/classJobReader-members.html index 1d6bb1124ad5881ec41a00867c8f33a417ac537f..f98775b5fa82ba7194939c10cb3663223f031773 100644 --- a/doc/html/classJobReader-members.html +++ b/doc/html/classJobReader-members.html @@ -37,8 +37,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classJobReader.html b/doc/html/classJobReader.html index a455d3a5fc4ccf8368c6ada8f7c9975bbb9523de..33f6565d23be4a72d62b10950e1206e335448e2e 100644 --- a/doc/html/classJobReader.html +++ b/doc/html/classJobReader.html @@ -251,8 +251,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classLogDecorator-members.html b/doc/html/classLogDecorator-members.html index 770e41a945dddaf6a3e4ef3b806fb5e18dbb9fa3..cb75f7896e8d6434614249f61aad0a638b159649 100644 --- a/doc/html/classLogDecorator-members.html +++ b/doc/html/classLogDecorator-members.html @@ -51,8 +51,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classLogDecorator.html b/doc/html/classLogDecorator.html index 4aeb243d788c50cf84b623c1c1a154d267a6c920..c12a0f99df8106c6b932d48439083e9d913c6da3 100644 --- a/doc/html/classLogDecorator.html +++ b/doc/html/classLogDecorator.html @@ -213,8 +213,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classMapReader-members.html b/doc/html/classMapReader-members.html index dca1929c5f77d8cb261e5ece322cd592053ad9bb..25e0428a786394f6b3c6e71b664af8a2d3fd8b45 100644 --- a/doc/html/classMapReader-members.html +++ b/doc/html/classMapReader-members.html @@ -37,8 +37,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classMapReader.html b/doc/html/classMapReader.html index 06d2594f96a97c7e0991364da1796e635f3b3e8e..60b8de27c412153a1f0ca5da355b078b66dd2b31 100644 --- a/doc/html/classMapReader.html +++ b/doc/html/classMapReader.html @@ -248,8 +248,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classMoveitMediator-members.html b/doc/html/classMoveitMediator-members.html index e70b3a64c0287de2b6a9b0e8d8a722fac958b4ab..1786869fbb475e87ad772575a37088080e8a3374 100644 --- a/doc/html/classMoveitMediator-members.html +++ b/doc/html/classMoveitMediator-members.html @@ -29,23 +29,23 @@ $(function() { <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot) override</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a>() override</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(moveit_msgs::PlanningScene &in)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>(std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a>(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a>() override</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(moveit_msgs::PlanningScene &in)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>(std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a>(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> @@ -69,18 +69,17 @@ $(function() { <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr> <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr> - <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">visual_tools_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> - <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> - <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classMoveitMediator.html b/doc/html/classMoveitMediator.html index 5da2aa791dfcc2255cc3ac0f3f1045c7e4eafe18..6326586f53209a3ae16916eade97b823638ac126 100644 --- a/doc/html/classMoveitMediator.html +++ b/doc/html/classMoveitMediator.html @@ -87,6 +87,9 @@ Public Member Functions</h2></td></tr> <tr class="memitem:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr> <tr class="memdesc:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">More...</a><br /></td></tr> <tr class="separator:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCuboidReader.html">CuboidReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">cuboidReader</a> ()</td></tr> +<tr class="memdesc:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid_reader. <a href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">More...</a><br /></td></tr> +<tr class="separator:a7d381a7596104cf59560a4cc9659f500 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr> <tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr> <tr class="separator:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> @@ -123,9 +126,6 @@ Protected Attributes</h2></td></tr> <tr class="memitem:aaad3539de5c9b389bbde424a94337ee4"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a></td></tr> <tr class="memdesc:aaad3539de5c9b389bbde424a94337ee4"><td class="mdescLeft"> </td><td class="mdescRight">Moveit task Constructior cartesian planner. <a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">More...</a><br /></td></tr> <tr class="separator:aaad3539de5c9b389bbde424a94337ee4"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:a10558d2bb61a012a1495de7f4fb12008"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboidReader.html">CuboidReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a></td></tr> -<tr class="memdesc:a10558d2bb61a012a1495de7f4fb12008"><td class="mdescLeft"> </td><td class="mdescRight">coboidReader instance that distinguishes between scene objects of type bin and box <a href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">More...</a><br /></td></tr> -<tr class="separator:a10558d2bb61a012a1495de7f4fb12008"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a6b5a8e24b7c3fa6bc6784dc63ed43995"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a></td></tr> <tr class="memdesc:a6b5a8e24b7c3fa6bc6784dc63ed43995"><td class="mdescLeft"> </td><td class="mdescRight">Shared execution map containing groot node information. <a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">More...</a><br /></td></tr> <tr class="separator:a6b5a8e24b7c3fa6bc6784dc63ed43995"><td class="memSeparator" colspan="2"> </td></tr> @@ -138,9 +138,6 @@ Protected Attributes</h2></td></tr> <tr class="memitem:a38e44c6e4bbe9f4e20215baa96b5cc03"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::Publisher > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a></td></tr> <tr class="memdesc:a38e44c6e4bbe9f4e20215baa96b5cc03"><td class="mdescLeft"> </td><td class="mdescRight">Publisher to manage PlanningScene diffs. <a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">More...</a><br /></td></tr> <tr class="separator:a38e44c6e4bbe9f4e20215baa96b5cc03"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:a9b16784a81023bf4e258acf1618edd95"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a></td></tr> -<tr class="memdesc:a9b16784a81023bf4e258acf1618edd95"><td class="mdescLeft"> </td><td class="mdescRight">Planningscene monitor. <a href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">More...</a><br /></td></tr> -<tr class="separator:a9b16784a81023bf4e258acf1618edd95"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a1107411a95846d672c2ba800034f91a2"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene::PlanningScene > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a></td></tr> <tr class="memdesc:a1107411a95846d672c2ba800034f91a2"><td class="mdescLeft"> </td><td class="mdescRight">Shared Planning Scene. <a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">More...</a><br /></td></tr> <tr class="separator:a1107411a95846d672c2ba800034f91a2"><td class="memSeparator" colspan="2"> </td></tr> @@ -162,10 +159,10 @@ Protected Attributes</h2></td></tr> <tr class="memitem:a390303f3a11baeac837f150463f8cec7"><td class="memItemLeft" align="right" valign="top">std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a></td></tr> <tr class="memdesc:a390303f3a11baeac837f150463f8cec7"><td class="mdescLeft"> </td><td class="mdescRight">tasks multimap <a href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">More...</a><br /></td></tr> <tr class="separator:a390303f3a11baeac837f150463f8cec7"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:a4ba2eb6738772bacbfa0dc9dbff5ed61"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">visual_tools_</a></td></tr> -<tr class="memdesc:a4ba2eb6738772bacbfa0dc9dbff5ed61"><td class="mdescLeft"> </td><td class="mdescRight">MoveItVisualTools. <a href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">More...</a><br /></td></tr> -<tr class="separator:a4ba2eb6738772bacbfa0dc9dbff5ed61"><td class="memSeparator" colspan="2"> </td></tr> <tr class="inherit_header pro_attribs_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractMediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr> +<tr class="memitem:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboidReader.html">CuboidReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a></td></tr> +<tr class="memdesc:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">coboidReader instance that distinguishes between scene objects of type bin and box <a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">More...</a><br /></td></tr> +<tr class="separator:abb194f54b87b500eb91e05283681b092 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr> <tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr> <tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr> @@ -262,7 +259,7 @@ Protected Attributes</h2></td></tr> <p>Implements <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a>.</p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00047">47</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00036">36</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -308,7 +305,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00632">632</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00589">589</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -335,7 +332,7 @@ Protected Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00148">148</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00145">145</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -374,7 +371,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00131">131</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00118">118</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -406,7 +403,7 @@ Protected Attributes</h2></td></tr> <p>Implements <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a>.</p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00122">122</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00111">111</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -434,7 +431,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00563">563</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00521">521</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -480,7 +477,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00588">588</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00545">545</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -507,7 +504,7 @@ Protected Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00088">88</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00085">85</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -546,7 +543,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00628">628</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00585">585</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -567,7 +564,7 @@ Protected Attributes</h2></td></tr> <p>publish all panels in the planning scene </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00105">105</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00094">94</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -598,7 +595,7 @@ Protected Attributes</h2></td></tr> <p>Implements <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a>.</p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00068">68</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00057">57</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -626,7 +623,7 @@ Protected Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00151">151</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00148">148</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -653,7 +650,7 @@ Protected Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00149">149</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00146">146</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -680,7 +677,7 @@ Protected Attributes</h2></td></tr> </dd> </dl> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00292">292</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00236">236</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p> </div> </div> @@ -707,7 +704,7 @@ Protected Attributes</h2></td></tr> <p>shared allowed collision matrix between robots </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00072">72</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00069">69</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -733,33 +730,7 @@ Protected Attributes</h2></td></tr> <p>Moveit task Constructior cartesian planner. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00068">68</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> - -</div> -</div> -<a id="a10558d2bb61a012a1495de7f4fb12008"></a> -<h2 class="memtitle"><span class="permalink"><a href="#a10558d2bb61a012a1495de7f4fb12008">◆ </a></span>cuboid_reader_</h2> - -<div class="memitem"> -<div class="memproto"> -<table class="mlabels"> - <tr> - <td class="mlabels-left"> - <table class="memname"> - <tr> - <td class="memname">std::unique_ptr<<a class="el" href="classCuboidReader.html">CuboidReader</a>> MoveitMediator::cuboid_reader_</td> - </tr> - </table> - </td> - <td class="mlabels-right"> -<span class="mlabels"><span class="mlabel">protected</span></span> </td> - </tr> -</table> -</div><div class="memdoc"> - -<p>coboidReader instance that distinguishes between scene objects of type bin and box </p> - -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00071">71</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00066">66</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -785,7 +756,7 @@ Protected Attributes</h2></td></tr> <p>Shared execution map containing groot node information. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00075">75</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00072">72</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -811,7 +782,7 @@ Protected Attributes</h2></td></tr> <p>jobReader instancde which reads task information </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00070">70</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00068">68</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -837,7 +808,7 @@ Protected Attributes</h2></td></tr> <p>Move Group Interface of the whole multi-cell. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00062">62</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00061">61</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -863,33 +834,7 @@ Protected Attributes</h2></td></tr> <p>Publisher to manage PlanningScene diffs. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00065">65</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> - -</div> -</div> -<a id="a9b16784a81023bf4e258acf1618edd95"></a> -<h2 class="memtitle"><span class="permalink"><a href="#a9b16784a81023bf4e258acf1618edd95">◆ </a></span>planning_scene_monitor_</h2> - -<div class="memitem"> -<div class="memproto"> -<table class="mlabels"> - <tr> - <td class="mlabels-left"> - <table class="memname"> - <tr> - <td class="memname">std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> MoveitMediator::planning_scene_monitor_</td> - </tr> - </table> - </td> - <td class="mlabels-right"> -<span class="mlabels"><span class="mlabel">protected</span></span> </td> - </tr> -</table> -</div><div class="memdoc"> - -<p>Planningscene monitor. </p> - -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00066">66</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00064">64</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -915,7 +860,7 @@ Protected Attributes</h2></td></tr> <p>Shared Planning Scene. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00064">64</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00063">63</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -941,7 +886,7 @@ Protected Attributes</h2></td></tr> <p>PlanningSceneInteface to manage Scene Objects. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00063">63</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00062">62</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -993,7 +938,7 @@ Protected Attributes</h2></td></tr> <p>shared robot state between all robots </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00073">73</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00070">70</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -1019,7 +964,7 @@ Protected Attributes</h2></td></tr> <p>Moveit task Constructior simple planner. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00067">67</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00065">65</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -1045,7 +990,7 @@ Protected Attributes</h2></td></tr> <p>Tasks mapped to Robot. </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00069">69</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00067">67</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -1071,33 +1016,7 @@ Protected Attributes</h2></td></tr> <p>tasks multimap </p> -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00074">74</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> - -</div> -</div> -<a id="a4ba2eb6738772bacbfa0dc9dbff5ed61"></a> -<h2 class="memtitle"><span class="permalink"><a href="#a4ba2eb6738772bacbfa0dc9dbff5ed61">◆ </a></span>visual_tools_</h2> - -<div class="memitem"> -<div class="memproto"> -<table class="mlabels"> - <tr> - <td class="mlabels-left"> - <table class="memname"> - <tr> - <td class="memname">std::shared_ptr<moveit_visual_tools::MoveItVisualTools> MoveitMediator::visual_tools_</td> - </tr> - </table> - </td> - <td class="mlabels-right"> -<span class="mlabels"><span class="mlabel">protected</span></span> </td> - </tr> -</table> -</div><div class="memdoc"> - -<p>MoveItVisualTools. </p> - -<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00061">61</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00071">71</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p> </div> </div> @@ -1110,8 +1029,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classMoveitPanel-members.html b/doc/html/classMoveitPanel-members.html index 2f65f46d422107b754f830f7834362ab2680c80c..5c90ecbd6dd6c3955552a73c2f5ce757cc038462 100644 --- a/doc/html/classMoveitPanel-members.html +++ b/doc/html/classMoveitPanel-members.html @@ -50,8 +50,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classMoveitPanel.html b/doc/html/classMoveitPanel.html index 65a883b70b26f321292199bb21103d3a2af4033e..e00c037bd24041292a78e9f5d6dc8ec7f927ff69 100644 --- a/doc/html/classMoveitPanel.html +++ b/doc/html/classMoveitPanel.html @@ -223,8 +223,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classPandaDecorator-members.html b/doc/html/classPandaDecorator-members.html index a4d4923e3d486c21d95e06ae1add339856034409..12741f0db05b1115241e7d17c2e6753ea30b6a51 100644 --- a/doc/html/classPandaDecorator-members.html +++ b/doc/html/classPandaDecorator-members.html @@ -63,8 +63,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classPandaDecorator.html b/doc/html/classPandaDecorator.html index 265ffc3eefc80ce215151e81d380e4e112b4d6b4..6d7b0c334df987c3f45e6bbed84b5d5bb6263c16 100644 --- a/doc/html/classPandaDecorator.html +++ b/doc/html/classPandaDecorator.html @@ -252,8 +252,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classPanel-members.html b/doc/html/classPanel-members.html index 65615240d9d40e777f96de48db212c427aea4186..b5e80289cdb9ce29c0da77945f23304442f19991 100644 --- a/doc/html/classPanel-members.html +++ b/doc/html/classPanel-members.html @@ -47,8 +47,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classPanel.html b/doc/html/classPanel.html index 258e1210dc35647ac9373e4c90be255eae5fc482..06881bad5c9ea2b4534382ebc53a421ccc781c60 100644 --- a/doc/html/classPanel.html +++ b/doc/html/classPanel.html @@ -336,8 +336,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classParallel__robot-members.html b/doc/html/classParallel__robot-members.html index d20810c37e0ded6c14fcbf59728ecbafe30685fc..bd86fa75831cb69abb576c26eb399b1d016f2aba 100644 --- a/doc/html/classParallel__robot-members.html +++ b/doc/html/classParallel__robot-members.html @@ -45,8 +45,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classParallel__robot.html b/doc/html/classParallel__robot.html index 0a857d2628d2cfa03ebf637b8b4c0550631e18c6..98c19f603483451bd0e3f5653d46a7a2226fc74f 100644 --- a/doc/html/classParallel__robot.html +++ b/doc/html/classParallel__robot.html @@ -496,8 +496,8 @@ Static Private Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classPositionCondition-members.html b/doc/html/classPositionCondition-members.html index 20326db05e5df421ea4a7324851c5243198f1d5e..d013324af6d2ee802697196c879fcc9eddd29c30 100644 --- a/doc/html/classPositionCondition-members.html +++ b/doc/html/classPositionCondition-members.html @@ -36,8 +36,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classPositionCondition.html b/doc/html/classPositionCondition.html index 43a70248b61945fdb0fe11917aae30db8781b063..139cf2085fa758becf4233c82e7395ce01ecd109 100644 --- a/doc/html/classPositionCondition.html +++ b/doc/html/classPositionCondition.html @@ -321,8 +321,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classRobotReader-members.html b/doc/html/classRobotReader-members.html index ea4efdb7a427e0d29bb043718deb44d21a41ef3b..622d8775a62d7ffbd1fca6890c25d59ef3f582f4 100644 --- a/doc/html/classRobotReader-members.html +++ b/doc/html/classRobotReader-members.html @@ -37,8 +37,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classRobotReader.html b/doc/html/classRobotReader.html index a595e67dfd493c1ecaaca7b93a0bd60de4f107ec..fffc76bb80c190ee27b982afedfaf6d9f388b23a 100644 --- a/doc/html/classRobotReader.html +++ b/doc/html/classRobotReader.html @@ -248,8 +248,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classRvizPanel-members.html b/doc/html/classRvizPanel-members.html index e2c19871a4c7ddc9bc0750506a1955d972a3211c..2e8b1cd4b777fac612b8ee82055e637e3184829e 100644 --- a/doc/html/classRvizPanel-members.html +++ b/doc/html/classRvizPanel-members.html @@ -50,8 +50,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classRvizPanel.html b/doc/html/classRvizPanel.html index 05cd622bc332f0c29ebbd1b89177ca214b25bb10..e0ec6a8fc0ca92af4ddef07fa28d46765a134a52 100644 --- a/doc/html/classRvizPanel.html +++ b/doc/html/classRvizPanel.html @@ -221,8 +221,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classSimpleBase-members.html b/doc/html/classSimpleBase-members.html index 3fd97f08d5965f632cdac7d78a0c9d90ef0e6ff9..4e1942c06a7731b0034cbe6d53270e3d75b954c8 100644 --- a/doc/html/classSimpleBase-members.html +++ b/doc/html/classSimpleBase-members.html @@ -54,8 +54,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classSimpleBase.html b/doc/html/classSimpleBase.html index 5f350fb83d16de74472d39edab764ae2ec181c07..59351f1a8ca941675bc21b8d1046cc8b50eb53e0 100644 --- a/doc/html/classSimpleBase.html +++ b/doc/html/classSimpleBase.html @@ -246,8 +246,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classSimpleBaseImplementation-members.html b/doc/html/classSimpleBaseImplementation-members.html index a7435bc0c97717549cb677077cc08ba0570864b6..36ea202bb4c80c0438a6ab360afaefc6f48e88d7 100644 --- a/doc/html/classSimpleBaseImplementation-members.html +++ b/doc/html/classSimpleBaseImplementation-members.html @@ -36,8 +36,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classSimpleBaseImplementation.html b/doc/html/classSimpleBaseImplementation.html index c23660798bcb0bcd06d850f88d4da459b9a48b1c..11c4d4590f26ba4d7ddb018323f8bdd6f466899d 100644 --- a/doc/html/classSimpleBaseImplementation.html +++ b/doc/html/classSimpleBaseImplementation.html @@ -274,8 +274,8 @@ Public Member Functions</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classTSReader-members.html b/doc/html/classTSReader-members.html index 99854f8b30088797b5624b2021d9afa537daacb2..b323391b80a7d1b8287d6dc22d55485672c3584c 100644 --- a/doc/html/classTSReader-members.html +++ b/doc/html/classTSReader-members.html @@ -37,8 +37,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classTSReader.html b/doc/html/classTSReader.html index 60027756818fcfb053529041623b3b26770370f1..b09665c8b14599af215e56a8285522a2e80c12a1 100644 --- a/doc/html/classTSReader.html +++ b/doc/html/classTSReader.html @@ -248,8 +248,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classTaskSpaceReader-members.html b/doc/html/classTaskSpaceReader-members.html index 7016c706c7748ec072c00da920581c3f408f18fa..8bc9fe3c42c990afff0a11ed2134e95e6a47a37a 100644 --- a/doc/html/classTaskSpaceReader-members.html +++ b/doc/html/classTaskSpaceReader-members.html @@ -34,8 +34,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classTaskSpaceReader.html b/doc/html/classTaskSpaceReader.html index 68c8258ea0a68dea2bd094635d00a397327a6d91..2ea4f41030f8e26f854a2eeb81259572e7b7dad4 100644 --- a/doc/html/classTaskSpaceReader.html +++ b/doc/html/classTaskSpaceReader.html @@ -145,8 +145,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classUR10Decorator-members.html b/doc/html/classUR10Decorator-members.html index 6605b930d781f5d6a6c34d875b83ec1de3473500..f64a61c96d3be351166c7efb71ec2273bf5ac598 100644 --- a/doc/html/classUR10Decorator-members.html +++ b/doc/html/classUR10Decorator-members.html @@ -63,8 +63,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classUR10Decorator.html b/doc/html/classUR10Decorator.html index 4f30bc63370a820b37cb8557e571871668c3ca2b..5bc85d613ffad55cb751ee3257f7c198f8de023b 100644 --- a/doc/html/classUR10Decorator.html +++ b/doc/html/classUR10Decorator.html @@ -252,8 +252,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classUR5Decorator-members.html b/doc/html/classUR5Decorator-members.html index e467cee8e835e279c967fcc88bfc39d5cef8a3fa..bea25b46666a6838db010eafb49ed1f6aa6eb873 100644 --- a/doc/html/classUR5Decorator-members.html +++ b/doc/html/classUR5Decorator-members.html @@ -63,8 +63,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classUR5Decorator.html b/doc/html/classUR5Decorator.html index dec1952b7e23fe74c332cd94915f9124546e4d20..79a70046ac573e53f96640653c9b07c7f88b9a4b 100644 --- a/doc/html/classUR5Decorator.html +++ b/doc/html/classUR5Decorator.html @@ -252,8 +252,8 @@ Additional Inherited Members</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classWingReader-members.html b/doc/html/classWingReader-members.html index 7e61c35aab45b3b8d4cc8c6d0c13f21a15c3fec2..adf0451492c52b3a36464adac689b05c444c40ce 100644 --- a/doc/html/classWingReader-members.html +++ b/doc/html/classWingReader-members.html @@ -37,8 +37,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classWingReader.html b/doc/html/classWingReader.html index c8bb47b6b5fd9709eb47e99c051b797872605ba5..180fb8707a948128c1b34091b8d8e4fc91395acf 100644 --- a/doc/html/classWingReader.html +++ b/doc/html/classWingReader.html @@ -248,8 +248,8 @@ Protected Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/classes.html b/doc/html/classes.html index 30760284d23c3fd07d015f4ab41b173d47a21a94..7e82e17b055f3d6bb86539ab5fec30019bcafe4b 100644 --- a/doc/html/classes.html +++ b/doc/html/classes.html @@ -21,94 +21,98 @@ $(function() { <div class="title">Class Index</div> </div> </div><!--header--> <div class="contents"> -<div class="qindex"><a class="qindex" href="#letter_a">a</a> | <a class="qindex" href="#letter_b">b</a> | <a class="qindex" href="#letter_c">c</a> | <a class="qindex" href="#letter_e">e</a> | <a class="qindex" href="#letter_j">j</a> | <a class="qindex" href="#letter_l">l</a> | <a class="qindex" href="#letter_m">m</a> | <a class="qindex" href="#letter_o">o</a> | <a class="qindex" href="#letter_p">p</a> | <a class="qindex" href="#letter_r">r</a> | <a class="qindex" href="#letter_s">s</a> | <a class="qindex" href="#letter_t">t</a> | <a class="qindex" href="#letter_u">u</a> | <a class="qindex" href="#letter_w">w</a></div> +<div class="qindex"><a class="qindex" href="#letter_a">a</a> | <a class="qindex" href="#letter_b">b</a> | <a class="qindex" href="#letter_c">c</a> | <a class="qindex" href="#letter_e">e</a> | <a class="qindex" href="#letter_g">g</a> | <a class="qindex" href="#letter_j">j</a> | <a class="qindex" href="#letter_l">l</a> | <a class="qindex" href="#letter_m">m</a> | <a class="qindex" href="#letter_o">o</a> | <a class="qindex" href="#letter_p">p</a> | <a class="qindex" href="#letter_r">r</a> | <a class="qindex" href="#letter_s">s</a> | <a class="qindex" href="#letter_t">t</a> | <a class="qindex" href="#letter_u">u</a> | <a class="qindex" href="#letter_w">w</a></div> <table class="classindex"> <tr><td rowspan="2" valign="bottom"><a name="letter_a"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div 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name="letter_r"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  r  </div></td></tr></table> +</td> <td valign="top"><a class="el" href="classUR5Decorator.html">UR5Decorator</a>   </td> </tr> <tr><td valign="top"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a>   </td> -<td rowspan="2" valign="bottom"><a name="letter_o"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  o  </div></td></tr></table> -</td> -<td valign="top"><a class="el" href="classRvizPanel.html">RvizPanel</a>   </td> <td rowspan="2" valign="bottom"><a name="letter_w"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  w  </div></td></tr></table> </td> </tr> <tr><td valign="top"><a class="el" href="classAbstractRobot.html">AbstractRobot</a>   </td> <td valign="top"><a class="el" href="classExecution.html">Execution</a>   </td> -<td rowspan="2" valign="bottom"><a name="letter_s"></a><table border="0" 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href="#letter_w">w</a></div> </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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/config__routine_8cpp.html b/doc/html/config__routine_8cpp.html new file mode 100644 index 0000000000000000000000000000000000000000..8b9d10af712286897e0685ec7d35e28f27239bf8 --- /dev/null +++ b/doc/html/config__routine_8cpp.html @@ -0,0 +1,139 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: config_routine.cpp 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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="summary"> +<a href="#func-members">Functions</a> </div> + <div class="headertitle"> +<div class="title">config_routine.cpp File Reference</div> </div> +</div><!--header--> +<div class="contents"> +<div class="textblock"><code>#include "<a class="el" href="abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>"</code><br /> +<code>#include "<a class="el" href="grasp__mediator_8h_source.html">mediator/grasp_mediator.h</a>"</code><br /> +<code>#include "<a class="el" href="panda__decorator_8h_source.html">robot/decorators/panda_decorator.h</a>"</code><br /> +<code>#include <gb_grasp/GraspPipelineDemo.h></code><br /> +</div><div class="textblock"><div class="dynheader"> +Include dependency graph for config_routine.cpp:</div> +<div class="dyncontent"> +<div class="center"><img src="config__routine_8cpp__incl.png" border="0" usemap="#config__routine_8cpp" alt=""/></div> +<map name="config__routine_8cpp" id="config__routine_8cpp"> +<area shape="rect" title=" " alt="" coords="2673,5,2816,32"/> +<area shape="rect" href="abstract__mediator_8h.html" title=" " alt="" coords="1059,162,1275,189"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="3211,80,3409,107"/> +<area shape="rect" title=" " alt="" 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coords="2804,251,2984,293"/> +<area shape="rect" title=" " alt="" coords="3008,251,3188,293"/> +<area shape="rect" title=" " alt="" coords="3212,251,3392,293"/> +<area shape="rect" title=" " alt="" coords="3416,244,3596,300"/> +<area shape="rect" title=" " alt="" coords="3620,244,3800,300"/> +<area shape="rect" title=" " alt="" coords="3825,251,4006,293"/> +<area shape="rect" title=" " alt="" coords="4031,244,4213,300"/> +<area shape="rect" title=" " alt="" coords="4237,251,4417,293"/> +</map> +</div> +</div> +<p><a href="config__routine_8cpp_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="func-members"></a> +Functions</h2></td></tr> +<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="config__routine_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr> +<tr class="separator:a0ddf1224851353fc92bfbff6f499fa97"><td class="memSeparator" colspan="2"> </td></tr> +</table> +<h2 class="groupheader">Function Documentation</h2> +<a id="a0ddf1224851353fc92bfbff6f499fa97"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a0ddf1224851353fc92bfbff6f499fa97">◆ </a></span>main()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">int main </td> + <td>(</td> + <td class="paramtype">int </td> + <td class="paramname"><em>argc</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">char * </td> + <td class="paramname"><em>argv</em>[] </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="config__routine_8cpp_source.html#l00008">8</a> of file <a class="el" href="config__routine_8cpp_source.html">config_routine.cpp</a>.</p> + +</div> +</div> +</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/config__routine_8cpp__incl.map b/doc/html/config__routine_8cpp__incl.map new file mode 100644 index 0000000000000000000000000000000000000000..a960359ed72eab029edc60abcdeb62fba14bd8e7 --- /dev/null +++ b/doc/html/config__routine_8cpp__incl.map @@ -0,0 +1,52 @@ +<map id="config_routine.cpp" name="config_routine.cpp"> +<area shape="rect" id="node1" title=" " alt="" coords="2673,5,2816,32"/> +<area shape="rect" id="node2" href="$abstract__mediator_8h.html" title=" " alt="" coords="1059,162,1275,189"/> +<area shape="rect" id="node34" href="$grasp__mediator_8h.html" title=" " 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b/doc/html/config__routine_8cpp_source.html @@ -0,0 +1,73 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: config_routine.cpp Source File</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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">config_routine.cpp</div> </div> +</div><!--header--> +<div class="contents"> +<a href="config__routine_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "<a class="code" href="abstract__mediator_8h.html">mediator/abstract_mediator.h</a>"</span></div> +<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="grasp__mediator_8h.html">mediator/grasp_mediator.h</a>"</span></div> +<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "<a class="code" href="panda__decorator_8h.html">robot/decorators/panda_decorator.h</a>"</span></div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <gb_grasp/GraspPipelineDemo.h></span></div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> +<div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="config__routine_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97"> 8</a></span> <span class="keywordtype">int</span> <a class="code" href="config__routine_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[]) {</div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  ros::init(argc, argv, <span class="stringliteral">"config_routine"</span>); </div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::shared_ptr<ros::NodeHandle> n(<span class="keyword">new</span> ros::NodeHandle);</div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="comment">// Allow the action server to recieve and send ros messages</span></div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  ros::AsyncSpinner spinner(2);</div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  spinner.start();</div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  std::shared_ptr<GraspMediator> mediator = std::make_shared<GraspMediator>(n);</div> +<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">auto</span> rd = mediator->robotReader()->robotData();</div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < rd.size() ;i++){</div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  mediator->connectRobots(std::move(ceti_panda));</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  }</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  mediator->mediate();</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordflow">while</span> (ros::ok()){</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  ros::spinOnce();</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  }</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordflow">return</span> 0;</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> }</div> +</div><!-- fragment --></div><!-- contents --> +<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div> +<div class="ttc" id="aconfig__routine_8cpp_html_a0ddf1224851353fc92bfbff6f499fa97"><div class="ttname"><a href="config__routine_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97">main</a></div><div class="ttdeci">int main(int argc, char *argv[])</div><div class="ttdef"><b>Definition:</b> <a href="config__routine_8cpp_source.html#l00008">config_routine.cpp:8</a></div></div> +<div class="ttc" id="agrasp__mediator_8h_html"><div class="ttname"><a href="grasp__mediator_8h.html">grasp_mediator.h</a></div></div> +<div class="ttc" id="apanda__decorator_8h_html"><div class="ttname"><a href="panda__decorator_8h.html">panda_decorator.h</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/cuboid__reader_8cpp.html b/doc/html/cuboid__reader_8cpp.html index 2630ea91307412f255e42ad69401473b9be7244c..61c0e01f3189c30f8afa5a14eded3d21f8402e9a 100644 --- a/doc/html/cuboid__reader_8cpp.html +++ b/doc/html/cuboid__reader_8cpp.html @@ -52,8 +52,8 @@ Include dependency graph for cuboid_reader.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/cuboid__reader_8cpp_source.html b/doc/html/cuboid__reader_8cpp_source.html index b372480e57728b17d228c307e65e03fad3f1aca0..9a30d2cfc432f3ddd5a6b250e08f0385d499643e 100644 --- a/doc/html/cuboid__reader_8cpp_source.html +++ b/doc/html/cuboid__reader_8cpp_source.html @@ -31,86 +31,87 @@ $(function() { <div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  ROS_INFO(<span class="stringliteral">"--- CUBOID_READER ---"</span>);</div> <div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  XmlRpc::XmlRpcValue resources;</div> <div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</div> -<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> -<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div> -<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  std::string <span class="keywordtype">id</span> = resources[i][<span class="stringliteral">"id"</span>];</div> -<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">if</span>(resources[i][<span class="stringliteral">"type"</span>] == <span class="stringliteral">"BOX"</span>){</div> -<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  tf2::Vector3 pos;</div> -<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  tf2::Vector3 size;</div> -<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  tf2::Quaternion rot;</div> -<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> -<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div> -<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div> -<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div> -<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div> -<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div> -<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div> -<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div> -<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div> -<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div> -<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div> -<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div> -<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div> -<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  Cuboid o;</div> -<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  o.Name = <span class="keywordtype">id</span>.c_str();</div> -<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  o.Pose.position.x = pos.getX();</div> -<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  o.Pose.position.y = pos.getY();</div> -<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  o.Pose.position.z = pos.getZ();</div> -<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  o.Pose.orientation.x = rot.getX();</div> -<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  o.Pose.orientation.y = rot.getY();</div> -<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  o.Pose.orientation.z = rot.getZ();</div> -<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  o.Pose.orientation.w = rot.getW();</div> -<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  o.x_depth = size.getX();</div> -<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  o.y_width = size.getY();</div> -<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  o.z_heigth = size.getZ();</div> -<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div> -<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> -<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>.push_back(o);</div> -<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  ROS_INFO(<span class="stringliteral">"--- Object: %s --- Type: BOX ---"</span>, o.Name.c_str());</div> -<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  ROS_INFO(<span class="stringliteral">"=> Object: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div> -<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  ROS_INFO(<span class="stringliteral">"=> Object: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div> -<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  ROS_INFO(<span class="stringliteral">"=> Object: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</div> -<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  }</div> -<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div> -<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">if</span>(resources[i][<span class="stringliteral">"type"</span>] == <span class="stringliteral">"BIN"</span>){</div> -<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  tf2::Vector3 pos;</div> -<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  tf2::Vector3 size;</div> -<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  tf2::Quaternion rot;</div> -<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div> -<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div> -<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div> -<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div> -<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div> -<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div> -<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div> -<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div> -<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div> -<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div> -<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div> -<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div> -<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div> -<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  Cuboid o;</div> -<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  o.Name = <span class="keywordtype">id</span>.c_str();</div> -<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  o.Pose.position.x = pos.getX();</div> -<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  o.Pose.position.y = pos.getY();</div> -<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  o.Pose.position.z = pos.getZ();</div> -<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  o.Pose.orientation.x = rot.getX();</div> -<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  o.Pose.orientation.y = rot.getY();</div> -<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  o.Pose.orientation.z = rot.getZ();</div> -<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  o.Pose.orientation.w = rot.getW();</div> -<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  o.x_depth = size.getX();</div> -<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  o.y_width = size.getY();</div> -<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  o.z_heigth = size.getZ();</div> -<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div> -<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a>.push_back(o);</div> -<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  ROS_INFO(<span class="stringliteral">"--- Object: %s --- Type: BIN ---"</span>, o.Name.c_str());</div> -<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  ROS_INFO(<span class="stringliteral">"=> Object: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div> -<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  ROS_INFO(<span class="stringliteral">"=> Object: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div> -<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  ROS_INFO(<span class="stringliteral">"=> Object: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</div> -<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div> -<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div> -<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div> -<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> }</div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  std::smatch match;</div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  std::string <span class="keywordtype">id</span> = resources[i][<span class="stringliteral">"id"</span>];</div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keywordflow">if</span>(resources[i][<span class="stringliteral">"type"</span>] == <span class="stringliteral">"BOX"</span>){</div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  tf2::Vector3 pos;</div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  tf2::Vector3 size;</div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  tf2::Quaternion rot;</div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div> +<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  Cuboid o;</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  o.Name = <span class="keywordtype">id</span>.c_str();</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  o.Pose.position.x = pos.getX();</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  o.Pose.position.y = pos.getY();</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  o.Pose.position.z = pos.getZ();</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  o.Pose.orientation.x = rot.getX();</div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  o.Pose.orientation.y = rot.getY();</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  o.Pose.orientation.z = rot.getZ();</div> +<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  o.Pose.orientation.w = rot.getW();</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  o.x_depth = size.getX();</div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  o.y_width = size.getY();</div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  o.z_heigth = size.getZ();</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>.push_back(o);</div> +<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  ROS_INFO(<span class="stringliteral">"--- Object: %s --- Type: BOX ---"</span>, o.Name.c_str());</div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  ROS_INFO(<span class="stringliteral">"=> Object: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  ROS_INFO(<span class="stringliteral">"=> Object: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  ROS_INFO(<span class="stringliteral">"=> Object: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  }</div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">if</span>(resources[i][<span class="stringliteral">"type"</span>] == <span class="stringliteral">"BIN"</span> || std::regex_match(<span class="keywordtype">id</span>, match, std::regex(<span class="stringliteral">"obstacle([0-9]+)"</span>))){</div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  tf2::Vector3 pos;</div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  tf2::Vector3 size;</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  tf2::Quaternion rot;</div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div> +<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  Cuboid o;</div> +<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  o.Name = <span class="keywordtype">id</span>.c_str();</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  o.Pose.position.x = pos.getX();</div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  o.Pose.position.y = pos.getY();</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  o.Pose.position.z = pos.getZ();</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  o.Pose.orientation.x = rot.getX();</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  o.Pose.orientation.y = rot.getY();</div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  o.Pose.orientation.z = rot.getZ();</div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  o.Pose.orientation.w = rot.getW();</div> +<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  o.x_depth = size.getX();</div> +<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  o.y_width = size.getY();</div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  o.z_heigth = size.getZ();</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a>.push_back(o);</div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  ROS_INFO(<span class="stringliteral">"--- Object: %s --- Type: BIN ---"</span>, o.Name.c_str());</div> +<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  ROS_INFO(<span class="stringliteral">"=> Object: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div> +<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  ROS_INFO(<span class="stringliteral">"=> Object: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  ROS_INFO(<span class="stringliteral">"=> Object: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> }</div> </div><!-- fragment --></div><!-- contents --> <div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div> <div class="ttc" id="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div> @@ -122,8 +123,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/cuboid__reader_8h.html b/doc/html/cuboid__reader_8h.html index f633e446a43b46cdb20ea080586dd25da3d6ef9b..ec05e23b9aa3998705da0182c38be241d52f243e 100644 --- a/doc/html/cuboid__reader_8h.html +++ b/doc/html/cuboid__reader_8h.html @@ -55,12 +55,23 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="cuboid__reader_8h__dep__incl.png" border="0" usemap="#cuboid__reader_8hdep" alt=""/></div> <map name="cuboid__reader_8hdep" id="cuboid__reader_8hdep"> -<area shape="rect" title=" " 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href="test__reader_8cpp.html" title=" " alt="" coords="972,80,1095,107"/> +<area shape="rect" href="execution_8h.html" title=" " alt="" coords="271,155,369,181"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="733,319,869,345"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="961,393,1103,420"/> +<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="894,319,1055,345"/> +<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="494,155,703,181"/> +<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="782,229,954,271"/> +<area shape="rect" href="abstract__mediator_8cpp.html" title=" " alt="" coords="728,155,896,181"/> +<area shape="rect" href="execution_8cpp.html" title=" " alt="" coords="106,237,219,263"/> +<area shape="rect" href="test__bt_8cpp.html" title=" " alt="" coords="243,237,338,263"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="726,393,877,420"/> +<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="533,237,757,263"/> </map> </div> </div> @@ -77,8 +88,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/cuboid__reader_8h__dep__incl.map b/doc/html/cuboid__reader_8h__dep__incl.map index 37a927f3b7f741ad2319c5c7d378ac4d7112f6da..b61bf5118f35087f0ae2341e6315461b50c6edbe 100644 --- a/doc/html/cuboid__reader_8h__dep__incl.map +++ b/doc/html/cuboid__reader_8h__dep__incl.map @@ -1,8 +1,19 @@ <map id="cuboid_reader.h" name="cuboid_reader.h"> -<area shape="rect" id="node1" title=" " alt="" coords="206,5,333,32"/> -<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="105,80,252,107"/> -<area shape="rect" id="node3" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" id="node5" href="$grasp__cell__routine_8cpp.html" title=" " alt="" coords="276,80,444,107"/> -<area shape="rect" id="node6" href="$cuboid__reader_8cpp.html" title=" " alt="" coords="468,80,609,107"/> -<area shape="rect" id="node4" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" id="node1" title=" " alt="" coords="642,5,769,32"/> +<area shape="rect" id="node2" href="$abstract__mediator_8h.html" title=" " alt="" coords="629,80,782,107"/> +<area shape="rect" id="node4" href="$moveit__mediator_8h.html" title=" " alt="" coords="363,237,509,263"/> +<area shape="rect" id="node8" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,319,131,345"/> 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index 76b7b1bb06faba189a8c0a9013c5d8db7704e5bc..ff6f7e9711a5c1bce6483747828f0b78ee86bb05 100644 Binary files a/doc/html/cuboid__reader_8h__dep__incl.png and b/doc/html/cuboid__reader_8h__dep__incl.png differ diff --git a/doc/html/cuboid__reader_8h_source.html b/doc/html/cuboid__reader_8h_source.html index 28141a5b4aefcd632353b3e9f4cdacf4ebf8b77b..9fd8ea70fb857d0c8cc3ff610d0d65589db99fc6 100644 --- a/doc/html/cuboid__reader_8h_source.html +++ b/doc/html/cuboid__reader_8h_source.html @@ -48,38 +48,38 @@ $(function() { <div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1"> 28</a></span>  <a class="code" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>(d){<a class="code" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a>();}</div> <div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> <div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> -<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926"> 34</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">setCuboidBinData</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a> = cuboid_data;}</div> +<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7"> 34</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">setCuboidBox</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a> = cuboid_data;}</div> <div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div> <div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div> -<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7"> 40</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">setCuboidObstacleData</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a> = cuboid_data;}</div> +<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273"> 40</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">setCuboidObstacle</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a> = cuboid_data;}</div> <div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div> <div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div> -<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b"> 46</a></span>  <span class="keyword">inline</span> std::vector<Cuboid> <a class="code" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">cuboidBin</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>;}</div> +<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca"> 46</a></span>  <span class="keyword">inline</span> std::vector<Cuboid>& <a class="code" href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">cuboidBox</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>;}</div> <div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div> <div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div> -<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827"> 52</a></span>  <span class="keyword">inline</span> std::vector<Cuboid> <a class="code" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">cuboidObstacle</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a>;}</div> +<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a"> 52</a></span>  <span class="keyword">inline</span> std::vector<Cuboid>& <a class="code" href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">cuboidObstacle</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a>;}</div> <div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div> <div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a>() <span class="keyword">override</span>;</div> <div class="line"><a name="l00056"></a><span class="lineno"> 56</span> };</div> <div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#endif</span></div> </div><!-- fragment --></div><!-- contents --> +<div class="ttc" id="aclassCuboidReader_html_a9d897cb00ad2db2458d7759b8fa848ca"><div class="ttname"><a href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">CuboidReader::cuboidBox</a></div><div class="ttdeci">std::vector< Cuboid > & cuboidBox()</div><div class="ttdoc">Get Cuboid box.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00046">cuboid_reader.h:46</a></div></div> <div class="ttc" id="aabstract__param__reader_8h_html"><div class="ttname"><a href="abstract__param__reader_8h.html">abstract_param_reader.h</a></div></div> <div class="ttc" id="aclassCuboidReader_html_a0a07f5fb34f7867d3bd861451ff3f624"><div class="ttname"><a href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8cpp_source.html#l00003">cuboid_reader.cpp:3</a></div></div> -<div class="ttc" id="aclassCuboidReader_html_af590521a56d12391fbf96411cd8f6926"><div class="ttname"><a href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">CuboidReader::setCuboidBinData</a></div><div class="ttdeci">void setCuboidBinData(std::vector< Cuboid > &cuboid_data)</div><div class="ttdoc">Set Cuboid box.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00034">cuboid_reader.h:34</a></div></div> -<div class="ttc" id="aclassCuboidReader_html_a986635198367e1d869e1dcaccb021827"><div class="ttname"><a href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">CuboidReader::cuboidObstacle</a></div><div class="ttdeci">std::vector< Cuboid > cuboidObstacle()</div><div class="ttdoc">Get Cuboid obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00052">cuboid_reader.h:52</a></div></div> <div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div> <div class="ttc" id="aclassCuboidReader_html_a3e8f4d8682d14f21e46d78a2e3f4f0bf"><div class="ttname"><a href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">CuboidReader::cuboid_box_</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_box_</div><div class="ttdoc">As box defined object.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00019">cuboid_reader.h:19</a></div></div> -<div class="ttc" id="aclassCuboidReader_html_a2bc121e539f485a3aab88b4b57b9de9b"><div class="ttname"><a href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">CuboidReader::cuboidBin</a></div><div class="ttdeci">std::vector< Cuboid > cuboidBin()</div><div class="ttdoc">Get Cuboid box.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00046">cuboid_reader.h:46</a></div></div> <div class="ttc" id="aclassCuboidReader_html_a91f3e86106a59eb97916cb72337e1173"><div class="ttname"><a href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader::cuboid_obstacle_</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_obstacle_</div><div class="ttdoc">As obstacle defined objects.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00020">cuboid_reader.h:20</a></div></div> <div class="ttc" id="aclassCuboidReader_html_a2a0fc34bf937185bdbda05e008ada8e1"><div class="ttname"><a href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader::CuboidReader</a></div><div class="ttdeci">CuboidReader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Cuboid reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00028">cuboid_reader.h:28</a></div></div> <div class="ttc" id="aclassCuboidReader_html"><div class="ttname"><a href="classCuboidReader.html">CuboidReader</a></div><div class="ttdoc">Cuboid reader.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00017">cuboid_reader.h:17</a></div></div> -<div class="ttc" id="aclassCuboidReader_html_ac60f1dcb39c0f0e176a5835c5ae97dc7"><div class="ttname"><a href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">CuboidReader::setCuboidObstacleData</a></div><div class="ttdeci">void setCuboidObstacleData(std::vector< Cuboid > &cuboid_data)</div><div class="ttdoc">Set Cuboid obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00040">cuboid_reader.h:40</a></div></div> +<div class="ttc" id="aclassCuboidReader_html_afbea0efa3f1ac07891c1a1095749a7c7"><div class="ttname"><a href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">CuboidReader::setCuboidBox</a></div><div class="ttdeci">void setCuboidBox(std::vector< Cuboid > &cuboid_data)</div><div class="ttdoc">Set Cuboid box.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00034">cuboid_reader.h:34</a></div></div> +<div class="ttc" id="aclassCuboidReader_html_aaf3b435f5bb8bea2fd47508ffdb0791a"><div class="ttname"><a href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">CuboidReader::cuboidObstacle</a></div><div class="ttdeci">std::vector< Cuboid > & cuboidObstacle()</div><div class="ttdoc">Get Cuboid obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00052">cuboid_reader.h:52</a></div></div> +<div class="ttc" id="aclassCuboidReader_html_ab342f042b2aed5d298789372ea605273"><div class="ttname"><a href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">CuboidReader::setCuboidObstacle</a></div><div class="ttdeci">void setCuboidObstacle(std::vector< Cuboid > &cuboid_data)</div><div class="ttdoc">Set Cuboid obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00040">cuboid_reader.h:40</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000001_000006.html b/doc/html/dir_000001_000006.html index 5ba49f0fb838cea4e60ec614ffcc10d902ad03ff..f50c59bd040ffe5f18953a3b923e97306ebe7eb1 100644 --- a/doc/html/dir_000001_000006.html +++ b/doc/html/dir_000001_000006.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000001_000008.html b/doc/html/dir_000001_000008.html index 49c55f787d244a8a4763d824b937aa3203efb066..617ac14cb2d005e4843dbfe32f115ed6cd4a2240 100644 --- a/doc/html/dir_000001_000008.html +++ b/doc/html/dir_000001_000008.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000003_000000.html b/doc/html/dir_000003_000000.html index 81b6f104b00c81a8af368d90164c7b52fd2ed1c3..a674a8f192ba966e54e2f76aa80385101893b1c6 100644 --- a/doc/html/dir_000003_000000.html +++ b/doc/html/dir_000003_000000.html @@ -21,13 +21,13 @@ $(function() { </div> </div><!-- top --> <div class="contents"> -<h3>mediator → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/mediator</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8cpp.html">abstract_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8cpp.html">base_calculation_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td></tr></table></div><!-- contents --> +<h3>mediator → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/mediator</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8cpp.html">abstract_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8cpp.html">base_calculation_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="grasp__mediator_8cpp.html">grasp_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="grasp__mediator_8h.html">grasp_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000004_000006.html b/doc/html/dir_000004_000006.html index 2876531efef4be585dbac657813cdc0a026dff7e..a671833ffe8756e3d0a100dc8c7a96e9b25ea7b6 100644 --- a/doc/html/dir_000004_000006.html +++ b/doc/html/dir_000004_000006.html @@ -21,13 +21,13 @@ $(function() { </div> </div><!-- top --> <div class="contents"> -<h3>mediator → reader Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/mediator</th><th class="dirtab">Includes file in include/reader</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__reader_8h.html">robot_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="ts__reader_8h.html">ts_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__reader_8h.html">robot_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="cuboid__reader_8h.html">cuboid_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="job__reader_8h.html">job_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr></table></div><!-- contents --> +<h3>mediator → reader Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/mediator</th><th class="dirtab">Includes file in include/reader</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="cuboid__reader_8h.html">cuboid_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__reader_8h.html">robot_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="ts__reader_8h.html">ts_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__reader_8h.html">robot_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="cuboid__reader_8h.html">cuboid_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="job__reader_8h.html">job_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000004_000008.html b/doc/html/dir_000004_000008.html index 669872964f6bedd6b566b6f73b61ea4c7dc1531f..0f7b454a122025779c5674e50d6049c05a22a1d0 100644 --- a/doc/html/dir_000004_000008.html +++ b/doc/html/dir_000004_000008.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000004_000010.html b/doc/html/dir_000004_000010.html index 3058e6716c84892e60efe32d9a82f125a82f54d0..18a8ac4c92d466af94fa8bf61e1d3f4475ab971c 100644 --- a/doc/html/dir_000004_000010.html +++ b/doc/html/dir_000004_000010.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000004_000015.html b/doc/html/dir_000004_000015.html index 3ca7375c7df4f15e8126671bf187a9215529d5f7..5d3836c7466823a0a72b8ce804489f496517bfcc 100644 --- a/doc/html/dir_000004_000015.html +++ b/doc/html/dir_000004_000015.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000005_000000.html b/doc/html/dir_000005_000000.html index 03f5d895df29ffccef55291e77ed8e4094f2898c..370a35b94f99bc43e730f00cfe7853c0b765eafb 100644 --- a/doc/html/dir_000005_000000.html +++ b/doc/html/dir_000005_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000007_000000.html b/doc/html/dir_000007_000000.html index d801889dd8c8843b6ac52ff0c1fa0eebf13ce172..7e8ceff127a85187d2939337ab222e08172e50dc 100644 --- a/doc/html/dir_000007_000000.html +++ b/doc/html/dir_000007_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000008_000010.html b/doc/html/dir_000008_000010.html index 72b1254c4a034b5c0d50946d91c7eb696db6c166..164341b19bd78a78e3a2150f09082a1c651e0d1a 100644 --- a/doc/html/dir_000008_000010.html +++ b/doc/html/dir_000008_000010.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000011_000000.html b/doc/html/dir_000011_000000.html index 7e0267e01b352b4ed7ecb09495bf9fd28fe47dbe..e8bab2087c51c73398d67d937e0227b1484c6e9a 100644 --- a/doc/html/dir_000011_000000.html +++ b/doc/html/dir_000011_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000012_000000.html b/doc/html/dir_000012_000000.html index 0d633753c401f6a78df8e943a578eff13795f071..22e64b74175c317e6e282b9d7a91e91e0dd3d7c4 100644 --- a/doc/html/dir_000012_000000.html +++ b/doc/html/dir_000012_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000014_000000.html b/doc/html/dir_000014_000000.html index 98a98dd270f5dee9e7e41ca12efedb16b6b8fd0d..3afb4526bc5e42fd05b3852ce868ac2bf900cc79 100644 --- a/doc/html/dir_000014_000000.html +++ b/doc/html/dir_000014_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000015_000004.html b/doc/html/dir_000015_000004.html index 6e5c5881573f02abd7560f7dbf2de8afc1bc740b..1f8937d102160871a3cb953018e0b94f0596a92d 100644 --- a/doc/html/dir_000015_000004.html +++ b/doc/html/dir_000015_000004.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000015_000008.html b/doc/html/dir_000015_000008.html index 90e6c170f1e14fcd5d256ca25f8371a469fa5659..7fcc5b9b9b922d0747ad8f3660d7db4298ef5548 100644 --- a/doc/html/dir_000015_000008.html +++ b/doc/html/dir_000015_000008.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000016_000000.html b/doc/html/dir_000016_000000.html index 209c70f2291e3c1c6af8d94250cf6531ef1aca1c..761f06a43ea3de04187af48a949146f3e488a8e2 100644 --- a/doc/html/dir_000016_000000.html +++ b/doc/html/dir_000016_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000018_000000.html b/doc/html/dir_000018_000000.html index 037cc9cfb4a34fa10bc33cc70450502ca26dd789..c94087a4022693991194b4f4510f08f65214e0a1 100644 --- a/doc/html/dir_000018_000000.html +++ b/doc/html/dir_000018_000000.html @@ -26,8 +26,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000019_000000.html b/doc/html/dir_000019_000000.html index cd9f2b11c196750366eeb00fa1dd40ca371345c3..1fab9b4166e50df11720db58465bdedc85bd45eb 100644 --- a/doc/html/dir_000019_000000.html +++ b/doc/html/dir_000019_000000.html @@ -26,8 +26,8 @@ $(function() { <br clear="all" /> <hr size="1"><div style="align: right;"> <a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br /> -Author(s): MA <matteo.aneddama@gmail.com></br /> -<small>autogenerated on Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_000021_000000.html b/doc/html/dir_000021_000000.html new file mode 100644 index 0000000000000000000000000000000000000000..ce539cf6f20a8cf07cb2dc50a70e51bc84fd8e8d --- /dev/null +++ b/doc/html/dir_000021_000000.html @@ -0,0 +1,33 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: reader -> include Relation</title> +<link href="doxygen.css" rel="stylesheet" type="text/css"> +<link href="tabs.css" rel="stylesheet" type="text/css"> +<script type="text/javascript" src="jquery.js"></script> +</head> +<body onload='searchBox.OnSelectItem(0);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li><li class="navelem"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></li> </ul> +</div> +</div><!-- top --> +<div class="contents"> +<h3>reader → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in test/reader</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__bt_8cpp.html">test_bt.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="abstract__param__reader_8h.html">abstract_param_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__bt_8cpp.html">test_bt.cpp</a></td><td class="dirtab"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</a> / <a class="el" href="execution_8h.html">execution.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__bt_8cpp.html">test_bt.cpp</a></td><td class="dirtab"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</a> / <a class="el" href="parallel__robot_8h.html">parallel_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__bt_8cpp.html">test_bt.cpp</a></td><td class="dirtab"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</a> / <a class="el" href="position__condition_8h.html">position_condition.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__reader_8cpp.html">test_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="cuboid__reader_8h.html">cuboid_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__reader_8cpp.html">test_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="job__reader_8h.html">job_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__reader_8cpp.html">test_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="map__reader_8h.html">map_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="test__reader_8cpp.html">test_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="robot__reader_8h.html">robot_reader.h</a></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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html index 1991960eb5cd18396066989ac4a05de0737c43a9..6074010a4065eab6733b64fa6937a57e3d822dc7 100644 --- a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html +++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html @@ -32,7 +32,7 @@ Directory dependency graph for mediator:</div> <map name="dir__0197a5d81791167ca90f243ba28e7f5e__dep" id="dir__0197a5d81791167ca90f243ba28e7f5e__dep"> <area shape="rect" href="dir_0197a5d81791167ca90f243ba28e7f5e.html" title="mediator" alt="" coords="27,52,109,100"/> <area shape="rect" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="32,148,104,196"/> -<area shape="rect" href="dir_000003_000000.html" title="4" alt="" coords="72,122,81,137"/> +<area shape="rect" href="dir_000003_000000.html" title="5" alt="" coords="72,122,81,137"/> <area shape="rect" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" title="src" alt="" coords="16,16,120,111"/> </map> </div> @@ -43,6 +43,8 @@ Files</h2></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:base__calculation__mediator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="base__calculation__mediator_8cpp.html">base_calculation_mediator.cpp</a> <a href="base__calculation__mediator_8cpp_source.html">[code]</a></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:grasp__mediator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="grasp__mediator_8cpp.html">grasp_mediator.cpp</a> <a href="grasp__mediator_8cpp_source.html">[code]</a></td></tr> +<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:moveit__mediator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a> <a href="moveit__mediator_8cpp_source.html">[code]</a></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> </table> @@ -51,8 +53,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.map b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.map index 1d7e994cb649d9b3dfc7ab817a938c3c32a26703..623057d3003175227e5839f66a5db3b275173409 100644 --- a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.map +++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.map @@ -1,6 +1,6 @@ <map id="mediator" name="mediator"> <area shape="rect" id="node1" href="dir_0197a5d81791167ca90f243ba28e7f5e.html" title="mediator" alt="" coords="27,52,109,100"/> <area shape="rect" id="node2" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="32,148,104,196"/> -<area shape="rect" id="edge1-headlabel" href="dir_000003_000000.html" title="4" alt="" coords="72,122,81,137"/> +<area shape="rect" id="edge1-headlabel" href="dir_000003_000000.html" title="5" alt="" coords="72,122,81,137"/> <area shape="rect" id="clust1" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" title="src" alt="" coords="16,16,120,111"/> </map> diff --git a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.md5 b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.md5 index dfc0796e20363796337fc493fadce969ff601185..e198b005e7345991e319a738281c82348157ae66 100644 --- a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.md5 +++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.md5 @@ -1 +1 @@ -4bc48450b1fe6096444ea32f23f70cd1 \ No newline at end of file +72dcd9a26ce23f4352c1772043900833 \ No newline at end of file diff --git a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.png b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.png index ce03bcf8d9bdd7948ea46549aaea0768c46fa285..8b694c0f02c75d6b5aaf7dfad340bf3ef16e2fa3 100644 Binary files a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.png and b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.png differ diff --git a/doc/html/dir_129dfe63f339df39af9b29f455952c18.html b/doc/html/dir_129dfe63f339df39af9b29f455952c18.html index 38b54c0d6940b8d2c00532728094c68c27f7422a..c2571bd22fb6e0d1a151f6cf0212f9ae1701736c 100644 --- a/doc/html/dir_129dfe63f339df39af9b29f455952c18.html +++ b/doc/html/dir_129dfe63f339df39af9b29f455952c18.html @@ -49,8 +49,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_13e138d54eb8818da29c3992edef070a.html b/doc/html/dir_13e138d54eb8818da29c3992edef070a.html new file mode 100644 index 0000000000000000000000000000000000000000..5eee11920b30b31b614fa0996044b0ba307a7b70 --- /dev/null +++ b/doc/html/dir_13e138d54eb8818da29c3992edef070a.html @@ -0,0 +1,54 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: test Directory 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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">test Directory Reference</div> </div> +</div><!--header--> +<div class="contents"> +<div class="dynheader"> +Directory dependency graph for test:</div> +<div class="dyncontent"> +<div class="center"><img src="dir_13e138d54eb8818da29c3992edef070a_dep.png" border="0" usemap="#dir__13e138d54eb8818da29c3992edef070a__dep" alt="test"/></div> +<map name="dir__13e138d54eb8818da29c3992edef070a__dep" id="dir__13e138d54eb8818da29c3992edef070a__dep"> +<area shape="rect" href="dir_5dbef07ae17552def12da89c7166292a.html" title="reader" alt="" coords="27,27,99,75"/> +<area shape="rect" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="27,123,99,171"/> +<area shape="rect" href="dir_000021_000000.html" title="8" alt="" coords="66,97,76,112"/> +<area shape="rect" href="dir_13e138d54eb8818da29c3992edef070a.html" alt="" coords="16,16,205,85"/> +</map> +</div> +<table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="subdirs"></a> +Directories</h2></td></tr> +<tr class="memitem:dir_5dbef07ae17552def12da89c7166292a"><td class="memItemLeft" align="right" valign="top">directory  </td><td class="memItemRight" valign="bottom"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></td></tr> +<tr class="separator:"><td class="memSeparator" colspan="2"> </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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/dir_13e138d54eb8818da29c3992edef070a_dep.map 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0000000000000000000000000000000000000000..cabd4983a95543540aa450d8037bb4257528ce08 --- /dev/null +++ b/doc/html/dir_13e138d54eb8818da29c3992edef070a_dep.md5 @@ -0,0 +1 @@ +561af43ebba0a845ac6febe6d5753a54 \ No newline at end of file diff --git a/doc/html/dir_13e138d54eb8818da29c3992edef070a_dep.png b/doc/html/dir_13e138d54eb8818da29c3992edef070a_dep.png new file mode 100644 index 0000000000000000000000000000000000000000..4aa9b7ec459a84f5f96a61a73dddb76381dedb33 Binary files /dev/null and b/doc/html/dir_13e138d54eb8818da29c3992edef070a_dep.png differ diff --git a/doc/html/dir_213ed5268c3d3b5adb84b79e310ac6b7.html b/doc/html/dir_213ed5268c3d3b5adb84b79e310ac6b7.html index e0dce33b6f09f34229b78976256425edd7bb9077..544c6344270c6c9ef0c48e78d52528bc1caf6254 100644 --- a/doc/html/dir_213ed5268c3d3b5adb84b79e310ac6b7.html +++ b/doc/html/dir_213ed5268c3d3b5adb84b79e310ac6b7.html @@ -51,8 +51,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_3fa4fe7af966ee5402ed4c492cbb29ae.html b/doc/html/dir_3fa4fe7af966ee5402ed4c492cbb29ae.html index e93973a095db0fbd8d4c56af356d7b93f55a8907..906b255832e7fb40bd30f866b9533a35918e9497 100644 --- a/doc/html/dir_3fa4fe7af966ee5402ed4c492cbb29ae.html +++ b/doc/html/dir_3fa4fe7af966ee5402ed4c492cbb29ae.html @@ -51,8 +51,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_4cbbe425e67f14606b10f98426aa0272.html b/doc/html/dir_4cbbe425e67f14606b10f98426aa0272.html index 97aad6e2643bad8c8d44a41cb3c6e8bd10f4fd9f..c274936f449f00c9cefb3e2ed845913504cd3a87 100644 --- a/doc/html/dir_4cbbe425e67f14606b10f98426aa0272.html +++ b/doc/html/dir_4cbbe425e67f14606b10f98426aa0272.html @@ -52,8 +52,8 @@ Directories</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_5dbef07ae17552def12da89c7166292a.html b/doc/html/dir_5dbef07ae17552def12da89c7166292a.html new file mode 100644 index 0000000000000000000000000000000000000000..fe3e943a68f7ea5ec39cb8dac0915f3192a324f4 --- /dev/null +++ b/doc/html/dir_5dbef07ae17552def12da89c7166292a.html @@ -0,0 +1,56 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: reader Directory 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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li><li class="navelem"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">reader Directory Reference</div> </div> +</div><!--header--> +<div class="contents"> +<div class="dynheader"> +Directory dependency graph for reader:</div> +<div class="dyncontent"> +<div class="center"><img src="dir_5dbef07ae17552def12da89c7166292a_dep.png" border="0" usemap="#dir__5dbef07ae17552def12da89c7166292a__dep" alt="reader"/></div> +<map name="dir__5dbef07ae17552def12da89c7166292a__dep" id="dir__5dbef07ae17552def12da89c7166292a__dep"> +<area shape="rect" href="dir_5dbef07ae17552def12da89c7166292a.html" title="reader" alt="" coords="27,52,99,100"/> +<area shape="rect" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="27,148,99,196"/> +<area shape="rect" href="dir_000021_000000.html" title="8" alt="" coords="66,122,76,137"/> +<area shape="rect" href="dir_13e138d54eb8818da29c3992edef070a.html" title="test" alt="" coords="16,16,109,111"/> +</map> +</div> +<table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a> +Files</h2></td></tr> +<tr class="memitem:test__bt_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="test__bt_8cpp.html">test_bt.cpp</a> <a href="test__bt_8cpp_source.html">[code]</a></td></tr> +<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:test__reader_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="test__reader_8cpp.html">test_reader.cpp</a> <a href="test__reader_8cpp_source.html">[code]</a></td></tr> +<tr class="separator:"><td class="memSeparator" colspan="2"> </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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.map b/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.map new file mode 100644 index 0000000000000000000000000000000000000000..4f2cc4003c2d525c5253b37737a18ada55ce4554 --- /dev/null +++ b/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.map @@ -0,0 +1,6 @@ +<map id="reader" name="reader"> +<area shape="rect" id="node1" href="dir_5dbef07ae17552def12da89c7166292a.html" title="reader" alt="" coords="27,52,99,100"/> +<area shape="rect" id="node2" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="27,148,99,196"/> +<area shape="rect" id="edge1-headlabel" href="dir_000021_000000.html" title="8" alt="" coords="66,122,76,137"/> +<area shape="rect" id="clust1" href="dir_13e138d54eb8818da29c3992edef070a.html" title="test" alt="" coords="16,16,109,111"/> +</map> diff --git a/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.md5 b/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.md5 new file mode 100644 index 0000000000000000000000000000000000000000..4e0772f3dfb3a8d1d32ec2338426744902ae4bfb --- /dev/null +++ b/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.md5 @@ -0,0 +1 @@ +01cf937a153a377e2fe5cc510cee8ea6 \ No newline at end of file diff --git a/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.png b/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.png new file mode 100644 index 0000000000000000000000000000000000000000..dfda54f3623d50c78884c590d948cc385e27e39c Binary files /dev/null and b/doc/html/dir_5dbef07ae17552def12da89c7166292a_dep.png differ diff --git a/doc/html/dir_667ff67bcf6db6b92614eeda031ac18f.html b/doc/html/dir_667ff67bcf6db6b92614eeda031ac18f.html index 3cbec54497495b69b8fecaac49fbcc434d8194c6..6310f84396dc80e17d72b93ae3b5f0850f76aead 100644 --- a/doc/html/dir_667ff67bcf6db6b92614eeda031ac18f.html +++ b/doc/html/dir_667ff67bcf6db6b92614eeda031ac18f.html @@ -55,8 +55,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index d08d9d0e3d37d031f60b32b560e29682dbdeaa4a..ba485d28ca98d0e55a5c40e2a0165504e1898a75 100644 --- a/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -36,7 +36,7 @@ Directory dependency graph for src:</div> <area shape="rect" href="dir_3fa4fe7af966ee5402ed4c492cbb29ae.html" title="bt" alt="" coords="467,27,539,75"/> <area shape="rect" href="dir_000014_000000.html" title="3" alt="" coords="402,117,411,131"/> <area shape="rect" href="dir_0197a5d81791167ca90f243ba28e7f5e.html" title="mediator" alt="" coords="361,27,442,75"/> -<area shape="rect" href="dir_000003_000000.html" title="4" alt="" coords="374,103,384,118"/> +<area shape="rect" href="dir_000003_000000.html" title="5" alt="" coords="374,103,384,118"/> <area shape="rect" href="dir_af89b2be539cdaaafaad341d1e56977e.html" title="reader" alt="" coords="264,27,336,75"/> <area shape="rect" href="dir_000005_000000.html" title="8" alt="" coords="332,95,342,110"/> <area shape="rect" href="dir_d623b6b26deaaca15238f927e86bbb46.html" title="robot" alt="" coords="168,27,240,75"/> @@ -66,7 +66,7 @@ Directories</h2></td></tr> Files</h2></td></tr> <tr class="memitem:cell__routine_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="cell__routine_8cpp.html">cell_routine.cpp</a> <a href="cell__routine_8cpp_source.html">[code]</a></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:grasp__cell__routine_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="grasp__cell__routine_8cpp.html">grasp_cell_routine.cpp</a> <a href="grasp__cell__routine_8cpp_source.html">[code]</a></td></tr> +<tr class="memitem:config__routine_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="config__routine_8cpp.html">config_routine.cpp</a> <a href="config__routine_8cpp_source.html">[code]</a></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:mtc2taskspace_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="mtc2taskspace_8cpp.html">mtc2taskspace.cpp</a> <a href="mtc2taskspace_8cpp_source.html">[code]</a></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> @@ -78,8 +78,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map b/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map index 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b/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png differ diff --git a/doc/html/dir_7b0efc06fc22adaf2ca7a380b2f6473b.html b/doc/html/dir_7b0efc06fc22adaf2ca7a380b2f6473b.html index 2666c4723f9e96972ba0b9ae2ea0195989022ead..3e3cedce408f4e9890e4d75e21c646f4b25485ce 100644 --- a/doc/html/dir_7b0efc06fc22adaf2ca7a380b2f6473b.html +++ b/doc/html/dir_7b0efc06fc22adaf2ca7a380b2f6473b.html @@ -38,7 +38,7 @@ Directory dependency graph for mediator:</div> <area shape="rect" href="dir_667ff67bcf6db6b92614eeda031ac18f.html" title="bt" alt="" coords="5,52,77,100"/> <area shape="rect" href="dir_000004_000015.html" title="3" alt="" coords="91,77,100,92"/> <area shape="rect" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html" title="reader" alt="" coords="165,148,237,196"/> -<area shape="rect" href="dir_000004_000006.html" title="8" alt="" coords="180,121,189,135"/> +<area shape="rect" href="dir_000004_000006.html" title="9" alt="" coords="180,121,189,135"/> <area shape="rect" 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href="grasp__mediator_8h_source.html">[code]</a></td></tr> +<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:moveit__mediator_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a> <a href="moveit__mediator_8h_source.html">[code]</a></td></tr> <tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr> </table> @@ -60,8 +62,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_7b0efc06fc22adaf2ca7a380b2f6473b_dep.map 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b/doc/html/dir_7b0efc06fc22adaf2ca7a380b2f6473b_dep.png differ diff --git a/doc/html/dir_82432a442f7690767534b978fe0f8420.html b/doc/html/dir_82432a442f7690767534b978fe0f8420.html index 64384a3b6fabefd55c17622dc514b7ba5070654f..12d353e28d3b886470242f0571e30e91c8397108 100644 --- a/doc/html/dir_82432a442f7690767534b978fe0f8420.html +++ b/doc/html/dir_82432a442f7690767534b978fe0f8420.html @@ -55,8 +55,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019.html b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019.html index 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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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html b/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html index bfa79dcc7ffea262200c4df754809e081a6bd393..90914b3e13dd7ab05033e247d0672518ac429060 100644 --- a/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html +++ b/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html @@ -51,8 +51,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html b/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html index 63e85a25f409905c896731e0897516ae22fdf9f3..20c801f8471a71feb3c3a83ac1162733e471d75d 100644 --- a/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html +++ b/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html @@ -61,8 +61,8 @@ Files</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/dir_bff0e0394a2452d575b35258352fd8fb.html 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execution.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/execution_8cpp__incl.map b/doc/html/execution_8cpp__incl.map index b3e46ab1c0673d18be86f9ee664b82ed10ec9b7c..1fe84f5df3adc7fee33e554eca752f2c38faa52a 100644 --- a/doc/html/execution_8cpp__incl.map +++ b/doc/html/execution_8cpp__incl.map @@ -1,41 +1,43 @@ <map id="execution.cpp" name="execution.cpp"> -<area shape="rect" id="node1" title=" " alt="" coords="850,5,963,32"/> -<area shape="rect" id="node2" href="$execution_8h.html" title=" " alt="" coords="849,80,964,107"/> -<area shape="rect" id="node3" title=" " alt="" coords="2446,527,2525,553"/> -<area shape="rect" 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b/doc/html/execution_8cpp__incl.md5 @@ -1 +1 @@ -761cf1544058209b74d6faa21d5bdbda \ No newline at end of file +4e9256ef1761723d659c19927ea5d518 \ No newline at end of file diff --git a/doc/html/execution_8cpp__incl.png b/doc/html/execution_8cpp__incl.png index 897bfeb317bcf69bfa2e9ec60e7810f3cdcd0f04..a1e364ce387013a52473f36fa67f92b791d0ca84 100644 Binary files a/doc/html/execution_8cpp__incl.png and b/doc/html/execution_8cpp__incl.png differ diff --git a/doc/html/execution_8cpp_source.html b/doc/html/execution_8cpp_source.html index 1cc827951b90af2b80eb011508e69b2d69bfd40a..e8f26abd3eb10b818ee2fd90460b6da509529058 100644 --- a/doc/html/execution_8cpp_source.html +++ b/doc/html/execution_8cpp_source.html @@ -31,43 +31,44 @@ $(function() { <div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : BT::StatefulActionNode(name, config) {}</div> <div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> <div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa"> 6</a></span> BT::NodeStatus <a class="code" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution::onStart</a>(){</div> -<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  <span class="keywordflow">if</span> (<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> != <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.end()){</div> -<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->trajectory, <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->scene_diff);</div> -<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>->insert_or_assign(<a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), pair);</div> -<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>++;</div> -<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div> -<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  } <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div> -<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  }</div> -<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  }</div> -<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div> -<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b"> 17</a></span> BT::NodeStatus <a class="code" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a>(){</div> -<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordflow">if</span> (<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> != <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.end()){</div> -<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->trajectory, <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->scene_diff);</div> -<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>->insert_or_assign(<a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), pair);</div> -<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>++;</div> -<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div> -<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  } <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div> -<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  }</div> -<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> }</div> -<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4"> 27</a></span> <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a>(){}</div> -<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div> -<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5"> 29</a></span> <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a>(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions , <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr_reference, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets) {</div> -<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>= mr_reference;</div> -<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a> = ets;</div> -<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> = <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.begin();</div> -<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a> = executions;</div> -<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> }</div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  ROS_INFO(<span class="stringliteral">"PING"</span>);</div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keywordflow">if</span> (<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> != <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.end()){</div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->trajectory, <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->scene_diff);</div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>->insert_or_assign(<a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), pair);</div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>++;</div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  } <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  }</div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  }</div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div> +<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b"> 18</a></span> BT::NodeStatus <a class="code" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a>(){</div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordflow">if</span> (<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> != <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.end()){</div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->trajectory, <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->scene_diff);</div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>->insert_or_assign(<a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), pair);</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>++;</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  } <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  }</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> }</div> +<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4"> 28</a></span> <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a>(){}</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> +<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5"> 30</a></span> <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a>(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions , <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr_reference, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets) {</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>= mr_reference;</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a> = ets;</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> = <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.begin();</div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a> = executions;</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> }</div> </div><!-- fragment --></div><!-- contents --> <div class="ttc" id="aclassExecution_html_ac66c28006ba68631a6cdcce5f6048eee"><div class="ttname"><a href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">Execution::it_</a></div><div class="ttdeci">std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator it_</div><div class="ttdoc">next iteration of ExecuteTaskSolutionGoal</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00028">execution.h:28</a></div></div> <div class="ttc" id="aclassExecution_html_aec2ad8cedc29fdf939ecb71ea778b94d"><div class="ttname"><a href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution::Execution</a></div><div class="ttdeci">Execution(const std::string &name, const BT::NodeConfiguration &config)</div><div class="ttdoc">constructor</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00003">execution.cpp:3</a></div></div> -<div class="ttc" id="aclassExecution_html_a98656e2c9600aff97c412db421bc85d4"><div class="ttname"><a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a></div><div class="ttdeci">void onHalted() override</div><div class="ttdoc">Function called on halt.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00027">execution.cpp:27</a></div></div> -<div class="ttc" id="aclassExecution_html_a9750aafd1107ea408aba7d31412b7b8b"><div class="ttname"><a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a></div><div class="ttdeci">BT::NodeStatus onRunning() override</div><div class="ttdoc">Function called while node is in running state.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00017">execution.cpp:17</a></div></div> +<div class="ttc" id="aclassExecution_html_a98656e2c9600aff97c412db421bc85d4"><div class="ttname"><a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a></div><div class="ttdeci">void onHalted() override</div><div class="ttdoc">Function called on halt.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00028">execution.cpp:28</a></div></div> +<div class="ttc" id="aclassExecution_html_a9750aafd1107ea408aba7d31412b7b8b"><div class="ttname"><a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a></div><div class="ttdeci">BT::NodeStatus onRunning() override</div><div class="ttdoc">Function called while node is in running state.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00018">execution.cpp:18</a></div></div> <div class="ttc" id="aclassExecution_html_a9997472fbbaa6d0d3f9e6405148216aa"><div class="ttname"><a href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution::onStart</a></div><div class="ttdeci">BT::NodeStatus onStart() override</div><div class="ttdoc">Function called at first execution.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00006">execution.cpp:6</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html_aa6ac3b0845c32dde50a90655ec0a6c97"><div class="ttname"><a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdoc">Redirects name call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00047">abstract_robot_decorator.h:47</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div> -<div class="ttc" id="aclassExecution_html_a83220fdadaf176477154ccd44f1cf0b5"><div class="ttname"><a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a></div><div class="ttdeci">void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00029">execution.cpp:29</a></div></div> +<div class="ttc" id="aclassExecution_html_a83220fdadaf176477154ccd44f1cf0b5"><div class="ttname"><a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a></div><div class="ttdeci">void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00030">execution.cpp:30</a></div></div> <div class="ttc" id="aclassExecution_html_a3e4eb097f9ed40ed2f27cb2199cb205f"><div class="ttname"><a href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">Execution::mr_reference_</a></div><div class="ttdeci">AbstractRobotDecorator * mr_reference_</div><div class="ttdoc">Reference to the robot.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00026">execution.h:26</a></div></div> <div class="ttc" id="aclassExecution_html_aa37ec3ca2032ee01f0f91670063c287a"><div class="ttname"><a href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">Execution::ets_</a></div><div class="ttdeci">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_</div><div class="ttdoc">ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00025">execution.h:25</a></div></div> <div class="ttc" id="aexecution_8h_html"><div class="ttname"><a href="execution_8h.html">execution.h</a></div></div> @@ -76,8 +77,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/execution_8h.html b/doc/html/execution_8h.html index 92152e691b2ba0c0258a5be9f422fef08a48317e..fd833ae137f5030badf15abd8b2f84fb4aabcb29 100644 --- a/doc/html/execution_8h.html +++ b/doc/html/execution_8h.html @@ -45,44 +45,46 @@ 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href="abstract__robot__decorator_8h.html">abstract_robot_decorator.h</a></div></div> <div class="ttc" id="aclassExecution_html_aec2ad8cedc29fdf939ecb71ea778b94d"><div class="ttname"><a href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution::Execution</a></div><div class="ttdeci">Execution(const std::string &name, const BT::NodeConfiguration &config)</div><div class="ttdoc">constructor</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00003">execution.cpp:3</a></div></div> <div class="ttc" id="aclassExecution_html"><div class="ttname"><a href="classExecution.html">Execution</a></div><div class="ttdoc">Execution node as StatefulActionNode.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00023">execution.h:23</a></div></div> -<div class="ttc" id="aclassExecution_html_a98656e2c9600aff97c412db421bc85d4"><div class="ttname"><a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a></div><div class="ttdeci">void onHalted() override</div><div class="ttdoc">Function called on halt.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00027">execution.cpp:27</a></div></div> -<div class="ttc" id="aclassExecution_html_a9750aafd1107ea408aba7d31412b7b8b"><div class="ttname"><a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a></div><div class="ttdeci">BT::NodeStatus onRunning() override</div><div class="ttdoc">Function called while node is in running state.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00017">execution.cpp:17</a></div></div> +<div class="ttc" id="aclassExecution_html_a98656e2c9600aff97c412db421bc85d4"><div class="ttname"><a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a></div><div class="ttdeci">void onHalted() override</div><div class="ttdoc">Function called on halt.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00028">execution.cpp:28</a></div></div> +<div class="ttc" id="aclassExecution_html_a9750aafd1107ea408aba7d31412b7b8b"><div class="ttname"><a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a></div><div class="ttdeci">BT::NodeStatus onRunning() override</div><div class="ttdoc">Function called while node is in running state.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00018">execution.cpp:18</a></div></div> <div class="ttc" id="aclassExecution_html_a9997472fbbaa6d0d3f9e6405148216aa"><div class="ttname"><a href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution::onStart</a></div><div class="ttdeci">BT::NodeStatus onStart() override</div><div class="ttdoc">Function called at first execution.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00006">execution.cpp:6</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div> -<div class="ttc" id="aclassExecution_html_a83220fdadaf176477154ccd44f1cf0b5"><div class="ttname"><a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a></div><div class="ttdeci">void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00029">execution.cpp:29</a></div></div> +<div class="ttc" id="aclassExecution_html_a83220fdadaf176477154ccd44f1cf0b5"><div class="ttname"><a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a></div><div class="ttdeci">void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00030">execution.cpp:30</a></div></div> <div class="ttc" id="aclassExecution_html_a3e4eb097f9ed40ed2f27cb2199cb205f"><div class="ttname"><a href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">Execution::mr_reference_</a></div><div class="ttdeci">AbstractRobotDecorator * mr_reference_</div><div class="ttdoc">Reference to the robot.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00026">execution.h:26</a></div></div> <div class="ttc" id="aclassExecution_html_aa37ec3ca2032ee01f0f91670063c287a"><div class="ttname"><a href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">Execution::ets_</a></div><div class="ttdeci">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_</div><div class="ttdoc">ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00025">execution.h:25</a></div></div> <div class="ttc" id="aclassExecution_html_adf786293daccae345032d30434e0b38a"><div class="ttname"><a href="classExecution.html#adf786293daccae345032d30434e0b38a">Execution::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * executions_</div><div class="ttdoc">trajetory and planningscene mapped to robot</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00027">execution.h:27</a></div></div> @@ -91,8 +91,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/files.html b/doc/html/files.html index b0ac691dabd09ed94864fbd9c94f3ae2ca87d490..6a3d746c7c1ad7d5b915f9206f3c1f60f36f7743 100644 --- a/doc/html/files.html +++ b/doc/html/files.html @@ -40,49 +40,53 @@ $(function() { <tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="cell__routine_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="cell__routine_8cpp.html" 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target="_self">robot_base_calculation_approach.cpp</a></td><td class="desc"></td></tr> +<tr id="row_44_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="robot__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="robot__reader_8cpp.html" target="_self">robot_reader.cpp</a></td><td class="desc"></td></tr> +<tr id="row_45_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="robot__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="robot__reader_8h.html" target="_self">robot_reader.h</a></td><td class="desc"></td></tr> +<tr id="row_46_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="rviz__panel_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="rviz__panel_8cpp.html" target="_self">rviz_panel.cpp</a></td><td class="desc"></td></tr> +<tr id="row_47_"><td class="entry"><span 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target="_self">task_space_reader.h</a></td><td class="desc"></td></tr> +<tr id="row_54_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="test__bt_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="test__bt_8cpp.html" target="_self">test_bt.cpp</a></td><td class="desc"></td></tr> +<tr id="row_55_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="test__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="test__reader_8cpp.html" target="_self">test_reader.cpp</a></td><td class="desc"></td></tr> +<tr id="row_56_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ts__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="ts__reader_8cpp.html" target="_self">ts_reader.cpp</a></td><td class="desc"></td></tr> +<tr id="row_57_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ts__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="ts__reader_8h.html" target="_self">ts_reader.h</a></td><td class="desc"></td></tr> +<tr id="row_58_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur10__decorator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="ur10__decorator_8cpp.html" target="_self">ur10_decorator.cpp</a></td><td class="desc"></td></tr> +<tr id="row_59_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur10__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="ur10__decorator_8h.html" target="_self">ur10_decorator.h</a></td><td class="desc"></td></tr> +<tr id="row_60_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur5__decorator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="ur5__decorator_8cpp.html" target="_self">ur5_decorator.cpp</a></td><td class="desc"></td></tr> +<tr id="row_61_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur5__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="ur5__decorator_8h.html" target="_self">ur5_decorator.h</a></td><td class="desc"></td></tr> +<tr id="row_62_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="wing__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="wing__reader_8cpp.html" target="_self">wing_reader.cpp</a></td><td class="desc"></td></tr> +<tr id="row_63_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="wing__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="wing__reader_8h.html" target="_self">wing_reader.h</a></td><td class="desc"></td></tr> </table> </div><!-- directory --> </div><!-- contents --> @@ -90,8 +94,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions.html b/doc/html/functions.html index 75f54a4924e50d06f0a07209609779e56e2c54c5..26e744d4e9e21f34086cadf8135da942c52412cf 100644 --- a/doc/html/functions.html +++ b/doc/html/functions.html @@ -59,8 +59,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_b.html b/doc/html/functions_b.html index 63269eace2b7fc63c3cc578824a41a3aa9573317..7319851490f8f7786c5798f438523f10dc96b3f3 100644 --- a/doc/html/functions_b.html +++ b/doc/html/functions_b.html @@ -45,8 +45,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_c.html b/doc/html/functions_c.html index d19dbbb3719f2db0ed651a29b6affec4d991fbef..a4695636db8b4c3cb63c5811d3b19063d722bb80 100644 --- a/doc/html/functions_c.html +++ b/doc/html/functions_c.html @@ -47,6 +47,7 @@ $(function() { <li>connectRobots() : <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a> , <a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a> +, <a class="el" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">GraspMediator</a> , <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</a> </li> <li>createPCLBox() @@ -62,13 +63,16 @@ $(function() { : <a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader</a> </li> <li>cuboid_reader_ -: <a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator</a> +: <a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">AbstractMediator</a> </li> -<li>cuboidBin() -: <a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">CuboidReader</a> +<li>cuboidBox() +: <a class="el" href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">CuboidReader</a> </li> <li>cuboidObstacle() -: <a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">CuboidReader</a> +: <a class="el" href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">CuboidReader</a> +</li> +<li>cuboidReader() +: <a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">AbstractMediator</a> </li> <li>CuboidReader() : <a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a> @@ -79,8 +83,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_d.html b/doc/html/functions_d.html index 77f8d4da0df545b13368332d1f565e2a4eb59816..bffc1360cc5e27e50cb30f208064508ef2d80cd1 100644 --- a/doc/html/functions_d.html +++ b/doc/html/functions_d.html @@ -38,8 +38,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_e.html b/doc/html/functions_e.html index 49c4c2e18b4172cecdcc74d0443197d99e00ae66..fbc107b496669176192e1e824abf9de3c510eb66 100644 --- a/doc/html/functions_e.html +++ b/doc/html/functions_e.html @@ -39,8 +39,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_f.html b/doc/html/functions_f.html index 89cc9247d61a4a2959c72c70c3a1d43f032e086a..c2fc8f83d910b73f77998995b8d26b0657c7cc7c 100644 --- a/doc/html/functions_f.html +++ b/doc/html/functions_f.html @@ -38,8 +38,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func.html b/doc/html/functions_func.html index 701e310cc3183428a32bae46a16b7a3ab2ef08da..ca5d1665cc28e807f5440383d8f09a9490d7394a 100644 --- a/doc/html/functions_func.html +++ b/doc/html/functions_func.html @@ -56,8 +56,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_b.html b/doc/html/functions_func_b.html index 7c6e8e8578b89f97c83ecb90b7d1eec0acc2e9ab..1e73dcbe45362c99c48e10365c48d3a94e9b1aa8 100644 --- a/doc/html/functions_func_b.html +++ b/doc/html/functions_func_b.html @@ -41,8 +41,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_c.html b/doc/html/functions_func_c.html index e4ff8e3ba980c004c873a94fa0f57f89faf53327..4e7f6785d77dc4206b001d695f27b37d7603d3ad 100644 --- a/doc/html/functions_func_c.html +++ b/doc/html/functions_func_c.html @@ -44,6 +44,7 @@ $(function() { <li>connectRobots() : <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a> , <a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a> +, <a class="el" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">GraspMediator</a> , <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</a> </li> <li>createPCLBox() @@ -52,11 +53,14 @@ $(function() { <li>createTask() : <a class="el" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator</a> </li> -<li>cuboidBin() -: <a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">CuboidReader</a> +<li>cuboidBox() +: <a class="el" href="classCuboidReader.html#a9d897cb00ad2db2458d7759b8fa848ca">CuboidReader</a> </li> <li>cuboidObstacle() -: <a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">CuboidReader</a> +: <a class="el" href="classCuboidReader.html#aaf3b435f5bb8bea2fd47508ffdb0791a">CuboidReader</a> +</li> +<li>cuboidReader() +: <a class="el" href="classAbstractMediator.html#a7d381a7596104cf59560a4cc9659f500">AbstractMediator</a> </li> <li>CuboidReader() : <a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a> @@ -67,8 +71,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_d.html b/doc/html/functions_func_d.html index c84fbc6f2588f660c1da0123226dee5479c0a43d..c5601a45bbb285b8ae68c2e2310dae9933820bc7 100644 --- a/doc/html/functions_func_d.html +++ b/doc/html/functions_func_d.html @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_e.html b/doc/html/functions_func_e.html index 4b8ea0e40af7be197963ffa01cdaadafc22f41c3..69730eacdbb74f020476a9d4bcb6613cabece8c0 100644 --- a/doc/html/functions_func_e.html +++ b/doc/html/functions_func_e.html @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_f.html b/doc/html/functions_func_f.html index 21fd6041914be7db4cc2c85521a3fef97296d7f9..c7480b740da649e1310b32319cdb99003a5421f3 100644 --- a/doc/html/functions_func_f.html +++ b/doc/html/functions_func_f.html @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_g.html b/doc/html/functions_func_g.html index 8d6a047a3bcbeabb6cfb63468673b3f1201dbb75..85a57928ef61635fbb86a7d3b3e8281f2731a75e 100644 --- a/doc/html/functions_func_g.html +++ b/doc/html/functions_func_g.html @@ -23,14 +23,17 @@ $(function() { <li>generateGrounds() : <a class="el" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator</a> </li> +<li>GraspMediator() +: <a class="el" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator</a> +</li> </ul> </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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_h.html b/doc/html/functions_func_h.html index 2e7ad5fcf4a014b4ecfadc5f533b37fbab6cbd95..090b52c55865aaa1db989f4eb258206d7c458d57 100644 --- a/doc/html/functions_func_h.html +++ b/doc/html/functions_func_h.html @@ -29,8 +29,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_i.html b/doc/html/functions_func_i.html index 241e1bd01b124a45dd148a23e3a0507d0524a613..22cbf5af9c2e5bb2064a277547ed01178feb70be 100644 --- a/doc/html/functions_func_i.html +++ b/doc/html/functions_func_i.html @@ -47,8 +47,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_j.html b/doc/html/functions_func_j.html index 9257536fd0a4a811203737c97f40afbe3bfb3156..b81d94c768d56592a80c074cfd194f6a3af051a5 100644 --- a/doc/html/functions_func_j.html +++ b/doc/html/functions_func_j.html @@ -29,8 +29,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_l.html b/doc/html/functions_func_l.html index 7e0935be6ec682881098765bc4d6d29920e574bb..5231384f674b6ac60bbda106e90c56355cd66408 100644 --- a/doc/html/functions_func_l.html +++ b/doc/html/functions_func_l.html @@ -29,8 +29,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_m.html b/doc/html/functions_func_m.html index a6d9a0e0815f3edefddbb30aacbe478e051426c7..6e590c079e9d0bae2f7fb3508fcc90e11d0acd7b 100644 --- a/doc/html/functions_func_m.html +++ b/doc/html/functions_func_m.html @@ -39,6 +39,7 @@ $(function() { <li>mediate() : <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a> , <a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a> +, <a class="el" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">GraspMediator</a> , <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a> </li> <li>mergeACM() @@ -66,8 +67,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_n.html b/doc/html/functions_func_n.html index 2da2f1efaea330a02a3a5bb9ae5035bd961ce4eb..bc9b2b5ce51b93fe17f49e1dd823b112fcaa2984 100644 --- a/doc/html/functions_func_n.html +++ b/doc/html/functions_func_n.html @@ -43,8 +43,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_o.html b/doc/html/functions_func_o.html index 4882ab5c4e93040338aa5cc87373d81dc731e446..67f2f131f0a4469820e490dcb8b162e1127d7243 100644 --- a/doc/html/functions_func_o.html +++ b/doc/html/functions_func_o.html @@ -45,8 +45,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_p.html b/doc/html/functions_func_p.html index 6798cec49e6ab38fb80ceb2b4c23daea85792270..171d4172501fed587fd6ed916f62408b97a1fedc 100644 --- a/doc/html/functions_func_p.html +++ b/doc/html/functions_func_p.html @@ -55,8 +55,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_r.html b/doc/html/functions_func_r.html index ec1c4c784c18e34ff7a166f43973d4f344320d7b..8d521897e6e98be259b7684ab6c0ec92b8669d87 100644 --- a/doc/html/functions_func_r.html +++ b/doc/html/functions_func_r.html @@ -42,6 +42,9 @@ $(function() { <li>resultVector() : <a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator</a> </li> +<li>rewriteResult() +: <a class="el" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">GraspMediator</a> +</li> <li>robotData() : <a class="el" href="classJobReader.html#a56accc7df48201c78715c22195e4965e">JobReader</a> , <a class="el" href="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">RobotReader</a> @@ -77,8 +80,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_s.html b/doc/html/functions_func_s.html index 17ce7c2602ba8a80f420d2db28eea65eeb5902f6..d74444244c81c41048ff3a82526d8ca4db80a650 100644 --- a/doc/html/functions_func_s.html +++ b/doc/html/functions_func_s.html @@ -23,11 +23,11 @@ $(function() { <li>sceneCollision() : <a class="el" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator</a> </li> -<li>setCuboidBinData() -: <a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">CuboidReader</a> +<li>setCuboidBox() +: <a class="el" href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">CuboidReader</a> </li> -<li>setCuboidObstacleData() -: <a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">CuboidReader</a> +<li>setCuboidObstacle() +: <a class="el" href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">CuboidReader</a> </li> <li>setDirname() : <a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator</a> @@ -69,6 +69,7 @@ $(function() { <li>setPanel() : <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a> , <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a> +, <a class="el" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">GraspMediator</a> , <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a> </li> <li>setRelativeTf() @@ -117,7 +118,7 @@ $(function() { : <a class="el" href="classSimpleBaseImplementation.html#ae0ebda1d0ec6d77eec3a48c99b3ede2d">SimpleBaseImplementation</a> </li> <li>size() -: <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot</a> +: <a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot</a> , <a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">AbstractRobotDecorator</a> , <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">AbstractRobotElement</a> , <a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">AbstractRobotElementDecorator</a> @@ -145,8 +146,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_t.html b/doc/html/functions_func_t.html index 0c5c0d90038416ec00da6cd75b0b927cb9421ee1..21d9f5727b8453ebaa5832a9915e4a947b5190d9 100644 --- a/doc/html/functions_func_t.html +++ b/doc/html/functions_func_t.html @@ -56,8 +56,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_u.html b/doc/html/functions_func_u.html index 1a64fd4672460add4f671a932776c74e6dff30a7..ccfebe4f55406f5c62316b7d5f9c01cbdda487cb 100644 --- a/doc/html/functions_func_u.html +++ b/doc/html/functions_func_u.html @@ -40,8 +40,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_v.html b/doc/html/functions_func_v.html index eb00b8dfaeca6a357e03ca665ff0567a617df23f..c03b797b3dd8fe946942f2a30ef96dc2ade9fac2 100644 --- a/doc/html/functions_func_v.html +++ b/doc/html/functions_func_v.html @@ -29,8 +29,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_w.html b/doc/html/functions_func_w.html index 444254a3f1284c8a7806a2b6ab97b62a8f7f4fc1..d0b0c8b95db80a50567cf48b0ee9d21b4da9b0eb 100644 --- a/doc/html/functions_func_w.html +++ b/doc/html/functions_func_w.html @@ -46,8 +46,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_func_~.html b/doc/html/functions_func_~.html index ee3f34cdf5f8b7fb773722f9e3c59d58e9a9d1e3..49e07dee620fa4fbbd7656f37275ce08d8c2d98d 100644 --- a/doc/html/functions_func_~.html +++ b/doc/html/functions_func_~.html @@ -35,8 +35,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_g.html b/doc/html/functions_g.html index c03666389d281dd162e8f87f1edd64bdca95f9f8..f518ca7f52269c4b1e0fba2fa0a899d6a7c77ed1 100644 --- a/doc/html/functions_g.html +++ b/doc/html/functions_g.html @@ -26,6 +26,12 @@ $(function() { <li>grasp_map_generator_ : <a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">AbstractRobotDecorator</a> </li> +<li>grasp_pipeline_demo_ +: <a class="el" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">GraspMediator</a> +</li> +<li>GraspMediator() +: <a class="el" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator</a> +</li> <li>grounds_ : <a class="el" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">BaseCalculationMediator</a> </li> @@ -35,8 +41,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_h.html b/doc/html/functions_h.html index 9ef47fe15a55e0d9d992aa204ee5c07fbe104698..42d9941a2d991610a94a9677bebed4cb2e105bcc 100644 --- a/doc/html/functions_h.html +++ b/doc/html/functions_h.html @@ -29,8 +29,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_i.html b/doc/html/functions_i.html index d5ff215e18ca50297dcdf6d33df777cd1d2b8452..67f9487c7cc5b64c7c4d3087e08f6abd6caee840 100644 --- a/doc/html/functions_i.html +++ b/doc/html/functions_i.html @@ -56,8 +56,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_j.html b/doc/html/functions_j.html index 8da0e812420ceabff7ef21d486f018c4d36e42e4..9818ffafae81ac6a08c4e2ec27842a7a09352ec6 100644 --- a/doc/html/functions_j.html +++ b/doc/html/functions_j.html @@ -38,8 +38,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_l.html b/doc/html/functions_l.html index 162781e7751909d4aad663aa95a42e3983cd680b..95c97350a970c17e08e71111672b056e674f9585 100644 --- a/doc/html/functions_l.html +++ b/doc/html/functions_l.html @@ -29,8 +29,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_m.html b/doc/html/functions_m.html index df63806cd34d0ff7ddc1414be8fab7edad4453fd..e5be4f9d6fca6e9e723425dc02e21f49e4096954 100644 --- a/doc/html/functions_m.html +++ b/doc/html/functions_m.html @@ -53,6 +53,7 @@ $(function() { <li>mediate() : <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a> , <a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a> +, <a class="el" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">GraspMediator</a> , <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a> </li> <li>mergeACM() @@ -90,8 +91,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_n.html b/doc/html/functions_n.html index 56475019ff1fc836666258546dc98b9e6b1c0660..56468195d202940ae9564aa289385810c885a490 100644 --- a/doc/html/functions_n.html +++ b/doc/html/functions_n.html @@ -60,8 +60,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_o.html b/doc/html/functions_o.html index 8dabe29d4d98829431c3fe5c8e43913ae423cc3a..c01c5f87e4445eadcabe90354e9a7108308d9342 100644 --- a/doc/html/functions_o.html +++ b/doc/html/functions_o.html @@ -54,8 +54,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_p.html b/doc/html/functions_p.html index d757f1aa3e2f4d417116c1d264b9ec535e2729bc..27315197191f2ae0cc26e4025dad870aa3ccab5c 100644 --- a/doc/html/functions_p.html +++ b/doc/html/functions_p.html @@ -42,7 +42,7 @@ $(function() { : <a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator</a> </li> <li>planning_scene_monitor_ -: <a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator</a> +: <a class="el" href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">GraspMediator</a> </li> <li>pos_ : <a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP</a> @@ -83,8 +83,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_r.html b/doc/html/functions_r.html index 4c04f0fcd838acb1ffd477ab3e08ce0172b7b203..c0cee59e247d882b4c719d1055999e199203cbd7 100644 --- a/doc/html/functions_r.html +++ b/doc/html/functions_r.html @@ -33,6 +33,9 @@ $(function() { <li>read_parameter_from_ports_ : <a class="el" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">Parallel_robot</a> </li> +<li>referenceRobot_ +: <a class="el" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">GraspMediator</a> +</li> <li>relative_bounds_ : <a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator</a> </li> @@ -42,6 +45,9 @@ $(function() { <li>relativeTf() : <a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">AbstractRobotElement</a> </li> +<li>relevant_boxes_ +: <a class="el" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">GraspMediator</a> +</li> <li>reset() : <a class="el" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">CetiRobot</a> </li> @@ -54,9 +60,15 @@ $(function() { <li>result_vector_ : <a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator</a> </li> +<li>resultPath_ +: <a class="el" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">GraspMediator</a> +</li> <li>resultVector() : <a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator</a> </li> +<li>rewriteResult() +: <a class="el" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">GraspMediator</a> +</li> <li>robot_data_ : <a class="el" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">RobotReader</a> </li> @@ -113,8 +125,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_s.html b/doc/html/functions_s.html index ef4899f8c232c095ab06bc4034800760deb46f86..57b2ae8aed068090c6dd2b0c515f94e21f02b537 100644 --- a/doc/html/functions_s.html +++ b/doc/html/functions_s.html @@ -26,11 +26,11 @@ $(function() { <li>sceneCollision() : <a class="el" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator</a> </li> -<li>setCuboidBinData() -: <a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">CuboidReader</a> +<li>setCuboidBox() +: <a class="el" href="classCuboidReader.html#afbea0efa3f1ac07891c1a1095749a7c7">CuboidReader</a> </li> -<li>setCuboidObstacleData() -: <a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">CuboidReader</a> +<li>setCuboidObstacle() +: <a class="el" href="classCuboidReader.html#ab342f042b2aed5d298789372ea605273">CuboidReader</a> </li> <li>setDirname() : <a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator</a> @@ -72,6 +72,7 @@ $(function() { <li>setPanel() : <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a> , <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a> +, <a class="el" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">GraspMediator</a> , <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a> </li> <li>setRelativeTf() @@ -163,8 +164,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_t.html b/doc/html/functions_t.html index c61c1599cb072991412d342af0c0940604b09ffb..a68ae4f45c652b4657805033f2f07b4bb3bac213 100644 --- a/doc/html/functions_t.html +++ b/doc/html/functions_t.html @@ -82,8 +82,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_u.html b/doc/html/functions_u.html index 5ed371b6cfcb3d12a29607ceeb916605ad8ca54b..3f6dd3439d2b475130af76f262ecf6386dfda0d5 100644 --- a/doc/html/functions_u.html +++ b/doc/html/functions_u.html @@ -40,8 +40,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_v.html b/doc/html/functions_v.html index f3b59841d67537f34c7780389ad1663ada70823c..d9d4c2c68058c114ff600f86e1a45ccb6aca0931 100644 --- a/doc/html/functions_v.html +++ b/doc/html/functions_v.html @@ -24,7 +24,7 @@ $(function() { : <a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator</a> </li> <li>visual_tools_ -: <a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">MoveitMediator</a> +: <a class="el" href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">GraspMediator</a> </li> </ul> </div><!-- contents --> @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_vars.html b/doc/html/functions_vars.html index 39eba01e1526f902d40b77704e3f77b1ef9702b2..a989ed59b9bd31de0fa801d68408ffa04bc084fa 100644 --- a/doc/html/functions_vars.html +++ b/doc/html/functions_vars.html @@ -45,7 +45,7 @@ $(function() { : <a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader</a> </li> <li>cuboid_reader_ -: <a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator</a> +: <a class="el" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">AbstractMediator</a> </li> </ul> @@ -85,6 +85,9 @@ $(function() { <li>grasp_map_generator_ : <a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">AbstractRobotDecorator</a> </li> +<li>grasp_pipeline_demo_ +: <a class="el" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">GraspMediator</a> +</li> <li>grounds_ : <a class="el" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">BaseCalculationMediator</a> </li> @@ -187,7 +190,7 @@ $(function() { : <a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator</a> </li> <li>planning_scene_monitor_ -: <a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator</a> +: <a class="el" href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">GraspMediator</a> </li> <li>pos_ : <a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP</a> @@ -215,18 +218,27 @@ $(function() { <li>read_parameter_from_ports_ : <a class="el" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">Parallel_robot</a> </li> +<li>referenceRobot_ +: <a class="el" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">GraspMediator</a> +</li> <li>relative_bounds_ : <a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator</a> </li> <li>relative_tf_ : <a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">AbstractRobotElement</a> </li> +<li>relevant_boxes_ +: <a class="el" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">GraspMediator</a> +</li> <li>result_ : <a class="el" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">AbstractBase</a> </li> <li>result_vector_ : <a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator</a> </li> +<li>resultPath_ +: <a class="el" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">GraspMediator</a> +</li> <li>robot_data_ : <a class="el" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">RobotReader</a> </li> @@ -305,7 +317,7 @@ $(function() { <h3><a id="index_v"></a>- v -</h3><ul> <li>visual_tools_ -: <a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">MoveitMediator</a> +: <a class="el" href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">GraspMediator</a> </li> </ul> @@ -333,8 +345,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_w.html b/doc/html/functions_w.html index 638797129b097dc54a5947316dcc458b6555d51f..75c8fc0a3b1f6223f9dfa61d305cb30d61394379 100644 --- a/doc/html/functions_w.html +++ b/doc/html/functions_w.html @@ -62,8 +62,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/functions_~.html b/doc/html/functions_~.html index 6e8dfc36ce6f2fb6ee160b0386f3d3d74ddd1089..8c6709382dea08998481c6137d53a5ac8eaccf5f 100644 --- a/doc/html/functions_~.html +++ b/doc/html/functions_~.html @@ -35,8 +35,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/globals.html b/doc/html/globals.html index 86d152bd8e02a7b5aef15ae60e48d91b9fb5eb9d..597595e17eb9918064f4fe29f4ba598f085fcbd6 100644 --- a/doc/html/globals.html +++ b/doc/html/globals.html @@ -32,9 +32,11 @@ $(function() { </li> <li>main() : <a class="el" href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">cell_routine.cpp</a> -, <a class="el" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">grasp_cell_routine.cpp</a> -, <a class="el" href="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">mtc2taskspace.cpp</a> +, <a class="el" href="test__reader_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">test_reader.cpp</a> +, <a class="el" href="test__bt_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">test_bt.cpp</a> , <a class="el" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">robot_base_calculation_approach.cpp</a> +, <a class="el" href="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">mtc2taskspace.cpp</a> +, <a class="el" href="config__routine_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97">config_routine.cpp</a> </li> <li>R__ : <a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">abstract_robot.h</a> @@ -48,6 +50,11 @@ $(function() { <li>RML : <a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">abstract_robot.h</a> </li> +<li>TEST() +: <a class="el" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">test_bt.cpp</a> +, <a class="el" href="test__reader_8cpp.html#ad0af9049dedc5017058c5738f1ca8d36">test_reader.cpp</a> +, <a class="el" href="test__bt_8cpp.html#af20233f181c6e17e856a882df5466f10">test_bt.cpp</a> +</li> <li>wing_config : <a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">abstract_robot.h</a> </li> @@ -57,8 +64,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/globals_enum.html b/doc/html/globals_enum.html index 29272ca82ec42c4483762096ad0a82ef231c5f61..0a397be29c7dd668eecae934f6919cfaefe76976 100644 --- a/doc/html/globals_enum.html +++ b/doc/html/globals_enum.html @@ -27,8 +27,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/globals_eval.html b/doc/html/globals_eval.html index f92d48d0ab22920383335dd641420e6c4964fa5a..ac9159f9dbd635a0941c94fca0fed01c31acb017 100644 --- a/doc/html/globals_eval.html +++ b/doc/html/globals_eval.html @@ -48,8 +48,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/globals_func.html b/doc/html/globals_func.html index cba60a7075a0c6bb932760193811e97338836e4c..da24e807eb7829374a18e7107f8cec1a3be1097b 100644 --- a/doc/html/globals_func.html +++ b/doc/html/globals_func.html @@ -20,9 +20,15 @@ $(function() {  <ul> <li>main() : <a class="el" href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">cell_routine.cpp</a> -, <a class="el" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">robot_base_calculation_approach.cpp</a> +, <a class="el" href="config__routine_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97">config_routine.cpp</a> , <a class="el" href="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">mtc2taskspace.cpp</a> -, <a class="el" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">grasp_cell_routine.cpp</a> +, <a class="el" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">robot_base_calculation_approach.cpp</a> +, <a class="el" href="test__bt_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">test_bt.cpp</a> +, <a class="el" href="test__reader_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">test_reader.cpp</a> +</li> +<li>TEST() +: <a class="el" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">test_bt.cpp</a> +, <a class="el" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">test_reader.cpp</a> </li> </ul> </div><!-- contents --> @@ -30,8 +36,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/graph_legend.html b/doc/html/graph_legend.html index ad74d9eb3f6eaa43b442439513d49277b7539238..873fc56acf758c57c65a3ea7dfa4a7020e923570 100644 --- a/doc/html/graph_legend.html +++ b/doc/html/graph_legend.html @@ -86,8 +86,8 @@ A yellow dashed arrow denotes a relation between a template instance and the tem <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/grasp__cell__routine_8cpp.html b/doc/html/grasp__cell__routine_8cpp.html deleted file mode 100644 index 4b8a404232dd87466e702f18490ce5eacef3f083..0000000000000000000000000000000000000000 --- a/doc/html/grasp__cell__routine_8cpp.html +++ /dev/null @@ -1,132 +0,0 @@ -<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> -<title>multi_cell_builder: grasp_cell_routine.cpp 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);'> -<!-- Generated by Doxygen 1.8.17 --> -<script type="text/javascript" src="menudata.js"></script> -<script type="text/javascript" src="menu.js"></script> -<script type="text/javascript"> -/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ -$(function() { - initMenu('',false,false,'search.php','Search'); -}); -/* @license-end */</script> -<div id="main-nav"></div> -<div id="nav-path" class="navpath"> - <ul> -<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul> -</div> -</div><!-- top --> -<div class="header"> - <div class="summary"> -<a href="#func-members">Functions</a> </div> - <div class="headertitle"> -<div class="title">grasp_cell_routine.cpp File Reference</div> </div> -</div><!--header--> -<div class="contents"> -<div class="textblock"><code>#include "impl/abstract_robot.h"</code><br /> -<code>#include "impl/abstract_map_loader.h"</code><br /> -<code>#include "impl/map_loader.h"</code><br /> -<code>#include "impl/abstract_robot_element.h"</code><br /> -<code>#include "impl/abstract_robot_element_decorator.h"</code><br /> -<code>#include "impl/abstract_mediator.h"</code><br /> -<code>#include "impl/wing_moveit_decorator.h"</code><br /> -<code>#include "impl/wing.h"</code><br /> -<code>#include "impl/moveit_robot.h"</code><br /> -<code>#include "impl/collision_helper.h"</code><br /> -<code>#include <xmlrpcpp/XmlRpc.h></code><br /> -<code>#include "<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>"</code><br /> -<code>#include "<a class="el" href="robot__reader_8h_source.html">reader/robot_reader.h</a>"</code><br /> -<code>#include "<a class="el" href="wing__reader_8h_source.html">reader/wing_reader.h</a>"</code><br /> -<code>#include "<a class="el" href="cuboid__reader_8h_source.html">reader/cuboid_reader.h</a>"</code><br /> -<code>#include <moveit_grasps/two_finger_grasp_generator.h></code><br /> -<code>#include <moveit_grasps/two_finger_grasp_data.h></code><br /> -<code>#include <moveit_grasps/two_finger_grasp_filter.h></code><br /> -<code>#include <moveit_grasps/grasp_planner.h></code><br /> -</div><div class="textblock"><div class="dynheader"> -Include dependency graph for grasp_cell_routine.cpp:</div> -<div class="dyncontent"> -<div class="center"><img src="grasp__cell__routine_8cpp__incl.png" border="0" usemap="#grasp__cell__routine_8cpp" alt=""/></div> -<map name="grasp__cell__routine_8cpp" id="grasp__cell__routine_8cpp"> -<area shape="rect" title=" " alt="" coords="1709,5,1877,32"/> -<area shape="rect" title=" " alt="" coords="5,87,167,114"/> -<area shape="rect" title=" " alt="" coords="191,87,395,114"/> -<area shape="rect" title=" " alt="" coords="419,87,563,114"/> -<area shape="rect" title=" " alt="" coords="587,80,737,121"/> -<area shape="rect" title=" " alt="" coords="761,80,925,121"/> -<area shape="rect" title=" " alt="" coords="950,87,1137,114"/> -<area shape="rect" title=" " alt="" coords="1161,87,1381,114"/> -<area shape="rect" title=" " alt="" coords="1406,87,1505,114"/> -<area shape="rect" title=" " alt="" coords="1529,87,1683,114"/> -<area shape="rect" title=" " alt="" coords="1708,87,1877,114"/> -<area shape="rect" title=" " alt="" coords="1905,266,2054,293"/> -<area 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href="#a3c04138a5bfe5d72780bb7e82a18e627">◆ </a></span>main()</h2> - -<div class="memitem"> -<div class="memproto"> - <table class="memname"> - <tr> - <td class="memname">int main </td> - <td>(</td> - <td class="paramtype">int </td> - <td class="paramname"><em>argc</em>, </td> - </tr> - <tr> - <td class="paramkey"></td> - <td></td> - <td class="paramtype">char ** </td> - <td class="paramname"><em>argv</em> </td> - </tr> - <tr> - <td></td> - <td>)</td> - <td></td><td></td> - </tr> - </table> -</div><div class="memdoc"> - -<p class="definition">Definition at line <a class="el" href="grasp__cell__routine_8cpp_source.html#l00024">24</a> of file <a class="el" href="grasp__cell__routine_8cpp_source.html">grasp_cell_routine.cpp</a>.</p> - -</div> -</div> -</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 Mon Mar 27 2023 19:07:14</small> -</div> -</body> -</html> diff --git a/doc/html/grasp__cell__routine_8cpp__incl.map b/doc/html/grasp__cell__routine_8cpp__incl.map deleted file mode 100644 index e788854c5a8212c0c6ee751ff699d0759ec89cc9..0000000000000000000000000000000000000000 --- a/doc/html/grasp__cell__routine_8cpp__incl.map +++ /dev/null @@ -1,30 +0,0 @@ -<map id="grasp_cell_routine.cpp" name="grasp_cell_routine.cpp"> -<area shape="rect" id="node1" title=" " alt="" coords="1709,5,1877,32"/> -<area shape="rect" id="node2" title=" " alt="" coords="5,87,167,114"/> -<area shape="rect" id="node3" title=" " alt="" coords="191,87,395,114"/> -<area shape="rect" id="node4" title=" " alt="" coords="419,87,563,114"/> -<area shape="rect" id="node5" title=" " alt="" coords="587,80,737,121"/> -<area shape="rect" id="node6" title=" " alt="" coords="761,80,925,121"/> -<area shape="rect" id="node7" title=" " alt="" coords="950,87,1137,114"/> -<area shape="rect" id="node8" title=" " alt="" 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type="text/css"> -<script type="text/javascript" src="jquery.js"></script> -</head> -<body onload='searchBox.OnSelectItem(0);'> -<!-- Generated by Doxygen 1.8.17 --> -<script type="text/javascript" src="menudata.js"></script> -<script type="text/javascript" src="menu.js"></script> -<script type="text/javascript"> -/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ -$(function() { - initMenu('',false,false,'search.php','Search'); -}); -/* @license-end */</script> -<div id="main-nav"></div> -<div id="nav-path" class="navpath"> - <ul> -<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul> -</div> -</div><!-- top --> -<div class="header"> - <div class="headertitle"> -<div class="title">grasp_cell_routine.cpp</div> </div> -</div><!--header--> -<div class="contents"> -<a href="grasp__cell__routine_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "impl/abstract_robot.h"</span></div> -<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "impl/abstract_map_loader.h"</span></div> -<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "impl/map_loader.h"</span></div> -<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "impl/abstract_robot_element.h"</span></div> -<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "impl/abstract_robot_element_decorator.h"</span></div> -<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "impl/abstract_mediator.h"</span></div> -<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "impl/wing_moveit_decorator.h"</span></div> -<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "impl/wing.h"</span></div> -<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "impl/moveit_robot.h"</span></div> -<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "impl/collision_helper.h"</span></div> -<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div> -<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="abstract__param__reader_8h.html">reader/abstract_param_reader.h</a>"</span></div> -<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="robot__reader_8h.html">reader/robot_reader.h</a>"</span></div> -<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="wing__reader_8h.html">reader/wing_reader.h</a>"</span></div> -<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="cuboid__reader_8h.html">reader/cuboid_reader.h</a>"</span></div> -<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div> -<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_generator.h></span></div> -<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_data.h></span></div> -<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_filter.h></span></div> -<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <moveit_grasps/grasp_planner.h></span></div> -<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div> -<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div> -<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div> -<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 24</a></span> <span class="keywordtype">int</span> <a class="code" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div> -<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ros::init(argc, argv, <span class="stringliteral">"grasp_cell_routine"</span>);</div> -<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::shared_ptr<ros::NodeHandle> nnh = std::make_shared<ros::NodeHandle>();</div> -<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  ros::AsyncSpinner spinner(1);</div> -<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  spinner.start();</div> -<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> -<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  XmlRpc::XmlRpcValue map, task;</div> -<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> -<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  nnh->getParam(<span class="stringliteral">"/data"</span>,map);</div> -<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  nnh->getParam(<span class="stringliteral">"/task/groups"</span>,task);</div> -<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div> -<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div> -<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  Abstract_map_loader* map_loader = <span class="keyword">new</span> Map_loader(map, task);</div> -<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div> -<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div> -<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  ros::Publisher* pub = <span class="keyword">new</span> ros::Publisher(nnh->advertise< visualization_msgs::MarkerArray >(<span class="stringliteral">"visualization_marker_array"</span>, 1)); <span class="comment">//refractor</span></div> -<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  Abstract_mediator* mediator = <span class="keyword">new</span> Moveit_grasp_mediator(map_loader->task_grasps(), pub, nnh);</div> -<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  Moveit_grasp_mediator* moveit_grasp_mediator = <span class="keyword">dynamic_cast<</span>Moveit_grasp_mediator*<span class="keyword">></span>(mediator); </div> -<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div> -<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  moveit_grasp_mediator->mediate();</div> -<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div> -<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div> -<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">while</span> (ros::ok()){</div> -<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  ros::spinOnce();</div> -<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div> -<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> }</div> -</div><!-- fragment --></div><!-- contents --> -<div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div> -<div class="ttc" id="aabstract__param__reader_8h_html"><div class="ttname"><a href="abstract__param__reader_8h.html">abstract_param_reader.h</a></div></div> -<div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div> -<div class="ttc" id="arobot__reader_8h_html"><div class="ttname"><a href="robot__reader_8h.html">robot_reader.h</a></div></div> -<div class="ttc" id="agrasp__cell__routine_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="grasp__cell__routine_8cpp_source.html#l00024">grasp_cell_routine.cpp:24</a></div></div> - -<br clear="all" /> -<hr size="1"><div style="align: right;"> -<a 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+<link href="tabs.css" rel="stylesheet" type="text/css"> +<script type="text/javascript" src="jquery.js"></script> +</head> +<body onload='searchBox.OnSelectItem(0);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_0197a5d81791167ca90f243ba28e7f5e.html">mediator</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">grasp_mediator.cpp</div> </div> +</div><!--header--> +<div class="contents"> +<a href="grasp__mediator_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "<a class="code" href="grasp__mediator_8h.html">mediator/grasp_mediator.h</a>"</span></div> +<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> +<div class="line"><a name="l00003"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1"> 3</a></span> <a class="code" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator::GraspMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh) </div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : <a class="code" href="classAbstractMediator.html">AbstractMediator</a>(nh)</div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  , planning_scene_monitor_(std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(<span class="stringliteral">"robot_description"</span>))</div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  , grasp_pipeline_demo_(std::make_unique<moveit_grasps_demo::GraspPipelineDemo>())</div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  {</div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  nh->getParam(<span class="stringliteral">"/referenceRobot"</span>, <a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>); </div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  nh->getParam(<span class="stringliteral">"/resultPath"</span>, <a class="code" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">resultPath_</a>);</div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  }</div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> +<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c"> 13</a></span> <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">GraspMediator::connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) {</div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  ROS_INFO(<span class="stringliteral">"connecting %s..."</span>, robot->name().c_str());</div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.insert_or_assign(robot->name(), std::move(robot)); </div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> }</div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div> +<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11"> 18</a></span> <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">GraspMediator::setPanel</a>(){</div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">auto</span> wd = <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>->wingData();</div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  ceti_bot-><a class="code" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(<span class="keyword">static_cast<</span><a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a><span class="keyword">></span>(wd.at(s_r.first).second));</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  ROS_INFO(<span class="stringliteral">"No mask data for %s"</span>, s_r.first.c_str());</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  }</div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  }</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span> (ceti_bot->observerMask()[j]){</div> +<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  tf2::Transform relative_tf = ceti_bot->tf().inverse() * wd.at(ceti_bot->name()).first[j].pose_;</div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  std::unique_ptr<AbstractRobotElement> panel = std::make_unique<MoveitPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(std::move(panel));</div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  panels[j] = std::move(log);</div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  } <span class="keywordflow">catch</span> (std::out_of_range &oor){</div> +<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  ROS_INFO(<span class="stringliteral">"OOR in set_panel"</span>);</div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  }</div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  }</div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  }</div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  ceti_bot->setObservers(panels);</div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  s_r.second->notify();</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  }</div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> }</div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div> +<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd"> 55</a></span> <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">GraspMediator::mediate</a>() {</div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">setPanel</a>();</div> +<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">//if(autoMapping_)mapReconfigure();</span></div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  ros::Duration(2).sleep();</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  std::vector<Cuboid> relevant_box;</div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  std::vector<Cuboid> relevant_obstacle;</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  Cuboid rob(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>);</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  rob.Pose.position.x = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getOrigin().getX();</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  rob.Pose.position.y = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getOrigin().getY();</div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  rob.Pose.position.z = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getOrigin().getZ();</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  rob.Pose.orientation.x = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getRotation().getX();</div> +<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  rob.Pose.orientation.y = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getRotation().getY();</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  rob.Pose.orientation.z = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getRotation().getZ();</div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  rob.Pose.orientation.w = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getRotation().getW();</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  rob.x_depth = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->size().getX();</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  rob.y_width = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->size().getY();</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  rob.z_heigth = <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->tf().getOrigin().getZ()*2;</div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  relevant_obstacle.push_back(rob);</div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div> +<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->next());</div> +<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < ceti_bot->observerMask().size(); k++){</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">if</span>(ceti_bot->observerMask()[k]){</div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  Cuboid wing(ceti_bot->observers()[k]->name());</div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  wing.Pose.position.x = ceti_bot->observers()[k]->worldTf().getOrigin().getX();</div> +<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  wing.Pose.position.y = ceti_bot->observers()[k]->worldTf().getOrigin().getY();</div> +<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  wing.Pose.position.z = ceti_bot->observers()[k]->worldTf().getOrigin().getZ() - ceti_bot->observers()[k]->size().getZ()/2;</div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  wing.Pose.orientation.x = ceti_bot->observers()[k]->worldTf().getRotation().getX();</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  wing.Pose.orientation.y = ceti_bot->observers()[k]->worldTf().getRotation().getY();</div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  wing.Pose.orientation.z = ceti_bot->observers()[k]->worldTf().getRotation().getZ();</div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  wing.Pose.orientation.w = ceti_bot->observers()[k]->worldTf().getRotation().getW();</div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  wing.x_depth = ceti_bot->observers()[k]->size().getX();</div> +<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  wing.y_width = ceti_bot->observers()[k]->size().getY();</div> +<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  wing.z_heigth = ceti_bot->observers()[k]->size().getZ();</div> +<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  relevant_obstacle.push_back(wing);</div> +<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div> +<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div> +<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& ro :relevant_obstacle){</div> +<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->sceneObstacles().push_back(ro);</div> +<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  } </div> +<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div> +<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& b : <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>->cuboidBox()){</div> +<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  std::string temp;</div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  std::bitset<3> temp2 = ceti_bot->observerMask();</div> +<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  tf2::Transform pos(tf2::Quaternion(b.Pose.orientation.x, b.Pose.orientation.y, b.Pose.orientation.z, b.Pose.orientation.w), tf2::Vector3(b.Pose.position.x, b.Pose.position.y, b.Pose.position.z));</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->checkSingleObjectCollision(pos, temp, temp2)){</div> +<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->sceneBoxes().push_back(b);</div> +<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">relevant_boxes_</a>.push_back(b);</div> +<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div> +<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& b : <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>->cuboidObstacle()){</div> +<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  std::string temp;</div> +<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  std::bitset<3> temp2 = ceti_bot->observerMask();</div> +<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  tf2::Transform pos(tf2::Quaternion(b.Pose.orientation.x, b.Pose.orientation.y, b.Pose.orientation.z, b.Pose.orientation.w), tf2::Vector3(b.Pose.position.x, b.Pose.position.y, b.Pose.position.z));</div> +<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">if</span> (<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(<a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>)->checkSingleObjectCollision(pos, temp, temp2)){</div> +<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->sceneObstacles().push_back(b);</div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  srand(ros::Time::now().toSec());</div> +<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->publishConfigScene();</div> +<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->generateGraspMap();</div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->getVoxelizedEnv();</div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->computeConfig();</div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">rewriteResult</a>();</div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> }</div> +<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div> +<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4"> 125</a></span> <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">GraspMediator::rewriteResult</a>(){</div> +<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  std::ifstream input_file(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">resultPath_</a>);</div> +<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span> (!input_file) {</div> +<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  ROS_INFO(<span class="stringliteral">"file not found"</span>);</div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  ros::shutdown();</div> +<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div> +<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div> +<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  std::ofstream output_file(<span class="stringliteral">"input.txt.tmp"</span>);</div> +<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">if</span> (!output_file) {</div> +<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  ROS_INFO(<span class="stringliteral">"temp file not open"</span>);</div> +<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  ros::shutdown();</div> +<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  }</div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div> +<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& c: <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>->sortConfig().objects){</div> +<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  ROS_INFO(<span class="stringliteral">"%s"</span>, c.first.c_str());</div> +<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div> +<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div> +<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div> +<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="comment">// std::string line;</span></div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="comment">// while (std::getline(input_file, line)) {</span></div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// for (auto& c: grasp_pipeline_demo_->sortConfig().objects){</span></div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="comment">// std::string str = ".*" + c.first + ".*";</span></div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment">// std::smatch match;</span></div> +<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="comment">// if (std::regex_match(line, match, std::regex(str))){</span></div> +<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// std::stringstream ss;</span></div> +<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="comment">// ss << "{ 'id': '"<< c.second->Pose<<"', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, ";</span></div> +<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="comment">// std::transform(line.begin(), line.end(), line.begin(), ::toupper);</span></div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">// output_file << line << '\n';</span></div> +<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div> +<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> } </div> +</div><!-- fragment --></div><!-- contents --> +<div class="ttc" id="aclassGraspMediator_html_a5f669a4c3e5b5c35aa1f792053769b11"><div class="ttname"><a href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">GraspMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">pure virtual Sets panels for robots</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00018">grasp_mediator.cpp:18</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a2310a931896f1d7d0244c21801f09da4"><div class="ttname"><a href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">GraspMediator::rewriteResult</a></div><div class="ttdeci">void rewriteResult()</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00125">grasp_mediator.cpp:125</a></div></div> +<div class="ttc" id="aclassCetiRobot_html_af0c39df122cc6a567624184b893c3b64"><div class="ttname"><a href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot::setObserverMask</a></div><div class="ttdeci">void setObserverMask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00083">ceti_robot.h:83</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_afb44fd16a55bee3bd4070267bdfce9c9"><div class="ttname"><a href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">GraspMediator::relevant_boxes_</a></div><div class="ttdeci">std::vector< Cuboid > relevant_boxes_</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00022">grasp_mediator.h:22</a></div></div> +<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00010">abstract_robot.h:10</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00054">abstract_mediator.h:54</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> +<div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_aa541f8a2627ac8dc30b654dc3f8038d1"><div class="ttname"><a href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">GraspMediator::grasp_pipeline_demo_</a></div><div class="ttdeci">std::unique_ptr< moveit_grasps_demo::GraspPipelineDemo > grasp_pipeline_demo_</div><div class="ttdoc">Auerswald grasp pipeline.</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00019">grasp_mediator.h:19</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a3fb78d9f221916dfe175951fd8f5b44c"><div class="ttname"><a href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">GraspMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">pure virtual robot connecting methode</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00013">grasp_mediator.cpp:13</a></div></div> +<div class="ttc" id="agrasp__mediator_8h_html"><div class="ttname"><a href="grasp__mediator_8h.html">grasp_mediator.h</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00047">abstract_mediator.h:47</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a38239c00910315ec18a825bb8264086a"><div class="ttname"><a href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">GraspMediator::referenceRobot_</a></div><div class="ttdeci">std::string referenceRobot_</div><div class="ttdoc">Reference Robot.</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00020">grasp_mediator.h:20</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_abb194f54b87b500eb91e05283681b092"><div class="ttname"><a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">AbstractMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00056">abstract_mediator.h:56</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a3e964c0b59502bfac52b39d846d088fd"><div class="ttname"><a href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">GraspMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">pure virtual mediate methode</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00055">grasp_mediator.cpp:55</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_ac91b0b95808e39d8374edde73093d1fd"><div class="ttname"><a href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">GraspMediator::resultPath_</a></div><div class="ttdeci">std::string resultPath_</div><div class="ttdoc">path to the result</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00021">grasp_mediator.h:21</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a6475967756a6a4f6df187eb6b39523f1"><div class="ttname"><a href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator::GraspMediator</a></div><div class="ttdeci">GraspMediator(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00003">grasp_mediator.cpp:3</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/grasp__mediator_8h.html b/doc/html/grasp__mediator_8h.html new file mode 100644 index 0000000000000000000000000000000000000000..cab39b9d91c5055d0f6bbc7a3fe768f959af5358 --- /dev/null +++ b/doc/html/grasp__mediator_8h.html @@ -0,0 +1,122 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: grasp_mediator.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 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"<a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>"</code><br /> +<code>#include "<a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>"</code><br /> +<code>#include "gb_grasp/MapConfigLoader.h"</code><br /> +<code>#include "gb_grasp/GraspMap.h"</code><br /> +<code>#include "gb_grasp/Cuboid.h"</code><br /> +<code>#include "gb_grasp/MapGenerator.h"</code><br /> +<code>#include "gb_grasp/VoxelManager.h"</code><br /> +<code>#include "gb_grasp/GraspPipelineDemo.h"</code><br /> +</div><div class="textblock"><div class="dynheader"> +Include dependency graph for grasp_mediator.h:</div> +<div class="dyncontent"> +<div class="center"><img src="grasp__mediator_8h__incl.png" border="0" usemap="#grasp__mediator_8h" alt=""/></div> +<map name="grasp__mediator_8h" id="grasp__mediator_8h"> +<area shape="rect" title=" " alt="" coords="4198,5,4334,32"/> +<area shape="rect" href="abstract__mediator_8h.html" title=" " alt="" coords="881,80,1035,107"/> 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href="grasp__mediator_8cpp.html" title=" " alt="" coords="172,80,323,107"/> +</map> +</div> +</div> +<p><a href="grasp__mediator_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  </td><td class="memItemRight" valign="bottom"><a class="el" href="classGraspMediator.html">GraspMediator</a></td></tr> +<tr class="separator:"><td class="memSeparator" colspan="2"> </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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/grasp__mediator_8h__dep__incl.map 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href="tabs.css" rel="stylesheet" type="text/css"> +<script type="text/javascript" src="jquery.js"></script> +</head> +<body onload='searchBox.OnSelectItem(0);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">grasp_mediator.h</div> </div> +</div><!--header--> +<div class="contents"> +<a href="grasp__mediator_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> <span class="preprocessor">#ifndef GRASP_MEDIATOR_</span></div> +<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define GRASP_MEDIATOR_</span></div> +<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="abstract__mediator_8h.html">abstract_mediator.h</a>"</span></div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="moveit__mediator_8h.html">moveit_mediator.h</a>"</span></div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "gb_grasp/MapConfigLoader.h"</span></div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "gb_grasp/GraspMap.h"</span></div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "gb_grasp/Cuboid.h"</span></div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "gb_grasp/MapGenerator.h"</span></div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "gb_grasp/VoxelManager.h"</span></div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "gb_grasp/GraspPipelineDemo.h"</span></div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> +<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classGraspMediator.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classGraspMediator.html">GraspMediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractMediator.html">AbstractMediator</a>{</div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">protected</span>:</div> +<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533"> 17</a></span>  std::shared_ptr<moveit_visual_tools::MoveItVisualTools> <a class="code" href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">visual_tools_</a>; </div> +<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d"> 18</a></span>  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> <a class="code" href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">planning_scene_monitor_</a>; </div> +<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1"> 19</a></span>  std::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> <a class="code" href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">grasp_pipeline_demo_</a>; </div> +<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a"> 20</a></span>  std::string <a class="code" href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">referenceRobot_</a>; </div> +<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd"> 21</a></span>  std::string <a class="code" href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">resultPath_</a>;</div> +<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9"> 22</a></span>  std::vector<Cuboid> <a class="code" href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">relevant_boxes_</a>;</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh);</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">rewriteResult</a>();</div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">mediate</a>() <span class="keyword">override</span>;</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) <span class="keyword">override</span>;</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordtype">void</span> <a class="code" href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">setPanel</a>() <span class="keyword">override</span>;</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> };</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#endif</span></div> +</div><!-- fragment --></div><!-- contents --> +<div class="ttc" id="aclassGraspMediator_html_a52cf184a1b42c337490ae370e5181a5d"><div class="ttname"><a href="classGraspMediator.html#a52cf184a1b42c337490ae370e5181a5d">GraspMediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</div><div class="ttdoc">Planningscene monitor.</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00018">grasp_mediator.h:18</a></div></div> +<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a5f669a4c3e5b5c35aa1f792053769b11"><div class="ttname"><a href="classGraspMediator.html#a5f669a4c3e5b5c35aa1f792053769b11">GraspMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">pure virtual Sets panels for robots</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00018">grasp_mediator.cpp:18</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a2310a931896f1d7d0244c21801f09da4"><div class="ttname"><a href="classGraspMediator.html#a2310a931896f1d7d0244c21801f09da4">GraspMediator::rewriteResult</a></div><div class="ttdeci">void rewriteResult()</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00125">grasp_mediator.cpp:125</a></div></div> +<div class="ttc" id="aclassGraspMediator_html"><div class="ttname"><a href="classGraspMediator.html">GraspMediator</a></div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00015">grasp_mediator.h:15</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_afb44fd16a55bee3bd4070267bdfce9c9"><div class="ttname"><a href="classGraspMediator.html#afb44fd16a55bee3bd4070267bdfce9c9">GraspMediator::relevant_boxes_</a></div><div class="ttdeci">std::vector< Cuboid > relevant_boxes_</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00022">grasp_mediator.h:22</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_aa541f8a2627ac8dc30b654dc3f8038d1"><div class="ttname"><a href="classGraspMediator.html#aa541f8a2627ac8dc30b654dc3f8038d1">GraspMediator::grasp_pipeline_demo_</a></div><div class="ttdeci">std::unique_ptr< moveit_grasps_demo::GraspPipelineDemo > grasp_pipeline_demo_</div><div class="ttdoc">Auerswald grasp pipeline.</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00019">grasp_mediator.h:19</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a3fb78d9f221916dfe175951fd8f5b44c"><div class="ttname"><a href="classGraspMediator.html#a3fb78d9f221916dfe175951fd8f5b44c">GraspMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">pure virtual robot connecting methode</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00013">grasp_mediator.cpp:13</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_af098c4d1fcc27489a339ef96c4dda533"><div class="ttname"><a href="classGraspMediator.html#af098c4d1fcc27489a339ef96c4dda533">GraspMediator::visual_tools_</a></div><div class="ttdeci">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_</div><div class="ttdoc">MoveItVisualTools.</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00017">grasp_mediator.h:17</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a38239c00910315ec18a825bb8264086a"><div class="ttname"><a href="classGraspMediator.html#a38239c00910315ec18a825bb8264086a">GraspMediator::referenceRobot_</a></div><div class="ttdeci">std::string referenceRobot_</div><div class="ttdoc">Reference Robot.</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00020">grasp_mediator.h:20</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a3e964c0b59502bfac52b39d846d088fd"><div class="ttname"><a href="classGraspMediator.html#a3e964c0b59502bfac52b39d846d088fd">GraspMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">pure virtual mediate methode</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00055">grasp_mediator.cpp:55</a></div></div> +<div class="ttc" id="amoveit__mediator_8h_html"><div class="ttname"><a href="moveit__mediator_8h.html">moveit_mediator.h</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_ac91b0b95808e39d8374edde73093d1fd"><div class="ttname"><a href="classGraspMediator.html#ac91b0b95808e39d8374edde73093d1fd">GraspMediator::resultPath_</a></div><div class="ttdeci">std::string resultPath_</div><div class="ttdoc">path to the result</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8h_source.html#l00021">grasp_mediator.h:21</a></div></div> +<div class="ttc" id="aclassGraspMediator_html_a6475967756a6a4f6df187eb6b39523f1"><div class="ttname"><a href="classGraspMediator.html#a6475967756a6a4f6df187eb6b39523f1">GraspMediator::GraspMediator</a></div><div class="ttdeci">GraspMediator(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdef"><b>Definition:</b> <a href="grasp__mediator_8cpp_source.html#l00003">grasp_mediator.cpp:3</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/hierarchy.html b/doc/html/hierarchy.html index f5ba9ca918c481257969a1f9f43414802474846f..9a41d2612bd088bb5f8448275c56f9a54bc5b6fd 100644 --- a/doc/html/hierarchy.html +++ b/doc/html/hierarchy.html @@ -31,37 +31,38 @@ This inheritance list is sorted roughly, but not completely, alphabetically:</di <tr id="row_1_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSimpleBaseImplementation.html" target="_self">SimpleBaseImplementation</a></td><td class="desc"><a class="el" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a> </td></tr> <tr id="row_2_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractMediator.html" target="_self">AbstractMediator</a></td><td class="desc"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> </td></tr> <tr id="row_2_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classBaseCalculationMediator.html" target="_self">BaseCalculationMediator</a></td><td class="desc">Concrete Mediator </td></tr> -<tr id="row_2_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitMediator.html" target="_self">MoveitMediator</a></td><td class="desc">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a> </td></tr> -<tr id="row_3_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractParamReader.html" target="_self">AbstractParamReader</a></td><td class="desc">Abstract ROS-Param reader class </td></tr> -<tr id="row_3_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCuboidReader.html" target="_self">CuboidReader</a></td><td class="desc">Cuboid reader </td></tr> -<tr id="row_3_1_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classJobReader.html" target="_self">JobReader</a></td><td class="desc">Job reader </td></tr> -<tr id="row_3_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMapReader.html" target="_self">MapReader</a></td><td class="desc">Map reader </td></tr> -<tr id="row_3_3_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRobotReader.html" target="_self">RobotReader</a></td><td class="desc">Robot reader </td></tr> -<tr id="row_3_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTaskSpaceReader.html" target="_self">TaskSpaceReader</a></td><td class="desc">Task space reader </td></tr> -<tr id="row_3_5_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTSReader.html" target="_self">TSReader</a></td><td class="desc">TS reader </td></tr> -<tr id="row_3_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWingReader.html" target="_self">WingReader</a></td><td class="desc">Wing reader </td></tr> -<tr id="row_4_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_4_" class="arrow" onclick="toggleFolder('4_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobot.html" target="_self">AbstractRobot</a></td><td class="desc">Abstract Robot implementation </td></tr> -<tr id="row_4_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_4_0_" class="arrow" onclick="toggleFolder('4_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotDecorator.html" target="_self">AbstractRobotDecorator</a></td><td class="desc">Abstract Robot Decorator </td></tr> -<tr id="row_4_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPandaDecorator.html" target="_self">PandaDecorator</a></td><td class="desc">Panda Decorator </td></tr> -<tr id="row_4_0_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR10Decorator.html" target="_self">UR10Decorator</a></td><td class="desc">Panda Mediator </td></tr> -<tr id="row_4_0_2_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR5Decorator.html" target="_self">UR5Decorator</a></td><td class="desc">UR5 Decorator </td></tr> -<tr id="row_4_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCetiRobot.html" target="_self">CetiRobot</a></td><td class="desc">Concrete Ceti-Robot </td></tr> -<tr id="row_5_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_5_" class="arrow" onclick="toggleFolder('5_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotElement.html" target="_self">AbstractRobotElement</a></td><td class="desc"></td></tr> -<tr id="row_5_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_0_" class="arrow" onclick="toggleFolder('5_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotElementDecorator.html" target="_self">AbstractRobotElementDecorator</a></td><td class="desc"></td></tr> -<tr id="row_5_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLogDecorator.html" target="_self">LogDecorator</a></td><td class="desc"></td></tr> -<tr id="row_5_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_1_" class="arrow" onclick="toggleFolder('5_1_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPanel.html" target="_self">Panel</a></td><td class="desc"></td></tr> -<tr id="row_5_1_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitPanel.html" target="_self">MoveitPanel</a></td><td class="desc"></td></tr> -<tr id="row_5_1_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRvizPanel.html" target="_self">RvizPanel</a></td><td class="desc"></td></tr> -<tr id="row_6_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">▼</span><span class="icona"><span class="icon">C</span></span><b>ConditionNode</b></td><td class="desc"></td></tr> -<tr id="row_6_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPositionCondition.html" target="_self">PositionCondition</a></td><td class="desc"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node </td></tr> -<tr id="row_7_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">▼</span><span class="icona"><span class="icon">C</span></span><b>ControlNode</b></td><td class="desc"></td></tr> -<tr id="row_7_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classParallel__robot.html" target="_self">Parallel_robot</a></td><td class="desc"></td></tr> -<tr id="row_8_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structjob__data.html" target="_self">job_data</a></td><td class="desc">Job data </td></tr> -<tr id="row_9_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc">Object data </td></tr> -<tr id="row_10_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structprotobuf__entry.html" target="_self">protobuf_entry</a></td><td class="desc">Protobuf entry </td></tr> -<tr id="row_11_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_11_" class="arrow" onclick="toggleFolder('11_')">▼</span><span class="icona"><span class="icon">C</span></span><b>StatefulActionNode</b></td><td class="desc"></td></tr> -<tr id="row_11_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classExecution.html" target="_self">Execution</a></td><td class="desc"><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode </td></tr> -<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structwing__BP.html" target="_self">wing_BP</a></td><td class="desc">Blueprint of panel data </td></tr> +<tr id="row_2_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classGraspMediator.html" target="_self">GraspMediator</a></td><td class="desc"></td></tr> +<tr id="row_2_2_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitMediator.html" target="_self">MoveitMediator</a></td><td class="desc">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a> </td></tr> +<tr id="row_3_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractParamReader.html" target="_self">AbstractParamReader</a></td><td class="desc">Abstract ROS-Param reader class </td></tr> +<tr id="row_3_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCuboidReader.html" target="_self">CuboidReader</a></td><td class="desc">Cuboid reader </td></tr> +<tr id="row_3_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classJobReader.html" target="_self">JobReader</a></td><td class="desc">Job reader </td></tr> +<tr id="row_3_2_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMapReader.html" target="_self">MapReader</a></td><td class="desc">Map reader </td></tr> +<tr id="row_3_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRobotReader.html" target="_self">RobotReader</a></td><td class="desc">Robot reader </td></tr> +<tr id="row_3_4_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTaskSpaceReader.html" target="_self">TaskSpaceReader</a></td><td class="desc">Task space reader </td></tr> +<tr id="row_3_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTSReader.html" target="_self">TSReader</a></td><td class="desc">TS reader </td></tr> +<tr id="row_3_6_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWingReader.html" target="_self">WingReader</a></td><td class="desc">Wing reader </td></tr> +<tr id="row_4_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_4_" class="arrow" onclick="toggleFolder('4_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobot.html" target="_self">AbstractRobot</a></td><td class="desc">Abstract Robot implementation </td></tr> +<tr id="row_4_0_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_4_0_" class="arrow" onclick="toggleFolder('4_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotDecorator.html" target="_self">AbstractRobotDecorator</a></td><td class="desc">Abstract Robot Decorator </td></tr> +<tr id="row_4_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPandaDecorator.html" target="_self">PandaDecorator</a></td><td class="desc">Panda Decorator </td></tr> +<tr id="row_4_0_1_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR10Decorator.html" target="_self">UR10Decorator</a></td><td class="desc">Panda Mediator </td></tr> +<tr id="row_4_0_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR5Decorator.html" target="_self">UR5Decorator</a></td><td class="desc">UR5 Decorator </td></tr> +<tr id="row_4_1_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCetiRobot.html" target="_self">CetiRobot</a></td><td class="desc">Concrete Ceti-Robot </td></tr> +<tr id="row_5_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_5_" class="arrow" onclick="toggleFolder('5_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotElement.html" target="_self">AbstractRobotElement</a></td><td class="desc"></td></tr> +<tr id="row_5_0_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_0_" class="arrow" onclick="toggleFolder('5_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotElementDecorator.html" target="_self">AbstractRobotElementDecorator</a></td><td class="desc"></td></tr> +<tr id="row_5_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLogDecorator.html" target="_self">LogDecorator</a></td><td class="desc"></td></tr> +<tr id="row_5_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_1_" class="arrow" onclick="toggleFolder('5_1_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPanel.html" target="_self">Panel</a></td><td class="desc"></td></tr> +<tr id="row_5_1_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitPanel.html" target="_self">MoveitPanel</a></td><td class="desc"></td></tr> +<tr id="row_5_1_1_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRvizPanel.html" target="_self">RvizPanel</a></td><td class="desc"></td></tr> +<tr id="row_6_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">▼</span><span class="icona"><span class="icon">C</span></span><b>ConditionNode</b></td><td class="desc"></td></tr> +<tr id="row_6_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPositionCondition.html" target="_self">PositionCondition</a></td><td class="desc"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node </td></tr> +<tr id="row_7_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">▼</span><span class="icona"><span class="icon">C</span></span><b>ControlNode</b></td><td class="desc"></td></tr> +<tr id="row_7_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classParallel__robot.html" target="_self">Parallel_robot</a></td><td class="desc"></td></tr> +<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structjob__data.html" target="_self">job_data</a></td><td class="desc">Job data </td></tr> +<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc">Object data </td></tr> +<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structprotobuf__entry.html" target="_self">protobuf_entry</a></td><td class="desc">Protobuf entry </td></tr> +<tr id="row_11_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_11_" class="arrow" onclick="toggleFolder('11_')">▼</span><span class="icona"><span class="icon">C</span></span><b>StatefulActionNode</b></td><td class="desc"></td></tr> +<tr id="row_11_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classExecution.html" target="_self">Execution</a></td><td class="desc"><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode </td></tr> +<tr id="row_12_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structwing__BP.html" target="_self">wing_BP</a></td><td class="desc">Blueprint of panel data </td></tr> </table> </div><!-- directory --> </div><!-- contents --> @@ -69,8 +70,8 @@ This inheritance list is sorted roughly, but not completely, alphabetically:</di <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/index-msg.html b/doc/html/index-msg.html index ca03520c1113ed0874042fbb5525484f230047a8..357d0d2140baf36b938e30f7abc6b60d988291ee 100644 --- a/doc/html/index-msg.html +++ b/doc/html/index-msg.html @@ -25,7 +25,7 @@ See also: -<p class="footer"><small><em>autogenerated on Mon, 27 Mar 2023 19:07:16</em></small></p> +<p class="footer"><small><em>autogenerated on Sun, 09 Apr 2023 23:59:53</em></small></p> </div> diff --git a/doc/html/index.html b/doc/html/index.html index d744441cb5ef154fd52edceba00bad586b83dbfa..396e9432303c87223740df84443b66358d615696 100644 --- a/doc/html/index.html +++ b/doc/html/index.html @@ -26,8 +26,8 @@ $(function() { <br clear="all" /> <hr size="1"><div style="align: right;"> <a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br /> -Author(s): MA <matteo.aneddama@gmail.com></br /> -<small>autogenerated on Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/inherit_graph_2.map b/doc/html/inherit_graph_2.map index aba0b4bcfc026a4726eb131e8681d222d3ac440f..3d340c49e1c0b37706d69328d85f9764ae74856d 100644 --- a/doc/html/inherit_graph_2.map +++ b/doc/html/inherit_graph_2.map @@ -1,5 +1,6 @@ <map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy"> -<area shape="rect" id="node1" href="$classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,31,140,57"/> +<area shape="rect" id="node1" href="$classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,56,140,83"/> <area shape="rect" id="node2" href="$classBaseCalculationMediator.html" title="Concrete Mediator." alt="" coords="188,5,373,32"/> -<area shape="rect" id="node3" href="$classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="218,56,343,83"/> +<area shape="rect" id="node3" href="$classGraspMediator.html" title=" " alt="" coords="221,56,340,83"/> +<area shape="rect" id="node4" href="$classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="218,107,343,133"/> </map> diff --git a/doc/html/inherit_graph_2.md5 b/doc/html/inherit_graph_2.md5 index 17e090136c087c1ad510f3aad1adcd624823828c..d34a57d34882343fdf553b44b0096a89302b8f91 100644 --- a/doc/html/inherit_graph_2.md5 +++ b/doc/html/inherit_graph_2.md5 @@ -1 +1 @@ -8ffccb6343639a963b968c136b2f4ff1 \ No newline at end of file +3a5e2bc7cc3d271f74a881b6c8096e9b \ No newline at end of file diff --git a/doc/html/inherit_graph_2.png b/doc/html/inherit_graph_2.png index 7f9f76494c3e43c3066d4d4fe8e3c0ea047b0d69..924b79010d4f07ea0a278e5385c06e9a828a1dca 100644 Binary files a/doc/html/inherit_graph_2.png and b/doc/html/inherit_graph_2.png differ diff --git a/doc/html/inherits.html b/doc/html/inherits.html index b3517c02d2b701ad46d695e80c71ff5a3c9fc266..3a347e664802027183584e8abff558c1c1b7927f 100644 --- a/doc/html/inherits.html +++ b/doc/html/inherits.html @@ -38,9 +38,10 @@ $(function() { </td></tr> <tr><td><img src="inherit_graph_2.png" border="0" usemap="#AbstractMediator" alt=""/> <map name="AbstractMediator" id="AbstractMediator"> -<area shape="rect" href="classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,31,140,57"/> +<area shape="rect" href="classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,56,140,83"/> <area shape="rect" href="classBaseCalculationMediator.html" title="Concrete Mediator." alt="" coords="188,5,373,32"/> -<area shape="rect" href="classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="218,56,343,83"/> +<area shape="rect" href="classGraspMediator.html" title=" " alt="" coords="221,56,340,83"/> +<area shape="rect" href="classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="218,107,343,133"/> </map> </td></tr> <tr><td><img src="inherit_graph_3.png" border="0" usemap="#AbstractParamReader" alt=""/> @@ -119,8 +120,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/job__reader_8cpp.html b/doc/html/job__reader_8cpp.html index 9e75f5ed06cf0539ede988556c9f144c308eac73..1c23f0175f1408daaec9926eca4851e93b3c83c8 100644 --- a/doc/html/job__reader_8cpp.html +++ b/doc/html/job__reader_8cpp.html @@ -55,8 +55,8 @@ Include dependency graph for job_reader.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/job__reader_8cpp_source.html b/doc/html/job__reader_8cpp_source.html index a8803693af541d14c4624b6a88bfa04214b4cb58..d0c7f3cd710d9589df96ccfa73cc2a5317c21a50 100644 --- a/doc/html/job__reader_8cpp_source.html +++ b/doc/html/job__reader_8cpp_source.html @@ -93,8 +93,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/job__reader_8h.html b/doc/html/job__reader_8h.html index 39472ce50a4bf40c40cd16ec7134c8e089dfb096..fd8bf6fc49af2f799fc6b55381a44a705e7d4519 100644 --- a/doc/html/job__reader_8h.html +++ b/doc/html/job__reader_8h.html @@ -55,12 +55,16 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="job__reader_8h__dep__incl.png" border="0" usemap="#job__reader_8hdep" alt=""/></div> <map name="job__reader_8hdep" id="job__reader_8hdep"> -<area shape="rect" title=" " alt="" coords="273,5,375,32"/> -<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" href="mtc2taskspace_8cpp.html" title=" " alt="" coords="250,80,398,107"/> -<area shape="rect" href="job__reader_8cpp.html" title=" " alt="" coords="422,80,541,107"/> -<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" title=" " alt="" coords="516,5,619,32"/> +<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="243,80,390,107"/> +<area shape="rect" href="mtc2taskspace_8cpp.html" title=" " alt="" coords="415,80,563,107"/> +<area shape="rect" href="job__reader_8cpp.html" title=" " alt="" coords="587,80,705,107"/> +<area shape="rect" href="test__reader_8cpp.html" title=" " alt="" coords="730,80,853,107"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="94,155,230,181"/> +<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="254,155,379,181"/> +<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="404,155,565,181"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="5,229,148,256"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="172,229,323,256"/> </map> </div> </div> @@ -77,8 +81,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/job__reader_8h__dep__incl.map b/doc/html/job__reader_8h__dep__incl.map index bdaae0b830aee2ad1fbb16f80404f381e9cddd4d..9c84cf8d53efe39abfa7191b7260da1122666091 100644 --- a/doc/html/job__reader_8h__dep__incl.map +++ b/doc/html/job__reader_8h__dep__incl.map @@ -1,8 +1,12 @@ <map id="job_reader.h" name="job_reader.h"> -<area shape="rect" id="node1" title=" " alt="" coords="273,5,375,32"/> -<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" id="node5" href="$mtc2taskspace_8cpp.html" title=" " alt="" coords="250,80,398,107"/> -<area shape="rect" id="node6" href="$job__reader_8cpp.html" title=" " alt="" coords="422,80,541,107"/> -<area shape="rect" id="node3" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" id="node4" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" id="node1" title=" " alt="" coords="516,5,619,32"/> +<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="243,80,390,107"/> +<area shape="rect" id="node8" href="$mtc2taskspace_8cpp.html" title=" " alt="" coords="415,80,563,107"/> +<area shape="rect" id="node9" href="$job__reader_8cpp.html" title=" " alt="" coords="587,80,705,107"/> +<area shape="rect" id="node10" href="$test__reader_8cpp.html" title=" " alt="" coords="730,80,853,107"/> +<area shape="rect" id="node3" href="$grasp__mediator_8h.html" title=" " alt="" coords="94,155,230,181"/> +<area shape="rect" id="node6" href="$cell__routine_8cpp.html" title=" " alt="" coords="254,155,379,181"/> +<area shape="rect" id="node7" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="404,155,565,181"/> +<area shape="rect" id="node4" href="$config__routine_8cpp.html" title=" " alt="" coords="5,229,148,256"/> +<area shape="rect" id="node5" href="$grasp__mediator_8cpp.html" title=" " alt="" coords="172,229,323,256"/> </map> diff --git a/doc/html/job__reader_8h__dep__incl.md5 b/doc/html/job__reader_8h__dep__incl.md5 index f262fc8674eaa42cf6a95e95757400c3a1b0c4e9..c95168e7057ba91a4caef841df7b9c46728a45c9 100644 --- a/doc/html/job__reader_8h__dep__incl.md5 +++ b/doc/html/job__reader_8h__dep__incl.md5 @@ -1 +1 @@ -5bf01977b98c2eb26f7b36e0789dfe6f \ No newline at end of file +6a22d68cb4745bde6f7ae59e17bddb62 \ No newline at end of file diff --git a/doc/html/job__reader_8h__dep__incl.png b/doc/html/job__reader_8h__dep__incl.png index 0346859700a5354e21fa62c548d791c83659d12f..8d376a8215e49b371d60c81f55681a1f1dcd9220 100644 Binary files a/doc/html/job__reader_8h__dep__incl.png and b/doc/html/job__reader_8h__dep__incl.png differ diff --git a/doc/html/job__reader_8h_source.html b/doc/html/job__reader_8h_source.html index 571279202e3ffc383453407a9fbe89221acc1330..515fd3a30cc774028c0a746d36a942fb6d890b8e 100644 --- a/doc/html/job__reader_8h_source.html +++ b/doc/html/job__reader_8h_source.html @@ -69,8 +69,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/log__decorator_8cpp.html b/doc/html/log__decorator_8cpp.html index 1b318937983043cd4c900ec1f5353dce06b1b73c..965a6aa9aee3e0459169e59458dfac9fd8a82eb0 100644 --- a/doc/html/log__decorator_8cpp.html +++ b/doc/html/log__decorator_8cpp.html @@ -47,8 +47,8 @@ Include dependency graph for log_decorator.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/log__decorator_8cpp_source.html b/doc/html/log__decorator_8cpp_source.html index 6a9ba73fd3e55a69f38cce68bbb7c6b2c4f32cbd..9a26e312f8e7eb64e249f2968ba75fd2cd1565d3 100644 --- a/doc/html/log__decorator_8cpp_source.html +++ b/doc/html/log__decorator_8cpp_source.html @@ -65,8 +65,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/log__decorator_8h.html b/doc/html/log__decorator_8h.html index 5ac54d1abbcc81916f1f1a6e31b4ff2771d1515a..9f15564de0e8baffa8219d54c4c2ce3eacb606f5 100644 --- a/doc/html/log__decorator_8h.html +++ b/doc/html/log__decorator_8h.html @@ -48,14 +48,17 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="log__decorator_8h__dep__incl.png" border="0" usemap="#log__decorator_8hdep" alt=""/></div> <map name="log__decorator_8hdep" id="log__decorator_8hdep"> -<area shape="rect" title=" " alt="" coords="396,5,519,32"/> -<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="155,80,365,107"/> +<area shape="rect" title=" " alt="" coords="439,5,561,32"/> +<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="198,80,407,107"/> <area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="254,155,426,196"/> -<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="440,80,587,107"/> -<area shape="rect" href="log__decorator_8cpp.html" title=" " alt="" coords="611,80,749,107"/> +<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="483,80,629,107"/> +<area shape="rect" href="log__decorator_8cpp.html" title=" " alt="" coords="653,80,792,107"/> <area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,162,229,189"/> -<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="451,162,576,189"/> -<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="601,162,762,189"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="451,162,587,189"/> +<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="611,162,736,189"/> +<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="761,162,922,189"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="362,244,505,271"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="529,244,679,271"/> </map> </div> </div> @@ -71,8 +74,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/log__decorator_8h__dep__incl.map b/doc/html/log__decorator_8h__dep__incl.map index a271069aed455381e4e06998f5fe68f6199b6193..d8f01a63b463a95ff49406e5a7f9af3b631b638b 100644 --- a/doc/html/log__decorator_8h__dep__incl.map +++ b/doc/html/log__decorator_8h__dep__incl.map @@ -1,10 +1,13 @@ <map id="log_decorator.h" name="log_decorator.h"> -<area shape="rect" id="node1" title=" " alt="" coords="396,5,519,32"/> -<area shape="rect" id="node2" href="$base__calculation__mediator_8h.html" title=" " alt="" coords="155,80,365,107"/> +<area shape="rect" id="node1" title=" " 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title=" " alt="" coords="601,162,762,189"/> +<area shape="rect" id="node6" href="$grasp__mediator_8h.html" title=" " alt="" coords="451,162,587,189"/> +<area shape="rect" id="node9" href="$cell__routine_8cpp.html" title=" " alt="" coords="611,162,736,189"/> +<area shape="rect" id="node10" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="761,162,922,189"/> +<area shape="rect" id="node7" href="$config__routine_8cpp.html" title=" " alt="" coords="362,244,505,271"/> +<area shape="rect" id="node8" href="$grasp__mediator_8cpp.html" title=" " alt="" coords="529,244,679,271"/> </map> diff --git a/doc/html/log__decorator_8h__dep__incl.md5 b/doc/html/log__decorator_8h__dep__incl.md5 index 7bd6cfe78b7307bcbf045f7281dff3eecc077038..e49cdf12eb962fb4e32f5bb02472522f03d04aa3 100644 --- a/doc/html/log__decorator_8h__dep__incl.md5 +++ b/doc/html/log__decorator_8h__dep__incl.md5 @@ -1 +1 @@ -e34d73453c2af2ae093f1dbbf10f1efa \ No newline at end of file +b901de6a4e59e9be57961fcaec654321 \ No newline at end of file diff --git a/doc/html/log__decorator_8h__dep__incl.png b/doc/html/log__decorator_8h__dep__incl.png index 759d7cbcf7471af2ca6e97a87f55fdddad32ff3a..241bf85c199597672b405569448849072863b810 100644 Binary files a/doc/html/log__decorator_8h__dep__incl.png and b/doc/html/log__decorator_8h__dep__incl.png differ diff --git a/doc/html/log__decorator_8h_source.html b/doc/html/log__decorator_8h_source.html index 3b20d54f13359853f628b4c5bbb62f88e9fd805e..e693ebe81865bcffb0a4861dabc9966fa051a5c3 100644 --- a/doc/html/log__decorator_8h_source.html +++ b/doc/html/log__decorator_8h_source.html @@ -56,8 +56,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/map__reader_8cpp.html b/doc/html/map__reader_8cpp.html index e3609ac074a32e70cbe9d5a724606815b12427ff..3385096c734d25627179708866de240814dffc7b 100644 --- a/doc/html/map__reader_8cpp.html +++ b/doc/html/map__reader_8cpp.html @@ -51,8 +51,8 @@ Include dependency graph for map_reader.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/map__reader_8cpp_source.html b/doc/html/map__reader_8cpp_source.html index d946077d27e8a930f39fa98a735eeaf318c842f9..0a9755aa2a7325f09d67127073d22e942b5665d3 100644 --- a/doc/html/map__reader_8cpp_source.html +++ b/doc/html/map__reader_8cpp_source.html @@ -61,8 +61,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/map__reader_8h.html b/doc/html/map__reader_8h.html index cfb69ed0e2b2857634d5eda5716868153bdb3553..8b4a2c5b22fa675ea96a79ad4b3037d9ff6e2c14 100644 --- a/doc/html/map__reader_8h.html +++ b/doc/html/map__reader_8h.html @@ -53,9 +53,10 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="map__reader_8h__dep__incl.png" border="0" usemap="#map__reader_8hdep" alt=""/></div> <map name="map__reader_8hdep" id="map__reader_8hdep"> -<area shape="rect" title=" " alt="" coords="175,5,287,32"/> +<area shape="rect" title=" " alt="" coords="248,5,360,32"/> <area shape="rect" href="simple__base_8h.html" title=" " alt="" coords="101,80,217,107"/> <area shape="rect" href="map__reader_8cpp.html" title=" " alt="" coords="241,80,367,107"/> +<area shape="rect" href="test__reader_8cpp.html" title=" " alt="" coords="392,80,515,107"/> <area shape="rect" href="simple__base_8cpp.html" title=" " alt="" coords="5,162,136,189"/> <area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="161,155,333,196"/> </map> @@ -74,8 +75,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/map__reader_8h__dep__incl.map b/doc/html/map__reader_8h__dep__incl.map index 56f9e20d3e3bd946c1a7f08839a8b6a35199377a..2db12f6e586e0ade156aeea12dfaf0ed04f35777 100644 --- a/doc/html/map__reader_8h__dep__incl.map +++ b/doc/html/map__reader_8h__dep__incl.map @@ -1,7 +1,8 @@ <map id="map_reader.h" name="map_reader.h"> -<area shape="rect" id="node1" title=" " alt="" coords="175,5,287,32"/> +<area shape="rect" id="node1" title=" " alt="" coords="248,5,360,32"/> <area shape="rect" id="node2" href="$simple__base_8h.html" title=" " alt="" coords="101,80,217,107"/> <area shape="rect" id="node5" href="$map__reader_8cpp.html" title=" " alt="" coords="241,80,367,107"/> +<area shape="rect" id="node6" href="$test__reader_8cpp.html" title=" " alt="" coords="392,80,515,107"/> <area shape="rect" id="node3" href="$simple__base_8cpp.html" title=" " alt="" coords="5,162,136,189"/> <area shape="rect" id="node4" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="161,155,333,196"/> </map> diff --git a/doc/html/map__reader_8h__dep__incl.md5 b/doc/html/map__reader_8h__dep__incl.md5 index 0ad7f7cca8b2085515758129a1c4a4ff4f24c2bd..92aea2e288a1cf70fd5b90b08b53cbc0690445b6 100644 --- a/doc/html/map__reader_8h__dep__incl.md5 +++ b/doc/html/map__reader_8h__dep__incl.md5 @@ -1 +1 @@ -0f2e2235d413321f4d832f8a86408567 \ No newline at end of file +522e6a3d48ab79119174cb92e7cd8d57 \ No newline at end of file diff --git a/doc/html/map__reader_8h__dep__incl.png b/doc/html/map__reader_8h__dep__incl.png index 18a2f329d64e7ddf2ca4b9042b7dc44d1dcc7aa1..2f8902329cdc9774ce917c4779804ed831c074e6 100644 Binary files a/doc/html/map__reader_8h__dep__incl.png and b/doc/html/map__reader_8h__dep__incl.png differ diff --git a/doc/html/map__reader_8h_source.html b/doc/html/map__reader_8h_source.html index 367694be13da82462592a95a55f9d37ff2131a57..afb8ef05e1c8cfe7fdc188912421ef42f6bbfcda 100644 --- a/doc/html/map__reader_8h_source.html +++ b/doc/html/map__reader_8h_source.html @@ -66,8 +66,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__mediator_8cpp.html b/doc/html/moveit__mediator_8cpp.html index d83e4af3399e9a65cf45c10b4d18038ef83881f4..7f90c023407d2c84d921170bb1eabc58c30ea30f 100644 --- a/doc/html/moveit__mediator_8cpp.html +++ b/doc/html/moveit__mediator_8cpp.html @@ -98,8 +98,8 @@ Include dependency graph for moveit_mediator.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__mediator_8cpp_source.html b/doc/html/moveit__mediator_8cpp_source.html index 9080fb2582c43c9ad241eb4b87d59e76fc728a76..137eb043e5270f7b5f137820a3e9f641e9f6d74f 100644 --- a/doc/html/moveit__mediator_8cpp_source.html +++ b/doc/html/moveit__mediator_8cpp_source.html @@ -43,960 +43,915 @@ $(function() { <div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  , psi_(std::make_unique<moveit::planning_interface::PlanningSceneInterface>())</div> <div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  , mgi_(std::make_shared<moveit::planning_interface::MoveGroupInterface>(<span class="stringliteral">"panda_arms"</span>))</div> <div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  , planning_scene_diff_publisher_(std::make_shared<ros::Publisher>(nh_->advertise<moveit_msgs::PlanningScene>(<span class="stringliteral">"planning_scene"</span>, 1)))</div> -<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  , planning_scene_monitor_(std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(<span class="stringliteral">"robot_description"</span>))</div> -<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  , job_reader_(std::make_unique<<a class="code" href="classJobReader.html">JobReader</a>>(nh_))</div> -<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  , cuboid_reader_(std::make_unique<<a class="code" href="classCuboidReader.html">CuboidReader</a>>(nh)){</div> -<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div> -<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">if</span> (<a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>->getPlanningScene()){</div> -<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,</div> -<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="stringliteral">"planning_scene"</span>);</div> -<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>->getPlanningScene()->setName(<span class="stringliteral">"planning_scene"</span>);</div> -<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  } <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ROS_ERROR_STREAM_NAMED(<span class="stringliteral">"test"</span>, <span class="stringliteral">"Planning scene not configured"</span>);</div> -<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">return</span>;</div> -<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  }</div> -<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> -<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  robot_model_loader::RobotModelLoaderPtr robot_model_loader;</div> -<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  robot_model_loader = std::make_shared<robot_model_loader::RobotModelLoader>(<span class="stringliteral">"robot_description"</span>);</div> -<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a> = robot_model_loader->getModel();</div> -<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a> = std::make_shared<planning_scene::PlanningScene>(<a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a>);</div> -<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div> -<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="comment">// planner </span></div> -<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>->setProperty(<span class="stringliteral">"goal_joint_tolerance"</span>, 1e-5);</div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  , job_reader_(std::make_unique<<a class="code" href="classJobReader.html">JobReader</a>>(nh_)){</div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  robot_model_loader::RobotModelLoaderPtr robot_model_loader;</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  robot_model_loader = std::make_shared<robot_model_loader::RobotModelLoader>(<span class="stringliteral">"robot_description"</span>);</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a> = robot_model_loader->getModel();</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a> = std::make_shared<planning_scene::PlanningScene>(<a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a>);</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="comment">// planner </span></div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>->setProperty(<span class="stringliteral">"goal_joint_tolerance"</span>, 1e-5);</div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="comment">// cartesian</span></div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setMaxVelocityScaling(1.0);</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setMaxAccelerationScaling(1.0);</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setStepSize(.01);</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  };</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div> +<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada"> 36</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) {</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  ROS_INFO(<span class="stringliteral">"connecting %s..."</span>, robot->name().c_str());</div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  robot->spezifieRobotGroups();</div> <div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div> -<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="comment">// cartesian</span></div> -<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setMaxVelocityScaling(1.0);</div> -<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setMaxAccelerationScaling(1.0);</div> -<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setStepSize(.01);</div> -<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div> -<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  };</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(robot->map().at(<span class="stringliteral">"base"</span>).c_str(), std::vector<uint8_t>()));</div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div> +<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: robot->mgi()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: robot->mgiHand()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div> <div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div> -<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada"> 47</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) {</div> -<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  ROS_INFO(<span class="stringliteral">"connecting %s..."</span>, robot->name().c_str());</div> -<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  robot->spezifieRobotGroups();</div> -<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div> -<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div> -<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(robot->map().at(<span class="stringliteral">"base"</span>).c_str(), std::vector<uint8_t>()));</div> -<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div> -<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div> -<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: robot->mgi()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div> -<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: robot->mgiHand()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div> -<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div> -<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : robot->mgi()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(link, std::vector<std::uint8_t>());</div> -<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"left_finger"</span>], std::vector<std::uint8_t>());</div> -<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"right_finger"</span>], std::vector<std::uint8_t>());</div> -<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"hand_link"</span>], std::vector<std::uint8_t>());</div> -<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"base"</span>], std::vector<std::uint8_t>());</div> -<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div> -<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.insert_or_assign(robot->name(), std::move(robot)); </div> -<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> }</div> -<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div> -<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div> -<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c"> 68</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a>(){</div> -<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">auto</span> wd = <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>->wingData();</div> -<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div> -<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">try</span>{</div> -<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> -<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ceti_bot-><a class="code" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(<span class="keyword">static_cast<</span><a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a><span class="keyword">></span>(wd.at(s_r.first).second));</div> -<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div> -<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  ROS_INFO(<span class="stringliteral">"No mask data for %s"</span>, s_r.first.c_str());</div> -<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  }</div> -<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div> -<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div> -<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> -<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);</div> -<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div> -<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){</div> -<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span> (ceti_bot->observerMask()[j]){</div> -<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">try</span>{</div> -<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  tf2::Transform relative_tf = ceti_bot->tf().inverse() * wd.at(ceti_bot->name()).first[j].pose_;</div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : robot->mgi()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(link, std::vector<std::uint8_t>());</div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"left_finger"</span>], std::vector<std::uint8_t>());</div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"right_finger"</span>], std::vector<std::uint8_t>());</div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"hand_link"</span>], std::vector<std::uint8_t>());</div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"base"</span>], std::vector<std::uint8_t>());</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.insert_or_assign(robot->name(), std::move(robot)); </div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> }</div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div> +<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c"> 57</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a>(){</div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">auto</span> wd = <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>->wingData();</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  ceti_bot-><a class="code" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(<span class="keyword">static_cast<</span><a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a><span class="keyword">></span>(wd.at(s_r.first).second));</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  ROS_INFO(<span class="stringliteral">"No mask data for %s"</span>, s_r.first.c_str());</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  }</div> +<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){</div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">if</span> (ceti_bot->observerMask()[j]){</div> +<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  tf2::Transform relative_tf = ceti_bot->tf().inverse() * wd.at(ceti_bot->name()).first[j].pose_;</div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  std::unique_ptr<AbstractRobotElement> panel = std::make_unique<MoveitPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);</div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(std::move(panel));</div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  panels[j] = std::move(log);</div> +<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  } <span class="keywordflow">catch</span> (std::out_of_range &oor){</div> +<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  ROS_INFO(<span class="stringliteral">"OOR in set_panel"</span>);</div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  }</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  ceti_bot->setObservers(panels);</div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  }</div> <div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div> -<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  std::unique_ptr<AbstractRobotElement> panel = std::make_unique<MoveitPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);</div> -<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(std::move(panel));</div> -<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  panels[j] = std::move(log);</div> -<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  } <span class="keywordflow">catch</span> (std::out_of_range &oor){</div> -<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  ROS_INFO(<span class="stringliteral">"OOR in set_panel"</span>);</div> -<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  }</div> -<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div> -<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div> -<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  ceti_bot->setObservers(panels);</div> -<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div> +<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  s_r.second->notify();</div> +<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> }</div> +<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div> +<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d"> 94</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a>(){</div> +<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  ros::WallDuration sleep_time(1.0);</div> +<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div> +<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> <div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div> -<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  s_r.second->notify();</div> -<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div> -<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> }</div> -<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div> -<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d"> 105</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a>(){</div> -<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ros::WallDuration sleep_time(1.0);</div> -<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div> -<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < ceti_bot->observerMask().size(); k++){</div> +<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">if</span>(ceti_bot->observerMask()[k]){</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">auto</span> wmd = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveitPanel.html">MoveitPanel</a>*<span class="keyword">></span>(ceti_bot->observers()[k]->next());</div> +<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(wmd->marker());</div> +<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(wmd->marker().id.c_str(), std::vector<uint8_t>()));</div> +<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  sleep_time.sleep();</div> +<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div> +<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> }</div> <div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div> -<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < ceti_bot->observerMask().size(); k++){</div> -<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">if</span>(ceti_bot->observerMask()[k]){</div> -<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">auto</span> wmd = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveitPanel.html">MoveitPanel</a>*<span class="keyword">></span>(ceti_bot->observers()[k]->next());</div> -<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(wmd->marker());</div> -<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(wmd->marker().id.c_str(), std::vector<uint8_t>()));</div> -<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  sleep_time.sleep();</div> -<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div> -<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div> -<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div> -<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> }</div> -<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div> -<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867"> 122</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a>(){</div> -<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>();</div> -<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>();</div> -<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>();</div> -<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  ros::waitForShutdown();</div> -<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div> -<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div> -<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> };</div> +<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867"> 111</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a>(){</div> +<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>();</div> +<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>();</div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>();</div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  ros::waitForShutdown();</div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> }</div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div> +<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0"> 118</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::PlanningScene& ps){</div> +<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="comment">// First find ID from panda to start with</span></div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  std::regex rx_panda(mr-><a class="code" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>());</div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  std::smatch match;</div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  std::regex_match(mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), match, rx_panda);</div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div> +<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="comment">// build panda link regex</span></div> +<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  std::stringstream ss;</div> +<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  ss << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_.*"</span>;</div> +<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  std::regex rx_panda_links(ss.str());</div> +<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  std::regex rx_box(<span class="stringliteral">"box_.*"</span>);</div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  std::regex rx_table(<span class="stringliteral">"table.*"</span>);</div> <div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div> -<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0"> 131</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::PlanningScene& ps){</div> -<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">// First find ID from panda to start with</span></div> -<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  std::regex rx_panda(mr-><a class="code" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>());</div> -<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  std::smatch match;</div> -<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  std::regex_match(mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), match, rx_panda);</div> +<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div> +<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">// Iterate task collsion matrix</span></div> +<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < ps.allowed_collision_matrix.entry_names.size(); j++ ){</div> +<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">if</span>( mr->map().at(<span class="stringliteral">"base"</span>) == ps.allowed_collision_matrix.entry_names[j]){</div> +<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> <div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  </div> -<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// build panda link regex</span></div> -<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  std::stringstream ss;</div> -<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  ss << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_.*"</span>;</div> -<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  std::regex rx_panda_links(ss.str());</div> -<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  std::regex rx_box(<span class="stringliteral">"box_.*"</span>);</div> -<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  std::regex rx_table(<span class="stringliteral">"table.*"</span>);</div> -<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> +<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="comment">// For that specific entry, loop over values </span></div> +<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> +<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div> +<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> +<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div> <div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div> -<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// Iterate task collsion matrix</span></div> -<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < ps.allowed_collision_matrix.entry_names.size(); j++ ){</div> -<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span>( mr->map().at(<span class="stringliteral">"base"</span>) == ps.allowed_collision_matrix.entry_names[j]){</div> -<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> -<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str(), j);</div> -<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div> -<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> -<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// For that specific entry, loop over values </span></div> -<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> -<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div> -<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> -<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  }</div> -<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div> -<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> -<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  } </div> -<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div> -<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> -<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  } </div> -<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div> -<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> -<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div> -<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div> -<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div> -<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div> -<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div> -<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_panda_links)){</div> -<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> -<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j].c_str(), j);</div> -<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> -<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="comment">//For that specific entry, loop over values </span></div> -<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> -<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div> -<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> -<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  } </div> +<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div> +<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> +<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  } </div> +<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div> +<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div> +<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  }</div> +<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div> +<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div> +<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_panda_links)){</div> +<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> +<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j].c_str(), j);</div> +<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> +<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="comment">//For that specific entry, loop over values </span></div> +<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> +<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div> +<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> +<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  }</div> +<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div> +<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> +<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  } </div> +<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div> +<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> +<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  } </div> +<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div> +<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> +<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div> +<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div> +<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div> +<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div> +<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_box)){</div> +<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> +<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> +<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="comment">//For that specific entry, loop over values </span></div> +<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> +<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div> +<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> <div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> <div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div> <div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div> <div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> -<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  } </div> -<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div> -<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> -<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> +<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  } </div> +<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  </div> +<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> +<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  } </div> +<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  </div> +<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> <div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  } </div> -<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div> -<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> -<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div> -<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div> -<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div> -<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div> +<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div> +<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  }</div> +<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  }</div> +<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  </div> +<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_table)){</div> +<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> +<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> +<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="comment">//For that specific entry, loop over values </span></div> +<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> <div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  </div> -<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_box)){</div> -<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> -<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j].c_str(), j);</div> -<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> -<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="comment">//For that specific entry, loop over values </span></div> -<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> -<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div> -<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> -<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  }</div> -<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div> -<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> -<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  } </div> -<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div> -<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> -<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  } </div> -<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div> -<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> -<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div> -<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  }</div> -<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  }</div> -<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div> -<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div> -<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_table)){</div> -<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div> -<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j], j);</div> -<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div> -<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="comment">//For that specific entry, loop over values </span></div> -<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div> -<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div> -<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> -<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div> -<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div> -<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> -<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  } </div> -<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div> -<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> -<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div> -<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  } </div> -<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  </div> -<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> -<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div> -<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div> -<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> -<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  }</div> -<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  }</div> -<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  }</div> -<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div> -<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  </div> -<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  ROS_INFO(<span class="stringliteral">"after run"</span>);</div> -<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& entry : <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>){</div> -<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  ROS_INFO(<span class="stringliteral">"%s"</span>, entry.first.c_str());</div> -<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& enable : entry.second) std::cout << +enable << <span class="stringliteral">" "</span>;</div> -<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  std::cout<< <span class="stringliteral">"\n"</span>;</div> -<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div> -<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  </div> -<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> }</div> -<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div> -<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  </div> +<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div> +<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  }</div> +<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div> +<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div> +<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  } </div> +<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div> +<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div> +<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  } </div> +<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div> +<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div> +<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div> +<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div> +<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  }</div> +<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  }</div> +<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div> +<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> }</div> +<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div> +<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div> +<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div> +<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854"> 236</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a>(){</div> +<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="comment">/* There are 2 ways to interprete a Task </span></div> +<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="comment"> 1. A box position in acm is also the first entry in task, </span></div> +<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="comment"> 2. A box position in acm is not the first entry in task, in that case we can might try for each position</span></div> +<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment"> */</span></div> +<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keyword">auto</span> jq = <a class="code" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a>->robotData();</div> +<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keyword">auto</span> cd = <a class="code" href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">cuboid_reader_</a>->cuboidBox();</div> +<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  </div> +<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="comment">//std::vector<std::string> objs = {"bottle1", "bottle2"};</span></div> +<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div> +<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div> +<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  std::stringstream ss;</div> +<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  ss << <span class="stringliteral">"box_"</span> << i;</div> +<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div> +<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  moveit_msgs::CollisionObject item;</div> +<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  item.id = ss.str();</div> +<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div> +<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  item.header.stamp = ros::Time::now();</div> +<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  item.primitives.resize(1);</div> +<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  item.primitives[0].type = item.primitives[0].BOX;</div> +<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  item.primitives[0].dimensions.resize(3);</div> +<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div> +<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div> +<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div> +<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  </div> +<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  item.primitive_poses.resize(1);</div> +<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  item.primitive_poses[0].position.x = cd[i].Pose.position.x;</div> +<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  item.primitive_poses[0].position.y = cd[i].Pose.position.y;</div> +<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  item.primitive_poses[0].position.z = cd[i].Pose.position.z;</div> +<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  item.primitive_poses[0].orientation.x = cd[i].Pose.orientation.x;</div> +<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  item.primitive_poses[0].orientation.y = cd[i].Pose.orientation.y;</div> +<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  item.primitive_poses[0].orientation.z = cd[i].Pose.orientation.z;</div> +<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  item.primitive_poses[0].orientation.w = cd[i].Pose.orientation.w;</div> +<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  item.operation = item.ADD;</div> +<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div> +<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div> +<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(item.id, std::vector<uint8_t>()));</div> +<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  </div> +<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="comment">// Could also safe id's somewhere</span></div> +<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  }</div> +<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  </div> +<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="comment">// Setup shared ACM</span></div> +<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& a: <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>) a.second.resize(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.size(), 0);</div> +<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div> +<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  std::regex item(<span class="stringliteral">"box_([0-9]+)"</span>);</div> +<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  std::smatch match;</div> +<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div> +<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="comment">// ----------------------------------</span></div> +<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="comment">// GROOT Strategie => erst FROM TEXT</span></div> +<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="comment">// ----------------------------------</span></div> +<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  </div> +<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  BT::BehaviorTreeFactory factory;</div> +<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  factory.registerNodeType<<a class="code" href="classExecution.html">Execution</a>>(<span class="stringliteral">"Execution"</span>);</div> +<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  factory.registerNodeType<<a class="code" href="classPositionCondition.html">PositionCondition</a>>(<span class="stringliteral">"PositionCondition"</span>);</div> +<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  factory.registerNodeType<<a class="code" href="classParallel__robot.html">Parallel_robot</a>>(<span class="stringliteral">"Parallel_robot"</span>);</div> <div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div> -<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854"> 292</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a>(){</div> -<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="comment">/* There are 2 ways to interprete a Task </span></div> -<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> <span class="comment"> 1. A box position in acm is also the first entry in task, </span></div> -<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment"> 2. A box position in acm is not the first entry in task, in that case we can might try for each position</span></div> -<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"> */</span></div> -<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keyword">auto</span> jq = <a class="code" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a>->robotData();</div> -<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keyword">auto</span> cd = <a class="code" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a>->cuboidBin();</div> -<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  </div> -<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="comment">//std::vector<std::string> objs = {"bottle1", "bottle2"};</span></div> -<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  </div> -<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div> -<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  std::stringstream ss;</div> -<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  ss << <span class="stringliteral">"box_"</span> << i;</div> -<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  </div> -<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  moveit_msgs::CollisionObject item;</div> -<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  item.id = ss.str();</div> -<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div> -<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  item.header.stamp = ros::Time::now();</div> -<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  item.primitives.resize(1);</div> -<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  item.primitives[0].type = item.primitives[0].BOX;</div> -<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  item.primitives[0].dimensions.resize(3);</div> -<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div> -<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div> -<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div> +<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;</div> +<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  </div> +<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">while</span>(!jq.empty()){</div> +<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_co : <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects()){</div> +<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">if</span>(!std::regex_match(s_co.first, match, item)) <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div> +<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  std::pair<std::string, job_data> temp = jq.front();</div> +<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  ROS_INFO(<span class="stringliteral">"1. job entry %f %f %f"</span>, temp.second.jobs_.front().getOrigin().getX(), temp.second.jobs_.front().getOrigin().getY(), temp.second.jobs_.front().getOrigin().getZ());</div> +<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  ROS_INFO(<span class="stringliteral">"object position %f %f %f"</span>, s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z);</div> +<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), tf2::Vector3(s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z )) == 0) {</div> +<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> bt_list;</div> +<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  </div> +<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* ard = <span class="keyword">nullptr</span>;</div> +<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  ard= <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(temp.first).get();</div> +<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){</div> +<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  ROS_INFO(<span class="stringliteral">"Robot not found"</span>);</div> +<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  ros::shutdown();</div> +<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  }</div> +<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  </div> +<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="comment">// loop jobs</span></div> +<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++){</div> +<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  moveit::task_constructor::Task mgt = <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(ard, <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects().at(s_co.first), temp.second.jobs_[k]);</div> +<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordflow">if</span>(mgt.plan(1)) {</div> <div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  </div> -<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  item.primitive_poses.resize(1);</div> -<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  item.primitive_poses[0].position.x = cd[i].Pose.position.x;</div> -<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  item.primitive_poses[0].position.y = cd[i].Pose.position.y;</div> -<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  item.primitive_poses[0].position.z = cd[i].Pose.position.z;</div> -<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  item.primitive_poses[0].orientation.x = cd[i].Pose.orientation.x;</div> -<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  item.primitive_poses[0].orientation.y = cd[i].Pose.orientation.y;</div> -<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  item.primitive_poses[0].orientation.z = cd[i].Pose.orientation.z;</div> -<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  item.primitive_poses[0].orientation.w = cd[i].Pose.orientation.w;</div> -<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  item.operation = item.ADD;</div> -<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  </div> -<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div> -<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(item.id, std::vector<uint8_t>()));</div> -<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  </div> -<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="comment">// Could also safe id's somewhere</span></div> -<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  }</div> -<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  </div> -<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="comment">// Setup shared ACM</span></div> -<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& a: <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>) a.second.resize(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.size(), 0);</div> -<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  </div> -<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  std::regex item(<span class="stringliteral">"box_([0-9]+)"</span>);</div> -<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  std::smatch match;</div> -<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  </div> -<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="comment">// ----------------------------------</span></div> -<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="comment">// GROOT Strategie => erst FROM TEXT</span></div> -<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="comment">// ----------------------------------</span></div> -<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  </div> -<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  BT::BehaviorTreeFactory factory;</div> -<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  factory.registerNodeType<<a class="code" href="classExecution.html">Execution</a>>(<span class="stringliteral">"Execution"</span>);</div> -<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  factory.registerNodeType<<a class="code" href="classPositionCondition.html">PositionCondition</a>>(<span class="stringliteral">"PositionCondition"</span>);</div> -<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  factory.registerNodeType<<a class="code" href="classParallel__robot.html">Parallel_robot</a>>(<span class="stringliteral">"Parallel_robot"</span>);</div> -<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  </div> -<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;</div> -<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  </div> -<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">while</span>(!jq.empty()){</div> -<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_co : <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects()){</div> -<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordflow">if</span>(!std::regex_match(s_co.first, match, item)) <span class="keywordflow">continue</span>;</div> -<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div> -<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  std::pair<std::string, job_data> temp = jq.front();</div> -<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  ROS_INFO(<span class="stringliteral">"1. job entry %f %f %f"</span>, temp.second.jobs_.front().getOrigin().getX(), temp.second.jobs_.front().getOrigin().getY(), temp.second.jobs_.front().getOrigin().getZ());</div> -<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  ROS_INFO(<span class="stringliteral">"object position %f %f %f"</span>, s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z);</div> -<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), tf2::Vector3(s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z )) == 0) {</div> -<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> bt_list;</div> -<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  </div> -<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* ard = <span class="keyword">nullptr</span>;</div> -<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keywordflow">try</span>{</div> -<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  ard= <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(temp.first).get();</div> -<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){</div> -<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  ROS_INFO(<span class="stringliteral">"Robot not found"</span>);</div> -<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  ros::shutdown();</div> -<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  }</div> -<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  </div> -<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="comment">// loop jobs</span></div> -<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++){</div> -<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  moveit::task_constructor::Task mgt = <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(ard, <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects().at(s_co.first), temp.second.jobs_[k]);</div> -<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">if</span>(mgt.plan(1)) {</div> -<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  </div> -<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;</div> -<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  mgt.solutions().front()->fillMessage(e.solution, &mgt.introspection());</div> -<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  bt_list.push_back(e);</div> -<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div> -<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  moveit_msgs::CollisionObject temp_co = <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects().at(s_co.first);</div> -<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  temp_co.operation = temp_co.MOVE;</div> -<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  temp_co.pose.position.x = temp.second.jobs_[k].getOrigin().getX();</div> -<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  temp_co.pose.position.y = temp.second.jobs_[k].getOrigin().getY();</div> -<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  temp_co.pose.position.z = temp.second.jobs_[k].getOrigin().getZ();</div> -<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  temp_co.pose.orientation.x = temp.second.jobs_[k].getRotation().getX();</div> -<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  temp_co.pose.orientation.y = temp.second.jobs_[k].getRotation().getY();</div> -<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  temp_co.pose.orientation.z = temp.second.jobs_[k].getRotation().getZ();</div> -<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  temp_co.pose.orientation.w = temp.second.jobs_[k].getRotation().getW();</div> -<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(temp_co);</div> -<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  }</div> -<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div> -<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  </div> -<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="comment">/*</span></div> -<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="comment"> if(auto condition = dynamic_cast<Position_condition*>(node_it->get())) {ROS_INFO("om");condition->init(s_co.first, temp.second.jobs_.front().getOrigin(), psi_.get()); ++node_it;}</span></div> -<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> <span class="comment"></span> </div> -<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> <span class="comment"> for(auto& ets : bt_list)</span></div> -<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="comment"> if(auto execution = dynamic_cast<Execution*>(node_it->get())) {ROS_INFO("tr");execution->init(planning_scene_diff_publisher_.get(), mr->mgi().get(), ets); ++node_it;}</span></div> -<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="comment"> */</span></div> -<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div> -<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div> -<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  std::stringstream ss;</div> -<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  ss << <span class="stringliteral">"box_"</span> << i;</div> -<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  </div> -<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  moveit_msgs::CollisionObject item;</div> -<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  item.id = ss.str();</div> -<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div> -<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  item.header.stamp = ros::Time::now();</div> -<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  item.primitives.resize(1);</div> -<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  item.primitives[0].type = item.primitives[0].BOX;</div> -<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  item.primitives[0].dimensions.resize(3);</div> -<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div> -<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div> -<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div> -<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  </div> -<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  item.pose.position.x = cd[i].Pose.position.x;</div> -<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  item.pose.position.y = cd[i].Pose.position.y;</div> -<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  item.pose.position.z = cd[i].Pose.position.z;</div> -<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div> -<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div> -<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div> -<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div> -<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  item.operation = item.MOVE;</div> -<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  </div> -<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div> -<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">// Could also safe id's somewhere</span></div> -<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  }</div> -<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  </div> -<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div> -<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">try</span>{</div> -<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  task_but_different.at(ard-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>()).push_back(std::tuple<std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>(s_co.first, temp.second.jobs_.front().getOrigin(), bt_list));</div> -<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  } <span class="keywordflow">catch</span>(std::out_of_range &oor) {</div> -<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  std::tuple<const std::string&, tf2::Vector3&, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>&> tuple(s_co.first, temp.second.jobs_.front().getOrigin(), bt_list);</div> -<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  task_but_different.insert(std::pair<std::string, std::vector<std::tuple<<span class="keyword">const</span> std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>>(ard-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(),{tuple}));</div> -<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  }</div> -<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  jq.pop_front();</div> -<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  } <span class="keywordflow">else</span> {jq.push_back(temp);}</div> -<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  }</div> -<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  }</div> -<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  </div> -<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  std::stringstream ss;</div> -<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  ss << <span class="stringliteral">"<root main_tree_to_execute = \"MainTree\">\n"</span>;</div> -<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  ss << <span class="stringliteral">"<BehaviorTree ID=\"MainTree\">\n"</span>;</div> -<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  ss << <span class="stringliteral">"<Control ID=\"Parallel\" name=\"Agents\" success_threshold=\""</span><< <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.size() << <span class="stringliteral">"\" failure_threshold=\""</span><< <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.size() << <span class="stringliteral">"\">\n"</span>;</div> -<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  </div> -<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  ss << <span class="stringliteral">"<Control ID=\"Parallel_robot\" name=\""</span><< s_r.first << <span class="stringliteral">"\" success_threshold=\""</span><< task_but_different.at(s_r.first).size() << <span class="stringliteral">"\" failure_threshold=\""</span><< task_but_different.at(s_r.first).size() << <span class="stringliteral">"\">\n"</span>;</div> -<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& p_obj: task_but_different.at(s_r.first)){</div> -<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  ss << <span class="stringliteral">"<SequenceStar name=\"root_sequence\">\n"</span>;</div> -<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  ss << <span class="stringliteral">"<Condition ID=\"PositionCondition\" name=\"Position_condition\"/>\n"</span>;</div> -<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < std::get<2>(p_obj).size(); j++){</div> -<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  ss << <span class="stringliteral">"<Action ID=\"Execution\" name=\"Execution\"/>\n"</span>;</div> -<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div> -<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  ss << <span class="stringliteral">"</SequenceStar>\n"</span>;</div> -<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  }</div> -<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  ss << <span class="stringliteral">"</Control>\n"</span>;</div> -<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  }</div> -<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  ss << <span class="stringliteral">"</Control>\n"</span>;</div> -<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  ss << <span class="stringliteral">"</BehaviorTree>\n"</span>;</div> -<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  ss << <span class="stringliteral">"</root>\n"</span>;</div> +<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;</div> +<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  mgt.solutions().front()->fillMessage(e.solution, &mgt.introspection());</div> +<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  bt_list.push_back(e);</div> +<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  </div> +<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  moveit_msgs::CollisionObject temp_co = <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects().at(s_co.first);</div> +<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  temp_co.operation = temp_co.MOVE;</div> +<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  temp_co.pose.position.x = temp.second.jobs_[k].getOrigin().getX();</div> +<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  temp_co.pose.position.y = temp.second.jobs_[k].getOrigin().getY();</div> +<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  temp_co.pose.position.z = temp.second.jobs_[k].getOrigin().getZ();</div> +<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  temp_co.pose.orientation.x = temp.second.jobs_[k].getRotation().getX();</div> +<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  temp_co.pose.orientation.y = temp.second.jobs_[k].getRotation().getY();</div> +<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  temp_co.pose.orientation.z = temp.second.jobs_[k].getRotation().getZ();</div> +<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  temp_co.pose.orientation.w = temp.second.jobs_[k].getRotation().getW();</div> +<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(temp_co);</div> +<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  }</div> +<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  }</div> +<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  </div> +<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="comment">/*</span></div> +<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> if(auto condition = dynamic_cast<Position_condition*>(node_it->get())) {ROS_INFO("om");condition->init(s_co.first, temp.second.jobs_.front().getOrigin(), psi_.get()); ++node_it;}</span></div> +<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"></span> </div> +<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> for(auto& ets : bt_list)</span></div> +<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"> if(auto execution = dynamic_cast<Execution*>(node_it->get())) {ROS_INFO("tr");execution->init(planning_scene_diff_publisher_.get(), mr->mgi().get(), ets); ++node_it;}</span></div> +<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> */</span></div> +<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  </div> +<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div> +<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  std::stringstream ss;</div> +<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  ss << <span class="stringliteral">"box_"</span> << i;</div> +<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  </div> +<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  moveit_msgs::CollisionObject item;</div> +<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  item.id = ss.str();</div> +<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div> +<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  item.header.stamp = ros::Time::now();</div> +<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  item.primitives.resize(1);</div> +<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  item.primitives[0].type = item.primitives[0].BOX;</div> +<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  item.primitives[0].dimensions.resize(3);</div> +<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div> +<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div> +<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div> +<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  </div> +<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  item.pose.position.x = cd[i].Pose.position.x;</div> +<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  item.pose.position.y = cd[i].Pose.position.y;</div> +<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  item.pose.position.z = cd[i].Pose.position.z;</div> +<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div> +<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div> +<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div> +<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div> +<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  item.operation = item.MOVE;</div> +<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  </div> +<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div> +<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="comment">// Could also safe id's somewhere</span></div> +<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div> +<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  </div> +<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  </div> +<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  task_but_different.at(ard-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>()).push_back(std::tuple<std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>(s_co.first, temp.second.jobs_.front().getOrigin(), bt_list));</div> +<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  } <span class="keywordflow">catch</span>(std::out_of_range &oor) {</div> +<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  std::tuple<const std::string&, tf2::Vector3&, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>&> tuple(s_co.first, temp.second.jobs_.front().getOrigin(), bt_list);</div> +<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  task_but_different.insert(std::pair<std::string, std::vector<std::tuple<<span class="keyword">const</span> std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>>(ard-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(),{tuple}));</div> +<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  }</div> +<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  jq.pop_front();</div> +<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  } <span class="keywordflow">else</span> {jq.push_back(temp);}</div> +<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  }</div> +<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  }</div> +<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div> +<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  std::stringstream ss;</div> +<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  ss << <span class="stringliteral">"<root main_tree_to_execute = \"MainTree\">\n"</span>;</div> +<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  ss << <span class="stringliteral">"<BehaviorTree ID=\"MainTree\">\n"</span>;</div> +<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  ss << <span class="stringliteral">"<Control ID=\"Parallel\" name=\"Agents\" success_threshold=\""</span><< 2 << <span class="stringliteral">"\" failure_threshold=\""</span><< 1 << <span class="stringliteral">"\">\n"</span>;</div> +<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  </div> +<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordflow">try</span> {</div> +<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keyword">auto</span> a = task_but_different.at(s_r.first);</div> +<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){</div> +<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  }</div> +<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  ss << <span class="stringliteral">"<Control ID=\"Parallel_robot\" name=\""</span><< s_r.first << <span class="stringliteral">"\" success_threshold=\""</span><< task_but_different.at(s_r.first).size() << <span class="stringliteral">"\" failure_threshold=\""</span><< 1 << <span class="stringliteral">"\">\n"</span>;</div> +<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& p_obj: task_but_different.at(s_r.first)){</div> +<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  ss << <span class="stringliteral">"<SequenceStar name=\"root_sequence\">\n"</span>;</div> +<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  ss << <span class="stringliteral">"<Condition ID=\"PositionCondition\" name=\"Position_condition\"/>\n"</span>;</div> +<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < std::get<2>(p_obj).size(); j++){</div> +<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  ss << <span class="stringliteral">"<Action ID=\"Execution\" name=\"Execution\"/>\n"</span>;</div> +<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  }</div> +<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  ss << <span class="stringliteral">"</SequenceStar>\n"</span>;</div> +<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  }</div> +<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  ss << <span class="stringliteral">"</Control>\n"</span>;</div> +<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  }</div> +<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  ss << <span class="stringliteral">"</Control>\n"</span>;</div> +<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  ss << <span class="stringliteral">"</BehaviorTree>\n"</span>;</div> +<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  ss << <span class="stringliteral">"</root>\n"</span>;</div> +<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div> +<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  std::cout << ss.str();</div> +<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keyword">auto</span> tree = factory.createTreeFromText(ss.str());</div> +<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keyword">auto</span> node_it = tree.nodes.begin();</div> +<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  </div> +<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="keywordflow">try</span> {</div> +<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="keyword">auto</span> a = task_but_different.at(s_r.first);</div> +<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){</div> +<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  }</div> +<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& p_obj: task_but_different.at(s_r.first)){</div> +<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="keywordflow">while</span> (node_it->get()->type() == BT::NodeType::CONTROL) ++node_it;</div> +<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::ACTION) ROS_INFO(<span class="stringliteral">"Action"</span>);</div> +<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::CONDITION) ROS_INFO(<span class="stringliteral">"Condition"</span>);</div> +<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::CONTROL) ROS_INFO(<span class="stringliteral">"Control"</span>);</div> +<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::DECORATOR) ROS_INFO(<span class="stringliteral">"Decorator"</span>);</div> +<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  </div> +<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="keywordflow">if</span>(<span class="keyword">auto</span> condition = <span class="keyword">dynamic_cast<</span><a class="code" href="classPositionCondition.html">PositionCondition</a>*<span class="keyword">></span>(node_it->get())) {ROS_INFO(<span class="stringliteral">"init Condition"</span>);condition->init(std::get<0>(p_obj), std::get<1>(p_obj), <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>.get());++node_it;}</div> +<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < std::get<2>(p_obj).size(); j++){</div> +<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">if</span>(<span class="keyword">auto</span> execution = <span class="keyword">dynamic_cast<</span><a class="code" href="classExecution.html">Execution</a>*<span class="keyword">></span>(node_it->get())) {ROS_INFO(<span class="stringliteral">"init Action"</span>);execution->init(&<a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>, s_r.second.get(), std::get<2>(p_obj)[j]);++node_it;}</div> +<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  }</div> +<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  }</div> +<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  }</div> +<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  </div> +<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  BT::PublisherZMQ zmq(tree);</div> +<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  ros::Duration sleep(1);</div> +<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  BT::NodeStatus status = BT::NodeStatus::RUNNING;</div> +<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keyword">auto</span> t_start = std::chrono::high_resolution_clock::now();</div> +<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="keywordflow">while</span>( status == BT::NodeStatus::RUNNING){</div> +<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  status = tree.tickRoot();</div> +<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  </div> +<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="comment">// std::this_thread::sleep_for(std::chrono::milliseconds(100));</span></div> +<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  </div> +<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  </div> +<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  std::vector<std::thread> th;</div> +<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  moveit_msgs::PlanningScene ps_m;</div> +<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <span class="keywordtype">bool</span> is_executing = !(<a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.empty());</div> +<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  </div> +<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">try</span>{</div> +<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  ROS_INFO(<span class="stringliteral">"%s"</span>, s_r.first.c_str());</div> +<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="keyword">auto</span> temp = <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.at(s_r.first);</div> +<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  th.push_back(std::thread(&<a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a>, <span class="keyword">this</span>, std::ref(*s_r.second.get()), temp.first));</div> +<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="comment">//mr->mgi()->execute(temp.first);</span></div> +<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="comment">// ROS_INFO("acm in msg");</span></div> +<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="comment">// for(int k = 0; k < temp.second.allowed_collision_matrix.entry_names.size(); k++){</span></div> +<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  <span class="comment">// ROS_INFO("%s", temp.second.allowed_collision_matrix.entry_names[k].c_str());</span></div> +<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="comment">// for (auto& enable : temp.second.allowed_collision_matrix.entry_values[k].enabled) std::cout << +enable << " ";</span></div> +<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="comment">// std::cout<< "\n";</span></div> +<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  <span class="comment">// }</span></div> <div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  </div> -<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  std::cout << ss.str();</div> -<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="keyword">auto</span> tree = factory.createTreeFromText(ss.str());</div> -<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keyword">auto</span> node_it = tree.nodes.begin();</div> -<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  </div> -<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& p_obj: task_but_different.at(s_r.first)){</div> -<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordflow">while</span> (node_it->get()->type() == BT::NodeType::CONTROL) ++node_it;</div> -<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::ACTION) ROS_INFO(<span class="stringliteral">"Action"</span>);</div> -<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::CONDITION) ROS_INFO(<span class="stringliteral">"Condition"</span>);</div> -<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::CONTROL) ROS_INFO(<span class="stringliteral">"Control"</span>);</div> -<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::DECORATOR) ROS_INFO(<span class="stringliteral">"Decorator"</span>);</div> -<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  </div> -<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">if</span>(<span class="keyword">auto</span> condition = <span class="keyword">dynamic_cast<</span><a class="code" href="classPositionCondition.html">PositionCondition</a>*<span class="keyword">></span>(node_it->get())) {ROS_INFO(<span class="stringliteral">"init Condition"</span>);condition->init(std::get<0>(p_obj), std::get<1>(p_obj), <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>.get());++node_it;}</div> -<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < std::get<2>(p_obj).size(); j++){</div> -<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">if</span>(<span class="keyword">auto</span> execution = <span class="keyword">dynamic_cast<</span><a class="code" href="classExecution.html">Execution</a>*<span class="keyword">></span>(node_it->get())) {ROS_INFO(<span class="stringliteral">"init Action"</span>);execution->init(&<a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>, s_r.second.get(), std::get<2>(p_obj)[j]);++node_it;}</div> -<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  }</div> -<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  }</div> -<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  }</div> -<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  </div> -<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  BT::PublisherZMQ zmq(tree);</div> -<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  ros::Duration sleep(1);</div> -<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  BT::NodeStatus status = BT::NodeStatus::RUNNING;</div> -<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordflow">while</span>( status == BT::NodeStatus::RUNNING){</div> -<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  status = tree.tickRoot();</div> -<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  </div> -<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="comment">// std::this_thread::sleep_for(std::chrono::milliseconds(100));</span></div> -<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  </div> -<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  </div> -<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  std::vector<std::thread> th;</div> -<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  moveit_msgs::PlanningScene ps_m;</div> -<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <span class="keywordtype">bool</span> is_executing = !(<a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.empty());</div> +<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(s_r.second.get(), temp.second);</div> +<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(ps_m, temp.second, s_r.second.get());</div> +<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.erase(s_r.first);</div> +<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){}</div> +<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  }</div> +<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  </div> +<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& t : th){</div> +<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  t.join();</div> +<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  }</div> +<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordflow">if</span> (is_executing){</div> +<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(ps_m);</div> +<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <a class="code" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a>->publish(ps_m);</div> +<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  }</div> +<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  </div> +<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  </div> +<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <span class="comment">// for(auto& exec : executions_){</span></div> +<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="comment">// for (int i = 0; i < robots_.size(); i++){</span></div> +<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="comment">// if (exec.first == robots_[i]->name()){</span></div> +<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <span class="comment">// auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);</span></div> +<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="comment">// manipulate_acm(mr, exec.second.second);</span></div> +<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="comment">// merge_ps(ps_m, exec.second.second, mr);</span></div> +<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  </div> +<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  </div> +<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  </div> +<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  }</div> +<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keyword">auto</span> t_end = std::chrono::high_resolution_clock::now();</div> +<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <span class="keywordtype">double</span> elapsed_time_ms = std::chrono::duration<double, std::milli>(t_end-t_start).count();</div> +<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  ROS_INFO(<span class="stringliteral">"%f"</span>, elapsed_time_ms);</div> <div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  </div> -<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordflow">try</span>{</div> -<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keyword">auto</span> temp = <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.at(s_r.first);</div> -<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  th.push_back(std::thread(&<a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a>, <span class="keyword">this</span>, std::ref(*s_r.second.get()), temp.first));</div> -<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="comment">//mr->mgi()->execute(temp.first);</span></div> -<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <span class="comment">// ROS_INFO("acm in msg");</span></div> -<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="comment">// for(int k = 0; k < temp.second.allowed_collision_matrix.entry_names.size(); k++){</span></div> -<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="comment">// ROS_INFO("%s", temp.second.allowed_collision_matrix.entry_names[k].c_str());</span></div> -<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="comment">// for (auto& enable : temp.second.allowed_collision_matrix.entry_values[k].enabled) std::cout << +enable << " ";</span></div> -<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="comment">// std::cout<< "\n";</span></div> -<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <span class="comment">// }</span></div> -<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  </div> -<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(s_r.second.get(), temp.second);</div> -<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(ps_m, temp.second, s_r.second.get());</div> -<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.erase(s_r.first);</div> -<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){}</div> -<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  }</div> -<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  </div> -<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& t : th){</div> -<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  t.join();</div> -<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  }</div> -<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <span class="keywordflow">if</span> (is_executing){</div> -<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(ps_m);</div> -<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <a class="code" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a>->publish(ps_m);</div> -<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  }</div> -<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  </div> -<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  </div> -<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  <span class="comment">// for(auto& exec : executions_){</span></div> -<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <span class="comment">// for (int i = 0; i < robots_.size(); i++){</span></div> -<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <span class="comment">// if (exec.first == robots_[i]->name()){</span></div> -<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="comment">// auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);</span></div> -<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <span class="comment">// manipulate_acm(mr, exec.second.second);</span></div> -<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  <span class="comment">// merge_ps(ps_m, exec.second.second, mr);</span></div> -<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  </div> -<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  <span class="comment">// }</span></div> -<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="comment">// }</span></div> -<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  <span class="comment">// }</span></div> -<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  </div> -<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  </div> -<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  }</div> -<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  </div> +<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="comment">// clean up</span></div> +<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div> +<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  std::stringstream ss;</div> +<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  ss << <span class="stringliteral">"box_"</span> << i;</div> +<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  </div> +<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  moveit_msgs::CollisionObject item;</div> +<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  item.id = ss.str();</div> +<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div> +<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  item.header.stamp = ros::Time::now();</div> +<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  item.primitives.resize(1);</div> +<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  item.primitives[0].type = item.primitives[0].BOX;</div> +<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  item.primitives[0].dimensions.resize(3);</div> +<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div> +<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div> +<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div> +<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  </div> +<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  item.pose.position.x = cd[i].Pose.position.x;</div> +<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  item.pose.position.y = cd[i].Pose.position.y;</div> +<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  item.pose.position.z = cd[i].Pose.position.z;</div> +<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div> +<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div> +<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div> +<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div> +<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  item.operation = item.MOVE;</div> +<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  </div> +<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div> +<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <span class="comment">// Could also safe id's somewhere</span></div> +<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  }</div> +<div class="line"><a name="l00518"></a><span class="lineno"> 518</span> }</div> +<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  </div> +<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  </div> +<div class="line"><a name="l00521"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421"> 521</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a>(moveit_msgs::PlanningScene& ps_m){</div> +<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  moveit_msgs::PlanningScene::_allowed_collision_matrix_type acmt;</div> +<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  acmt.entry_values.resize(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.size());</div> +<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  </div> +<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="keywordtype">int</span> i = 0;</div> +<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& a : <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>){</div> +<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  acmt.entry_names.push_back(a.first);</div> +<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  acmt.entry_values[i].enabled = a.second;</div> +<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  i++;</div> +<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  }</div> <div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  </div> -<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="comment">// clean up</span></div> -<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div> -<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  std::stringstream ss;</div> -<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  ss << <span class="stringliteral">"box_"</span> << i;</div> -<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  </div> -<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  moveit_msgs::CollisionObject item;</div> -<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  item.id = ss.str();</div> -<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div> -<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  item.header.stamp = ros::Time::now();</div> -<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  item.primitives.resize(1);</div> -<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  item.primitives[0].type = item.primitives[0].BOX;</div> -<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  item.primitives[0].dimensions.resize(3);</div> -<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div> -<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div> -<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div> +<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="comment">// ROS_INFO("merge_acm");</span></div> +<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="comment">// for(int k = 0; k < acmt.entry_names.size(); k++){</span></div> +<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  <span class="comment">// ROS_INFO("%s", acmt.entry_names[k].c_str());</span></div> +<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  <span class="comment">// for (auto& enable : acmt.entry_values[k].enabled){</span></div> +<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="comment">// std::cout << +enable << " ";</span></div> +<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <span class="comment">// std::cout<< "\n";</span></div> +<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <span class="comment">// }</span></div> +<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  </div> +<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  ps_m.allowed_collision_matrix = acmt;</div> +<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  </div> +<div class="line"><a name="l00543"></a><span class="lineno"> 543</span> }</div> +<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  </div> +<div class="line"><a name="l00545"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7"> 545</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr){</div> +<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="comment">// get full mr link list </span></div> <div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  </div> -<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  item.pose.position.x = cd[i].Pose.position.x;</div> -<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  item.pose.position.y = cd[i].Pose.position.y;</div> -<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  item.pose.position.z = cd[i].Pose.position.z;</div> -<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div> -<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div> -<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div> -<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div> -<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  item.operation = item.MOVE;</div> -<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  </div> -<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div> -<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  <span class="comment">// Could also safe id's somewhere</span></div> -<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  }</div> -<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> }</div> -<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  </div> -<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  </div> -<div class="line"><a name="l00563"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421"> 563</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a>(moveit_msgs::PlanningScene& ps_m){</div> -<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  moveit_msgs::PlanningScene::_allowed_collision_matrix_type acmt;</div> -<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  acmt.entry_values.resize(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.size());</div> -<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div> -<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keywordtype">int</span> i = 0;</div> -<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& a : <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>){</div> -<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  acmt.entry_names.push_back(a.first);</div> -<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  acmt.entry_values[i].enabled = a.second;</div> -<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  i++;</div> -<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  }</div> -<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  </div> -<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  <span class="comment">// ROS_INFO("merge_acm");</span></div> -<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  <span class="comment">// for(int k = 0; k < acmt.entry_names.size(); k++){</span></div> -<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="comment">// ROS_INFO("%s", acmt.entry_names[k].c_str());</span></div> -<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="comment">// for (auto& enable : acmt.entry_values[k].enabled){</span></div> -<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="comment">// std::cout << +enable << " ";</span></div> -<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="comment">// }</span></div> -<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="comment">// std::cout<< "\n";</span></div> -<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="comment">// }</span></div> -<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  </div> -<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  ps_m.allowed_collision_matrix = acmt;</div> -<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  ROS_INFO(<span class="stringliteral">"broken after merge"</span>);</div> -<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  </div> -<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> }</div> -<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  </div> -<div class="line"><a name="l00588"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7"> 588</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr){</div> -<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  <span class="comment">// get full mr link list </span></div> -<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  </div> -<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> ao : in.robot_state.attached_collision_objects) out.robot_state.attached_collision_objects.push_back(ao);</div> -<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  out.robot_state.is_diff |= in.robot_state.is_diff;</div> -<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  out.is_diff |= in.is_diff;</div> -<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  out.robot_state.joint_state.header = in.robot_state.joint_state.header;</div> -<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  out.robot_model_name = <span class="stringliteral">"panda"</span>;</div> -<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  </div> -<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  std::vector<std::string> links;</div> -<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : mr-><a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->getLinkNames()) links.push_back(link);</div> -<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  links.push_back(mr->map()[<span class="stringliteral">"left_finger"</span>]);</div> -<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  links.push_back(mr->map()[<span class="stringliteral">"right_finger"</span>]);</div> -<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  links.push_back(mr->map()[<span class="stringliteral">"hand_link"</span>]);</div> -<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  links.push_back(mr->map()[<span class="stringliteral">"base"</span>]);</div> +<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> ao : in.robot_state.attached_collision_objects) out.robot_state.attached_collision_objects.push_back(ao);</div> +<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  out.robot_state.is_diff |= in.robot_state.is_diff;</div> +<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  out.is_diff |= in.is_diff;</div> +<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  out.robot_state.joint_state.header = in.robot_state.joint_state.header;</div> +<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  out.robot_model_name = <span class="stringliteral">"panda"</span>;</div> +<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  </div> +<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  std::vector<std::string> links;</div> +<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : mr-><a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->getLinkNames()) links.push_back(link);</div> +<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  links.push_back(mr->map()[<span class="stringliteral">"left_finger"</span>]);</div> +<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  links.push_back(mr->map()[<span class="stringliteral">"right_finger"</span>]);</div> +<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  links.push_back(mr->map()[<span class="stringliteral">"hand_link"</span>]);</div> +<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  links.push_back(mr->map()[<span class="stringliteral">"base"</span>]);</div> +<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  </div> +<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : links) {</div> +<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.robot_state.joint_state.name.size(); i++){</div> +<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  <span class="keywordflow">if</span>(link == in.robot_state.joint_state.name[i]){</div> +<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  out.robot_state.joint_state.effort.push_back(in.robot_state.joint_state.effort[i]);</div> +<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  out.robot_state.joint_state.position.push_back(in.robot_state.joint_state.position[i]);</div> +<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  out.robot_state.joint_state.velocity.push_back(in.robot_state.joint_state.velocity[i]);</div> +<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  }</div> +<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  }</div> +<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  </div> +<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.link_padding.size(); i++){</div> +<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="keywordflow">if</span>(link == in.link_padding[i].link_name){</div> +<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  out.link_padding.push_back(in.link_padding[i]);</div> +<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  }</div> +<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  }</div> +<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  </div> +<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.link_scale.size(); i++){</div> +<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordflow">if</span>(link == in.link_scale[i].link_name){</div> +<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  out.link_scale.push_back(in.link_scale[i]);</div> +<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  }</div> +<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  }</div> +<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  } </div> +<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> }</div> +<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  </div> +<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  </div> +<div class="line"><a name="l00585"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6"> 585</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>& mr, moveit_msgs::RobotTrajectory rt){</div> +<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  mr.<a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->execute(rt);</div> +<div class="line"><a name="l00587"></a><span class="lineno"> 587</span> }</div> +<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  </div> +<div class="line"><a name="l00589"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d"> 589</a></span> moveit::task_constructor::Task <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::CollisionObject& source, tf2::Transform& target){</div> +<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  tf2::Transform t(tf2::Quaternion(source.pose.orientation.x, source.pose.orientation.y, source.pose.orientation.z, source.pose.orientation.w), tf2::Vector3(source.pose.position.x, source.pose.position.y, source.pose.position.z));</div> +<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  std::string support_surface1 = <span class="stringliteral">"nichts"</span>;</div> +<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  std::string support_surface2 = <span class="stringliteral">"nichts"</span>;</div> +<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  </div> +<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> +<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  std::string str;</div> +<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  std::bitset<3> panel_mask;</div> +<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  <span class="keywordflow">if</span>(s_r.second->checkSingleObjectCollision(t, str, panel_mask)) support_surface1 = str;</div> +<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordflow">if</span>(s_r.second->checkSingleObjectCollision(target, str, panel_mask)) support_surface2= str;</div> +<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  }</div> +<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  </div> +<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  ROS_INFO(<span class="stringliteral">"ss1 %s"</span>, support_surface1.c_str());</div> +<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  ROS_INFO(<span class="stringliteral">"ss2 %s"</span>, support_surface2.c_str());</div> <div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  </div> -<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : links) {</div> -<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.robot_state.joint_state.name.size(); i++){</div> -<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <span class="keywordflow">if</span>(link == in.robot_state.joint_state.name[i]){</div> -<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  out.robot_state.joint_state.effort.push_back(in.robot_state.joint_state.effort[i]);</div> -<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  out.robot_state.joint_state.position.push_back(in.robot_state.joint_state.position[i]);</div> -<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  out.robot_state.joint_state.velocity.push_back(in.robot_state.joint_state.velocity[i]);</div> -<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  }</div> -<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  }</div> +<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  </div> +<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keyword">const</span> std::string <span class="keywordtype">object</span> = source.id;</div> +<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  moveit::task_constructor::Task task_;</div> +<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  </div> +<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  std::string name = <span class="stringliteral">"Pick&Place"</span>;</div> +<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  task_.stages()->setName(name + std::to_string(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(ros::Time::now().toNSec())));</div> +<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  task_.loadRobotModel();</div> +<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  task_.setRobotModel(mr-><a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->getRobotModel());</div> <div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  </div> -<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.link_padding.size(); i++){</div> -<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <span class="keywordflow">if</span>(link == in.link_padding[i].link_name){</div> -<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  out.link_padding.push_back(in.link_padding[i]);</div> -<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  }</div> -<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  }</div> -<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  </div> -<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.link_scale.size(); i++){</div> -<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordflow">if</span>(link == in.link_scale[i].link_name){</div> -<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  out.link_scale.push_back(in.link_scale[i]);</div> -<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  }</div> -<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  }</div> -<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  } </div> -<div class="line"><a name="l00625"></a><span class="lineno"> 625</span> }</div> -<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  </div> -<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  </div> -<div class="line"><a name="l00628"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6"> 628</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>& mr, moveit_msgs::RobotTrajectory rt){</div> -<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  mr.<a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->execute(rt);</div> -<div class="line"><a name="l00630"></a><span class="lineno"> 630</span> }</div> +<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  <span class="comment">// Set task properties</span></div> +<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  task_.setProperty(<span class="stringliteral">"group"</span>, mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>());</div> +<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  task_.setProperty(<span class="stringliteral">"eef"</span>, mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> +<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  task_.setProperty(<span class="stringliteral">"hand"</span>, mr->map()[<span class="stringliteral">"hand_group_name"</span>]);</div> +<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  task_.setProperty(<span class="stringliteral">"hand_grasping_frame"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  task_.setProperty(<span class="stringliteral">"ik_frame"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  </div> +<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  moveit::task_constructor::Stage* current_state_ptr = <span class="keyword">nullptr</span>; </div> +<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  {</div> +<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keyword">auto</span> current_state = std::make_unique< moveit::task_constructor::stages::CurrentState>(<span class="stringliteral">"current state"</span>);</div> +<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  <span class="keyword">auto</span> applicability_filter = std::make_unique< moveit::task_constructor::stages::PredicateFilter>(<span class="stringliteral">"applicability test"</span>, std::move(current_state));</div> +<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  applicability_filter->setPredicate([<span class="keywordtype">object</span>](<span class="keyword">const</span> moveit::task_constructor::SolutionBase& s, std::string& comment) {</div> +<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <span class="keywordflow">if</span> (s.start()->scene()->getCurrentState().hasAttachedBody(<span class="keywordtype">object</span>)) {</div> +<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  comment = <span class="stringliteral">"object with id '"</span> + object + <span class="stringliteral">"' is already attached and cannot be picked"</span>;</div> +<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  return false;</div> +<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  }</div> +<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div> +<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  });</div> <div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  </div> -<div class="line"><a name="l00632"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d"> 632</a></span> moveit::task_constructor::Task <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::CollisionObject& source, tf2::Transform& target){</div> -<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  tf2::Transform t(tf2::Quaternion(source.pose.orientation.x, source.pose.orientation.y, source.pose.orientation.z, source.pose.orientation.w), tf2::Vector3(source.pose.position.x, source.pose.position.y, source.pose.position.z));</div> -<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  std::string support_surface1 = <span class="stringliteral">"nichts"</span>;</div> -<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  std::string support_surface2 = <span class="stringliteral">"nichts"</span>;</div> -<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  </div> -<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div> -<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  std::string str;</div> -<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  std::bitset<3> panel_mask;</div> -<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">if</span>(s_r.second->checkSingleObjectCollision(t, str, panel_mask)) support_surface1 = str;</div> -<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <span class="keywordflow">if</span>(s_r.second->checkSingleObjectCollision(target, str, panel_mask)) support_surface2= str;</div> -<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  }</div> -<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  </div> -<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  ROS_INFO(<span class="stringliteral">"ss1 %s"</span>, support_surface1.c_str());</div> -<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  ROS_INFO(<span class="stringliteral">"ss2 %s"</span>, support_surface2.c_str());</div> -<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  </div> -<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  </div> -<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keyword">const</span> std::string <span class="keywordtype">object</span> = source.id;</div> -<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  moveit::task_constructor::Task task_;</div> +<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  current_state_ptr = applicability_filter.get();</div> +<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  task_.add(std::move(applicability_filter));</div> +<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  }</div> +<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  </div> +<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  { <span class="comment">// Open Hand</span></div> +<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"open hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> +<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> +<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div> +<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  task_.add(std::move(stage));</div> +<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  }</div> +<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  </div> +<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  { <span class="comment">// Move-to pre-grasp</span></div> +<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::Connect>(</div> +<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  <span class="stringliteral">"move to pick"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>} });</div> +<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  stage->setTimeout(5.0);</div> +<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div> +<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  task_.add(std::move(stage));</div> +<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  }</div> <div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  </div> -<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  std::string name = <span class="stringliteral">"Pick&Place"</span>;</div> -<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  task_.stages()->setName(name + std::to_string(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(ros::Time::now().toNSec())));</div> -<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  task_.loadRobotModel();</div> -<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  task_.setRobotModel(mr-><a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->getRobotModel());</div> -<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  </div> -<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <span class="comment">// Set task properties</span></div> -<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  task_.setProperty(<span class="stringliteral">"group"</span>, mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>());</div> -<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  task_.setProperty(<span class="stringliteral">"eef"</span>, mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> -<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  task_.setProperty(<span class="stringliteral">"hand"</span>, mr->map()[<span class="stringliteral">"hand_group_name"</span>]);</div> -<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  task_.setProperty(<span class="stringliteral">"hand_grasping_frame"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  task_.setProperty(<span class="stringliteral">"ik_frame"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  </div> -<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  moveit::task_constructor::Stage* current_state_ptr = <span class="keyword">nullptr</span>; </div> -<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  {</div> -<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="keyword">auto</span> current_state = std::make_unique< moveit::task_constructor::stages::CurrentState>(<span class="stringliteral">"current state"</span>);</div> -<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  <span class="keyword">auto</span> applicability_filter = std::make_unique< moveit::task_constructor::stages::PredicateFilter>(<span class="stringliteral">"applicability test"</span>, std::move(current_state));</div> -<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  applicability_filter->setPredicate([<span class="keywordtype">object</span>](<span class="keyword">const</span> moveit::task_constructor::SolutionBase& s, std::string& comment) {</div> -<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <span class="keywordflow">if</span> (s.start()->scene()->getCurrentState().hasAttachedBody(<span class="keywordtype">object</span>)) {</div> -<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  comment = <span class="stringliteral">"object with id '"</span> + object + <span class="stringliteral">"' is already attached and cannot be picked"</span>;</div> -<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  return false;</div> -<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  }</div> -<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div> -<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  });</div> -<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  </div> -<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  current_state_ptr = applicability_filter.get();</div> -<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  task_.add(std::move(applicability_filter));</div> -<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  }</div> -<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  </div> -<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  { <span class="comment">// Open Hand</span></div> -<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"open hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> -<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> -<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div> -<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  task_.add(std::move(stage));</div> -<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  }</div> -<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  </div> -<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  { <span class="comment">// Move-to pre-grasp</span></div> -<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::Connect>(</div> -<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  <span class="stringliteral">"move to pick"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>} });</div> -<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  stage->setTimeout(5.0);</div> -<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div> -<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  task_.add(std::move(stage));</div> -<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  }</div> -<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  </div> -<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  moveit::task_constructor::Stage* attach_object_stage = <span class="keyword">nullptr</span>; <span class="comment">// Forward attach_object_stage to place pose generator</span></div> -<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  {</div> -<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  <span class="keyword">auto</span> grasp = std::make_unique<moveit::task_constructor::SerialContainer>(<span class="stringliteral">"pick object"</span>);</div> -<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  task_.properties().exposeTo(grasp->properties(), { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span>, <span class="stringliteral">"ik_frame"</span> });</div> -<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  grasp->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span>, <span class="stringliteral">"ik_frame"</span> });</div> -<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  </div> -<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  </div> -<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  { <span class="comment">// Approach Obj</span></div> -<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"approach object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> -<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"approach_object"</span>);</div> -<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  stage->setMinMaxDistance(0.07, 0.2);</div> -<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  </div> -<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <span class="comment">// Set hand forward direction</span></div> -<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  geometry_msgs::Vector3Stamped vec;</div> -<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  vec.header.frame_id = mr->map()[<span class="stringliteral">"hand_frame"</span>];</div> -<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  vec.vector.z = 1.0;</div> -<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  stage->setDirection(vec);</div> -<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  }</div> -<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  </div> -<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  {</div> -<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  <span class="comment">// Sample grasp pose</span></div> -<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::GenerateGraspPose>(<span class="stringliteral">"generate grasp pose"</span>);</div> -<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div> -<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"grasp_pose"</span>);</div> -<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  stage->setPreGraspPose(<span class="stringliteral">"open"</span>);</div> -<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  stage->setObject(<span class="keywordtype">object</span>);</div> -<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  stage->setAngleDelta(M_PI / 12);</div> -<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  stage->setMonitoredStage(current_state_ptr); <span class="comment">// Hook into current state</span></div> -<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  </div> -<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  <span class="comment">// Compute IK</span></div> -<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div> -<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div> -<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div> -<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div> -<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  Eigen::Isometry3d ik = eigen * trans;</div> -<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  </div> -<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="keyword">auto</span> wrapper = std::make_unique<moveit::task_constructor::stages::ComputeIK>(<span class="stringliteral">"grasp pose IK"</span>, std::move(stage));</div> -<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  wrapper->setMaxIKSolutions(8);</div> -<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  wrapper->setMinSolutionDistance(1.0);</div> -<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  wrapper->setIKFrame(ik, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div> -<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  grasp->insert(std::move(wrapper));</div> +<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  moveit::task_constructor::Stage* attach_object_stage = <span class="keyword">nullptr</span>; <span class="comment">// Forward attach_object_stage to place pose generator</span></div> +<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  {</div> +<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="keyword">auto</span> grasp = std::make_unique<moveit::task_constructor::SerialContainer>(<span class="stringliteral">"pick object"</span>);</div> +<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  task_.properties().exposeTo(grasp->properties(), { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span>, <span class="stringliteral">"ik_frame"</span> });</div> +<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  grasp->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span>, <span class="stringliteral">"ik_frame"</span> });</div> +<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  </div> +<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  </div> +<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  { <span class="comment">// Approach Obj</span></div> +<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"approach object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> +<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"approach_object"</span>);</div> +<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  stage->setMinMaxDistance(0.07, 0.2);</div> +<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  </div> +<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="comment">// Set hand forward direction</span></div> +<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  geometry_msgs::Vector3Stamped vec;</div> +<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  vec.header.frame_id = mr->map()[<span class="stringliteral">"hand_frame"</span>];</div> +<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  vec.vector.z = 1.0;</div> +<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  stage->setDirection(vec);</div> +<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  grasp->insert(std::move(stage));</div> +<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  }</div> +<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  </div> +<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  {</div> +<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="comment">// Sample grasp pose</span></div> +<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::GenerateGraspPose>(<span class="stringliteral">"generate grasp pose"</span>);</div> +<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div> +<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"grasp_pose"</span>);</div> +<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  stage->setPreGraspPose(<span class="stringliteral">"open"</span>);</div> +<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  stage->setObject(<span class="keywordtype">object</span>);</div> +<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  stage->setAngleDelta(M_PI / 2);</div> +<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  stage->setMonitoredStage(current_state_ptr); <span class="comment">// Hook into current state</span></div> +<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  </div> +<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  <span class="comment">// Compute IK</span></div> +<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div> +<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div> +<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div> +<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div> +<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  Eigen::Isometry3d ik = eigen * trans;</div> +<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  </div> +<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  <span class="keyword">auto</span> wrapper = std::make_unique<moveit::task_constructor::stages::ComputeIK>(<span class="stringliteral">"grasp pose IK"</span>, std::move(stage));</div> +<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  wrapper->setMaxIKSolutions(8);</div> +<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  wrapper->setMinSolutionDistance(1.0);</div> +<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  wrapper->setIKFrame(ik, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div> +<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  grasp->insert(std::move(wrapper));</div> +<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  }</div> +<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  </div> +<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  {</div> +<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (hand,object)"</span>);</div> +<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  stage->allowCollisions(</div> +<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr->map()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div> +<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  <span class="keyword">true</span>);</div> +<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  grasp->insert(std::move(stage));</div> +<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  }</div> +<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  </div> +<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  {</div> +<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"close hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> +<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> +<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div> +<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  grasp->insert(std::move(stage));</div> +<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  }</div> +<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  </div> +<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  { <span class="comment">// Attach obj</span></div> +<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"attach object"</span>);</div> +<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  stage->attachObject(<span class="keywordtype">object</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  attach_object_stage = stage.get();</div> +<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  grasp->insert(std::move(stage));</div> +<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  }</div> +<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  </div> +<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  { <span class="comment">// Allow Collision obj table</span></div> +<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (object,support)"</span>);</div> +<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">true</span>);</div> +<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  grasp->insert(std::move(stage));</div> +<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  }</div> +<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  </div> +<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  {</div> +<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"lift object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> +<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  stage->setMinMaxDistance(0.1, 0.2);</div> +<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  stage->setIKFrame(mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lift_object"</span>);</div> +<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  </div> +<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  <span class="comment">// Set upward direction</span></div> +<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  geometry_msgs::Vector3Stamped vec;</div> +<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div> +<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  vec.vector.z = 1.0;</div> +<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  stage->setDirection(vec);</div> +<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  grasp->insert(std::move(stage));</div> <div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  }</div> <div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  </div> -<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  {</div> -<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (hand,object)"</span>);</div> -<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  stage->allowCollisions(</div> -<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr->map()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div> -<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  <span class="keyword">true</span>);</div> -<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  }</div> -<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  </div> -<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  {</div> -<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"close hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> -<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> -<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div> -<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  }</div> -<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  </div> -<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  { <span class="comment">// Attach obj</span></div> -<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"attach object"</span>);</div> -<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  stage->attachObject(<span class="keywordtype">object</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  attach_object_stage = stage.get();</div> -<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  }</div> -<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  </div> -<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  { <span class="comment">// Allow Collision obj table</span></div> -<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (object,support)"</span>);</div> -<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">true</span>);</div> -<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  }</div> -<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  </div> -<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  {</div> -<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"lift object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> -<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  stage->setMinMaxDistance(0.1, 0.2);</div> -<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  stage->setIKFrame(mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lift_object"</span>);</div> -<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  </div> -<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  <span class="comment">// Set upward direction</span></div> -<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  geometry_msgs::Vector3Stamped vec;</div> -<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div> -<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  vec.vector.z = 1.0;</div> -<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  stage->setDirection(vec);</div> -<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  }</div> -<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  </div> -<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  { <span class="comment">// forbid collision</span></div> -<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"forbid collision (object,surface)"</span>);</div> -<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">false</span>);</div> -<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  grasp->insert(std::move(stage));</div> -<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  }</div> -<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  </div> -<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  <span class="comment">// Add grasp container to task</span></div> -<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  task_.add(std::move(grasp));</div> -<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  }</div> -<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  </div> -<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  {</div> -<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::Connect>(</div> -<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  <span class="stringliteral">"move to place"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a> } });</div> -<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  stage->setTimeout(5.0);</div> -<div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div> -<div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  task_.add(std::move(stage));</div> -<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  }</div> -<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  </div> -<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  {</div> -<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  <span class="keyword">auto</span> place = std::make_unique<moveit::task_constructor::SerialContainer>(<span class="stringliteral">"place object"</span>);</div> -<div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  task_.properties().exposeTo(place->properties(), { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  place->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  </div> -<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  {</div> -<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow cokbkmomsurface)"</span>);</div> -<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  stage->allowCollisions( {<span class="keywordtype">object</span>} , support_surface2, <span class="keyword">true</span>);</div> -<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  }</div> -<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  </div> -<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  </div> -<div class="line"><a name="l00815"></a><span class="lineno"> 815</span>  {</div> -<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"lower object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> -<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lower_object"</span>);</div> -<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>  stage->setMinMaxDistance(.03, .13);</div> -<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  </div> -<div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  <span class="comment">// Set downward direction</span></div> -<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  geometry_msgs::Vector3Stamped vec;</div> -<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div> -<div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  vec.vector.z = -1.0;</div> -<div class="line"><a name="l00826"></a><span class="lineno"> 826</span>  stage->setDirection(vec);</div> -<div class="line"><a name="l00827"></a><span class="lineno"> 827</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00828"></a><span class="lineno"> 828</span>  }</div> -<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  </div> -<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  {</div> -<div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  <span class="comment">// Generate Place Pose</span></div> -<div class="line"><a name="l00832"></a><span class="lineno"> 832</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::GeneratePlacePose>(<span class="stringliteral">"generate place pose"</span>);</div> -<div class="line"><a name="l00833"></a><span class="lineno"> 833</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"ik_frame"</span> });</div> -<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"place_pose"</span>);</div> -<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  stage->setObject(<span class="keywordtype">object</span>);</div> -<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  </div> -<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  <span class="comment">// Set target pose</span></div> -<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  geometry_msgs::PoseStamped p;</div> -<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  p.header.frame_id = <span class="stringliteral">"world"</span>;</div> -<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  p.pose.position.x = target.getOrigin().getX();</div> -<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  p.pose.position.y = target.getOrigin().getY();</div> -<div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  p.pose.position.z = target.getOrigin().getZ();</div> -<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  p.pose.orientation.x = target.getRotation().getX();</div> -<div class="line"><a name="l00844"></a><span class="lineno"> 844</span>  p.pose.orientation.y = target.getRotation().getY();</div> -<div class="line"><a name="l00845"></a><span class="lineno"> 845</span>  p.pose.orientation.z = target.getRotation().getZ();</div> -<div class="line"><a name="l00846"></a><span class="lineno"> 846</span>  p.pose.orientation.w = target.getRotation().getW();</div> -<div class="line"><a name="l00847"></a><span class="lineno"> 847</span>  </div> -<div class="line"><a name="l00848"></a><span class="lineno"> 848</span>  </div> -<div class="line"><a name="l00849"></a><span class="lineno"> 849</span>  </div> -<div class="line"><a name="l00850"></a><span class="lineno"> 850</span>  stage->setPose(p);</div> -<div class="line"><a name="l00851"></a><span class="lineno"> 851</span>  stage->setMonitoredStage(attach_object_stage); <span class="comment">// Hook into attach_object_stage</span></div> -<div class="line"><a name="l00852"></a><span class="lineno"> 852</span>  </div> -<div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  <span class="comment">// Compute IK</span></div> -<div class="line"><a name="l00854"></a><span class="lineno"> 854</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div> -<div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div> -<div class="line"><a name="l00856"></a><span class="lineno"> 856</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div> -<div class="line"><a name="l00857"></a><span class="lineno"> 857</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div> -<div class="line"><a name="l00858"></a><span class="lineno"> 858</span>  Eigen::Isometry3d ik = eigen * trans;</div> -<div class="line"><a name="l00859"></a><span class="lineno"> 859</span>  <span class="keyword">auto</span> wrapper = std::make_unique<moveit::task_constructor::stages::ComputeIK>(<span class="stringliteral">"place pose IK"</span>, std::move(stage));</div> -<div class="line"><a name="l00860"></a><span class="lineno"> 860</span>  wrapper->setMaxIKSolutions(2);</div> -<div class="line"><a name="l00861"></a><span class="lineno"> 861</span>  wrapper->setIKFrame(ik, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00862"></a><span class="lineno"> 862</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00863"></a><span class="lineno"> 863</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div> -<div class="line"><a name="l00864"></a><span class="lineno"> 864</span>  place->insert(std::move(wrapper));</div> -<div class="line"><a name="l00865"></a><span class="lineno"> 865</span>  }</div> -<div class="line"><a name="l00866"></a><span class="lineno"> 866</span>  </div> -<div class="line"><a name="l00867"></a><span class="lineno"> 867</span>  {</div> -<div class="line"><a name="l00868"></a><span class="lineno"> 868</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"open hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> -<div class="line"><a name="l00869"></a><span class="lineno"> 869</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> -<div class="line"><a name="l00870"></a><span class="lineno"> 870</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div> -<div class="line"><a name="l00871"></a><span class="lineno"> 871</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00872"></a><span class="lineno"> 872</span>  }</div> -<div class="line"><a name="l00873"></a><span class="lineno"> 873</span>  </div> -<div class="line"><a name="l00874"></a><span class="lineno"> 874</span>  {</div> -<div class="line"><a name="l00875"></a><span class="lineno"> 875</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (hand,object)"</span>);</div> -<div class="line"><a name="l00876"></a><span class="lineno"> 876</span>  stage->allowCollisions(</div> -<div class="line"><a name="l00877"></a><span class="lineno"> 877</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr->map()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div> -<div class="line"><a name="l00878"></a><span class="lineno"> 878</span>  <span class="keyword">false</span>);</div> -<div class="line"><a name="l00879"></a><span class="lineno"> 879</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  }</div> +<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  { <span class="comment">// forbid collision</span></div> +<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"forbid collision (object,surface)"</span>);</div> +<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">false</span>);</div> +<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  grasp->insert(std::move(stage));</div> +<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  }</div> +<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  </div> +<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  <span class="comment">// Add grasp container to task</span></div> +<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  task_.add(std::move(grasp));</div> +<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  }</div> +<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  </div> +<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  {</div> +<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::Connect>(</div> +<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  <span class="stringliteral">"move to place"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a> } });</div> +<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  stage->setTimeout(5.0);</div> +<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div> +<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  task_.add(std::move(stage));</div> +<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  }</div> +<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  </div> +<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  {</div> +<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  <span class="keyword">auto</span> place = std::make_unique<moveit::task_constructor::SerialContainer>(<span class="stringliteral">"place object"</span>);</div> +<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  task_.properties().exposeTo(place->properties(), { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  place->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  </div> +<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  {</div> +<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow cokbkmomsurface)"</span>);</div> +<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  stage->allowCollisions( {<span class="keywordtype">object</span>} , support_surface2, <span class="keyword">true</span>);</div> +<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  }</div> +<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  </div> +<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  </div> +<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  {</div> +<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"lower object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> +<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lower_object"</span>);</div> +<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  stage->setMinMaxDistance(.03, .13);</div> +<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  </div> +<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  <span class="comment">// Set downward direction</span></div> +<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  geometry_msgs::Vector3Stamped vec;</div> +<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div> +<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  vec.vector.z = -1.0;</div> +<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  stage->setDirection(vec);</div> +<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  }</div> +<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  </div> +<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  {</div> +<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  <span class="comment">// Generate Place Pose</span></div> +<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::GeneratePlacePose>(<span class="stringliteral">"generate place pose"</span>);</div> +<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"ik_frame"</span> });</div> +<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"place_pose"</span>);</div> +<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  stage->setObject(<span class="keywordtype">object</span>);</div> +<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  </div> +<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  <span class="comment">// Set target pose</span></div> +<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  geometry_msgs::PoseStamped p;</div> +<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  p.header.frame_id = <span class="stringliteral">"world"</span>;</div> +<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  p.pose.position.x = target.getOrigin().getX();</div> +<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  p.pose.position.y = target.getOrigin().getY();</div> +<div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  p.pose.position.z = target.getOrigin().getZ();</div> +<div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  p.pose.orientation.x = target.getRotation().getX();</div> +<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  p.pose.orientation.y = target.getRotation().getY();</div> +<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  p.pose.orientation.z = target.getRotation().getZ();</div> +<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  p.pose.orientation.w = target.getRotation().getW();</div> +<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  </div> +<div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  </div> +<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  </div> +<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  stage->setPose(p);</div> +<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  stage->setMonitoredStage(attach_object_stage); <span class="comment">// Hook into attach_object_stage</span></div> +<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  </div> +<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  <span class="comment">// Compute IK</span></div> +<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div> +<div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div> +<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div> +<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div> +<div class="line"><a name="l00815"></a><span class="lineno"> 815</span>  Eigen::Isometry3d ik = eigen * trans;</div> +<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  <span class="keyword">auto</span> wrapper = std::make_unique<moveit::task_constructor::stages::ComputeIK>(<span class="stringliteral">"place pose IK"</span>, std::move(stage));</div> +<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  wrapper->setMaxIKSolutions(2);</div> +<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  wrapper->setIKFrame(ik, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div> +<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  place->insert(std::move(wrapper));</div> +<div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  }</div> +<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  </div> +<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  {</div> +<div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"open hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> +<div class="line"><a name="l00826"></a><span class="lineno"> 826</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> +<div class="line"><a name="l00827"></a><span class="lineno"> 827</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div> +<div class="line"><a name="l00828"></a><span class="lineno"> 828</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  }</div> +<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  </div> +<div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  {</div> +<div class="line"><a name="l00832"></a><span class="lineno"> 832</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (hand,object)"</span>);</div> +<div class="line"><a name="l00833"></a><span class="lineno"> 833</span>  stage->allowCollisions(</div> +<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr->map()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div> +<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  <span class="keyword">false</span>);</div> +<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  }</div> +<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  </div> +<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  {</div> +<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"detach object"</span>);</div> +<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  stage->detachObject(<span class="keywordtype">object</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  }</div> +<div class="line"><a name="l00844"></a><span class="lineno"> 844</span>  </div> +<div class="line"><a name="l00845"></a><span class="lineno"> 845</span>  {</div> +<div class="line"><a name="l00846"></a><span class="lineno"> 846</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"retreat after place"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> +<div class="line"><a name="l00847"></a><span class="lineno"> 847</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00848"></a><span class="lineno"> 848</span>  stage->setMinMaxDistance(.1, .2);</div> +<div class="line"><a name="l00849"></a><span class="lineno"> 849</span>  stage->setIKFrame(mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> +<div class="line"><a name="l00850"></a><span class="lineno"> 850</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"retreat"</span>);</div> +<div class="line"><a name="l00851"></a><span class="lineno"> 851</span>  geometry_msgs::Vector3Stamped vec;</div> +<div class="line"><a name="l00852"></a><span class="lineno"> 852</span>  vec.header.frame_id = mr->map()[<span class="stringliteral">"hand_frame"</span>];</div> +<div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  vec.vector.z = -1.0;</div> +<div class="line"><a name="l00854"></a><span class="lineno"> 854</span>  stage->setDirection(vec);</div> +<div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00856"></a><span class="lineno"> 856</span>  }</div> +<div class="line"><a name="l00857"></a><span class="lineno"> 857</span>  </div> +<div class="line"><a name="l00858"></a><span class="lineno"> 858</span>  {</div> +<div class="line"><a name="l00859"></a><span class="lineno"> 859</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"close hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> +<div class="line"><a name="l00860"></a><span class="lineno"> 860</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> +<div class="line"><a name="l00861"></a><span class="lineno"> 861</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div> +<div class="line"><a name="l00862"></a><span class="lineno"> 862</span>  place->insert(std::move(stage));</div> +<div class="line"><a name="l00863"></a><span class="lineno"> 863</span>  }</div> +<div class="line"><a name="l00864"></a><span class="lineno"> 864</span>  </div> +<div class="line"><a name="l00865"></a><span class="lineno"> 865</span>  <span class="comment">// Add place container to task</span></div> +<div class="line"><a name="l00866"></a><span class="lineno"> 866</span>  task_.add(std::move(place));</div> +<div class="line"><a name="l00867"></a><span class="lineno"> 867</span>  }</div> +<div class="line"><a name="l00868"></a><span class="lineno"> 868</span>  </div> +<div class="line"><a name="l00869"></a><span class="lineno"> 869</span>  {</div> +<div class="line"><a name="l00870"></a><span class="lineno"> 870</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"move home"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> +<div class="line"><a name="l00871"></a><span class="lineno"> 871</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> +<div class="line"><a name="l00872"></a><span class="lineno"> 872</span>  stage->setGoal(<span class="stringliteral">"ready"</span>);</div> +<div class="line"><a name="l00873"></a><span class="lineno"> 873</span>  stage->restrictDirection(moveit::task_constructor::stages::MoveTo::FORWARD);</div> +<div class="line"><a name="l00874"></a><span class="lineno"> 874</span>  task_.add(std::move(stage));</div> +<div class="line"><a name="l00875"></a><span class="lineno"> 875</span>  }</div> +<div class="line"><a name="l00876"></a><span class="lineno"> 876</span>  </div> +<div class="line"><a name="l00877"></a><span class="lineno"> 877</span>  <span class="keywordflow">return</span> task_;</div> +<div class="line"><a name="l00878"></a><span class="lineno"> 878</span> }</div> +<div class="line"><a name="l00879"></a><span class="lineno"> 879</span>  </div> +<div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  </div> <div class="line"><a name="l00881"></a><span class="lineno"> 881</span>  </div> -<div class="line"><a name="l00882"></a><span class="lineno"> 882</span>  {</div> -<div class="line"><a name="l00883"></a><span class="lineno"> 883</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"detach object"</span>);</div> -<div class="line"><a name="l00884"></a><span class="lineno"> 884</span>  stage->detachObject(<span class="keywordtype">object</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00885"></a><span class="lineno"> 885</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00886"></a><span class="lineno"> 886</span>  }</div> -<div class="line"><a name="l00887"></a><span class="lineno"> 887</span>  </div> -<div class="line"><a name="l00888"></a><span class="lineno"> 888</span>  {</div> -<div class="line"><a name="l00889"></a><span class="lineno"> 889</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"retreat after place"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div> -<div class="line"><a name="l00890"></a><span class="lineno"> 890</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00891"></a><span class="lineno"> 891</span>  stage->setMinMaxDistance(.1, .2);</div> -<div class="line"><a name="l00892"></a><span class="lineno"> 892</span>  stage->setIKFrame(mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div> -<div class="line"><a name="l00893"></a><span class="lineno"> 893</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"retreat"</span>);</div> -<div class="line"><a name="l00894"></a><span class="lineno"> 894</span>  geometry_msgs::Vector3Stamped vec;</div> -<div class="line"><a name="l00895"></a><span class="lineno"> 895</span>  vec.header.frame_id = mr->map()[<span class="stringliteral">"hand_frame"</span>];</div> -<div class="line"><a name="l00896"></a><span class="lineno"> 896</span>  vec.vector.z = -1.0;</div> -<div class="line"><a name="l00897"></a><span class="lineno"> 897</span>  stage->setDirection(vec);</div> -<div class="line"><a name="l00898"></a><span class="lineno"> 898</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00899"></a><span class="lineno"> 899</span>  }</div> -<div class="line"><a name="l00900"></a><span class="lineno"> 900</span>  </div> -<div class="line"><a name="l00901"></a><span class="lineno"> 901</span>  {</div> -<div class="line"><a name="l00902"></a><span class="lineno"> 902</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"close hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> -<div class="line"><a name="l00903"></a><span class="lineno"> 903</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div> -<div class="line"><a name="l00904"></a><span class="lineno"> 904</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div> -<div class="line"><a name="l00905"></a><span class="lineno"> 905</span>  place->insert(std::move(stage));</div> -<div class="line"><a name="l00906"></a><span class="lineno"> 906</span>  }</div> -<div class="line"><a name="l00907"></a><span class="lineno"> 907</span>  </div> -<div class="line"><a name="l00908"></a><span class="lineno"> 908</span>  <span class="comment">// Add place container to task</span></div> -<div class="line"><a name="l00909"></a><span class="lineno"> 909</span>  task_.add(std::move(place));</div> -<div class="line"><a name="l00910"></a><span class="lineno"> 910</span>  }</div> -<div class="line"><a name="l00911"></a><span class="lineno"> 911</span>  </div> -<div class="line"><a name="l00912"></a><span class="lineno"> 912</span>  {</div> -<div class="line"><a name="l00913"></a><span class="lineno"> 913</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"move home"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div> -<div class="line"><a name="l00914"></a><span class="lineno"> 914</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div> -<div class="line"><a name="l00915"></a><span class="lineno"> 915</span>  stage->setGoal(<span class="stringliteral">"ready"</span>);</div> -<div class="line"><a name="l00916"></a><span class="lineno"> 916</span>  stage->restrictDirection(moveit::task_constructor::stages::MoveTo::FORWARD);</div> -<div class="line"><a name="l00917"></a><span class="lineno"> 917</span>  task_.add(std::move(stage));</div> -<div class="line"><a name="l00918"></a><span class="lineno"> 918</span>  }</div> -<div class="line"><a name="l00919"></a><span class="lineno"> 919</span>  </div> -<div class="line"><a name="l00920"></a><span class="lineno"> 920</span>  <span class="keywordflow">return</span> task_;</div> -<div class="line"><a name="l00921"></a><span class="lineno"> 921</span> }</div> -<div class="line"><a name="l00922"></a><span class="lineno"> 922</span>  </div> -<div class="line"><a name="l00923"></a><span class="lineno"> 923</span>  </div> -<div class="line"><a name="l00924"></a><span class="lineno"> 924</span>  </div> </div><!-- fragment --></div><!-- contents --> -<div class="ttc" id="aclassMoveitMediator_html_aec492f16ca476ed4b1ce8770ba19219c"><div class="ttname"><a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00068">moveit_mediator.cpp:68</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a45e4b2f48c3c243d72615e81038c2885"><div class="ttname"><a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator::rs_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > rs_</div><div class="ttdoc">shared robot state between all robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00073">moveit_mediator.h:73</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a937ab6d84f60f683accc39f2bc914d29"><div class="ttname"><a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdoc">shared allowed collision matrix between robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00072">moveit_mediator.h:72</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_aec492f16ca476ed4b1ce8770ba19219c"><div class="ttname"><a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00057">moveit_mediator.cpp:57</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a45e4b2f48c3c243d72615e81038c2885"><div class="ttname"><a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator::rs_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > rs_</div><div class="ttdoc">shared robot state between all robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00070">moveit_mediator.h:70</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a937ab6d84f60f683accc39f2bc914d29"><div class="ttname"><a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdoc">shared allowed collision matrix between robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00069">moveit_mediator.h:69</a></div></div> <div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div> <div class="ttc" id="aclassCetiRobot_html_af0c39df122cc6a567624184b893c3b64"><div class="ttname"><a href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot::setObserverMask</a></div><div class="ttdeci">void setObserverMask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00083">ceti_robot.h:83</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a33ae7dc9e2d38c809d59bfa0d7bbe421"><div class="ttname"><a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a></div><div class="ttdeci">void mergeACM(moveit_msgs::PlanningScene &in)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00563">moveit_mediator.cpp:563</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a33ae7dc9e2d38c809d59bfa0d7bbe421"><div class="ttname"><a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a></div><div class="ttdeci">void mergeACM(moveit_msgs::PlanningScene &in)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00521">moveit_mediator.cpp:521</a></div></div> <div class="ttc" id="aclassMoveitPanel_html"><div class="ttname"><a href="classMoveitPanel.html">MoveitPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8h_source.html#l00013">moveit_panel.h:13</a></div></div> <div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00010">abstract_robot.h:10</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a6b5a8e24b7c3fa6bc6784dc63ed43995"><div class="ttname"><a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > executions_</div><div class="ttdoc">Shared execution map containing groot node information.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00075">moveit_mediator.h:75</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a79e0223629cc5c5d50aa5f721160dee1"><div class="ttname"><a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< JobReader > job_reader_</div><div class="ttdoc">jobReader instancde which reads task information</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00070">moveit_mediator.h:70</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a6b5a8e24b7c3fa6bc6784dc63ed43995"><div class="ttname"><a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > executions_</div><div class="ttdoc">Shared execution map containing groot node information.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00072">moveit_mediator.h:72</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a79e0223629cc5c5d50aa5f721160dee1"><div class="ttname"><a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< JobReader > job_reader_</div><div class="ttdoc">jobReader instancde which reads task information</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00068">moveit_mediator.h:68</a></div></div> <div class="ttc" id="aclassExecution_html"><div class="ttname"><a href="classExecution.html">Execution</a></div><div class="ttdoc">Execution node as StatefulActionNode.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00023">execution.h:23</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a9b16784a81023bf4e258acf1618edd95"><div class="ttname"><a href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</div><div class="ttdoc">Planningscene monitor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00066">moveit_mediator.h:66</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a3bd2f6ff7906c23b0503449d3863b854"><div class="ttname"><a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a></div><div class="ttdeci">void taskPlanner()</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00292">moveit_mediator.cpp:292</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a3bd2f6ff7906c23b0503449d3863b854"><div class="ttname"><a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a></div><div class="ttdeci">void taskPlanner()</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00236">moveit_mediator.cpp:236</a></div></div> <div class="ttc" id="aclassMoveitMediator_html_a9b2bee0946f0635db6ae08150b496792"><div class="ttname"><a href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator::MoveitMediator</a></div><div class="ttdeci">MoveitMediator(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00012">moveit_mediator.cpp:12</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html_a7eb1074e90af32a2c2fa496b58a1f751"><div class="ttname"><a href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">AbstractRobotDecorator::pattern</a></div><div class="ttdeci">std::string & pattern()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00082">abstract_robot_decorator.h:82</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a1107411a95846d672c2ba800034f91a2"><div class="ttname"><a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</div><div class="ttdoc">Shared Planning Scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00064">moveit_mediator.h:64</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00054">abstract_mediator.h:54</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a1107411a95846d672c2ba800034f91a2"><div class="ttname"><a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</div><div class="ttdoc">Shared Planning Scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00063">moveit_mediator.h:63</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> <div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_aaad3539de5c9b389bbde424a94337ee4"><div class="ttname"><a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</div><div class="ttdoc">Moveit task Constructior cartesian planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00068">moveit_mediator.h:68</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a4cd7c33c1a5a66b55131094fb725e4e6"><div class="ttname"><a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a></div><div class="ttdeci">void parallelExec(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00628">moveit_mediator.cpp:628</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_aaad3539de5c9b389bbde424a94337ee4"><div class="ttname"><a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</div><div class="ttdoc">Moveit task Constructior cartesian planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00066">moveit_mediator.h:66</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a4cd7c33c1a5a66b55131094fb725e4e6"><div class="ttname"><a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a></div><div class="ttdeci">void parallelExec(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00585">moveit_mediator.cpp:585</a></div></div> <div class="ttc" id="aclassParallel__robot_html"><div class="ttname"><a href="classParallel__robot.html">Parallel_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00009">parallel_robot.h:9</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a10558d2bb61a012a1495de7f4fb12008"><div class="ttname"><a href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00071">moveit_mediator.h:71</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a60724698c5c21f37810f193791aa26c0"><div class="ttname"><a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a></div><div class="ttdeci">void manipulateACM(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</div><div class="ttdoc">Manipulate ACM by extracting inforamtion of spicified robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00131">moveit_mediator.cpp:131</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a60724698c5c21f37810f193791aa26c0"><div class="ttname"><a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a></div><div class="ttdeci">void manipulateACM(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</div><div class="ttdoc">Manipulate ACM by extracting inforamtion of spicified robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00118">moveit_mediator.cpp:118</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00047">abstract_mediator.h:47</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html_aa6ac3b0845c32dde50a90655ec0a6c97"><div class="ttname"><a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdoc">Redirects name call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00047">abstract_robot_decorator.h:47</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a38e44c6e4bbe9f4e20215baa96b5cc03"><div class="ttname"><a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</div><div class="ttdoc">Publisher to manage PlanningScene diffs.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00065">moveit_mediator.h:65</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a38e44c6e4bbe9f4e20215baa96b5cc03"><div class="ttname"><a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</div><div class="ttdoc">Publisher to manage PlanningScene diffs.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00064">moveit_mediator.h:64</a></div></div> <div class="ttc" id="aclassPositionCondition_html"><div class="ttname"><a href="classPositionCondition.html">PositionCondition</a></div><div class="ttdoc">PositionCondition Node.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00021">position_condition.h:21</a></div></div> -<div class="ttc" id="aclassCuboidReader_html"><div class="ttname"><a href="classCuboidReader.html">CuboidReader</a></div><div class="ttdoc">Cuboid reader.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00017">cuboid_reader.h:17</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html_afe44b1b1711fa9a0ed97b7237f7cb6d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">AbstractRobotDecorator::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00087">abstract_robot_decorator.h:87</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a45344034f504d548cb373fad34f5fada"><div class="ttname"><a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">connect robot and initialize Moveit components</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00047">moveit_mediator.cpp:47</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a74366e69063d71d7b4ebc6219724564f"><div class="ttname"><a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</div><div class="ttdoc">PlanningSceneInteface to manage Scene Objects.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00063">moveit_mediator.h:63</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_ac960a22e328d1fc71532019a3766bc22"><div class="ttname"><a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</div><div class="ttdoc">Moveit task Constructior simple planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00067">moveit_mediator.h:67</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a45344034f504d548cb373fad34f5fada"><div class="ttname"><a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">connect robot and initialize Moveit components</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00036">moveit_mediator.cpp:36</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a74366e69063d71d7b4ebc6219724564f"><div class="ttname"><a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</div><div class="ttdoc">PlanningSceneInteface to manage Scene Objects.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00062">moveit_mediator.h:62</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_ac960a22e328d1fc71532019a3766bc22"><div class="ttname"><a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</div><div class="ttdoc">Moveit task Constructior simple planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00065">moveit_mediator.h:65</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html_abb194f54b87b500eb91e05283681b092"><div class="ttname"><a href="classAbstractMediator.html#abb194f54b87b500eb91e05283681b092">AbstractMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00056">abstract_mediator.h:56</a></div></div> <div class="ttc" id="aclassMoveitMediator_html_a5cc07592a3bdaac2e60faa94bf3ef517"><div class="ttname"><a href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">MoveitMediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdoc">Moveit Robot-Model as specified in SDF.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00060">moveit_mediator.h:60</a></div></div> <div class="ttc" id="amoveit__mediator_8h_html"><div class="ttname"><a href="moveit__mediator_8h.html">moveit_mediator.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a718c6e366b14a90455c24b4556988a5d"><div class="ttname"><a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a></div><div class="ttdeci">moveit::task_constructor::Task createTask(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdoc">Create Task with Moveit Task Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00632">moveit_mediator.cpp:632</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a718c6e366b14a90455c24b4556988a5d"><div class="ttname"><a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a></div><div class="ttdeci">moveit::task_constructor::Task createTask(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdoc">Create Task with Moveit Task Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00589">moveit_mediator.cpp:589</a></div></div> <div class="ttc" id="aclassJobReader_html"><div class="ttname"><a href="classJobReader.html">JobReader</a></div><div class="ttdoc">Job reader.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00016">job_reader.h:16</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a2b7e11a58f4efddd642c82d250620bb7"><div class="ttname"><a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a></div><div class="ttdeci">void mergePS(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</div><div class="ttdoc">Merge Planning scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00588">moveit_mediator.cpp:588</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a2737afa6ea3e13c6a5d94eadeaff703d"><div class="ttname"><a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a></div><div class="ttdeci">void publishTables()</div><div class="ttdoc">publish all panels in the planning scene</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00105">moveit_mediator.cpp:105</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_af2e9bb37a7e5cc9dfa6f95730c1d3867"><div class="ttname"><a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">mediator function</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00122">moveit_mediator.cpp:122</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a2b7e11a58f4efddd642c82d250620bb7"><div class="ttname"><a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a></div><div class="ttdeci">void mergePS(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</div><div class="ttdoc">Merge Planning scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00545">moveit_mediator.cpp:545</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a2737afa6ea3e13c6a5d94eadeaff703d"><div class="ttname"><a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a></div><div class="ttdeci">void publishTables()</div><div class="ttdoc">publish all panels in the planning scene</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00094">moveit_mediator.cpp:94</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_af2e9bb37a7e5cc9dfa6f95730c1d3867"><div class="ttname"><a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">mediator function</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00111">moveit_mediator.cpp:111</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__mediator_8h.html b/doc/html/moveit__mediator_8h.html index 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a/doc/html/moveit__mediator_8h_source.html +++ b/doc/html/moveit__mediator_8h_source.html @@ -82,118 +82,112 @@ $(function() { <div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classMoveitMediator.html"> 58</a></span> <span class="keyword">class </span><a class="code" href="classMoveitMediator.html">MoveitMediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractMediator.html">AbstractMediator</a>{</div> <div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">protected</span>:</div> <div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517"> 60</a></span>  std::shared_ptr<moveit::core::RobotModel> <a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a>; </div> -<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61"> 61</a></span>  std::shared_ptr<moveit_visual_tools::MoveItVisualTools> <a class="code" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">visual_tools_</a>; </div> -<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26"> 62</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a>; </div> -<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f"> 63</a></span>  std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>; </div> -<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2"> 64</a></span>  std::shared_ptr<planning_scene::PlanningScene> <a class="code" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a>; </div> -<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03"> 65</a></span>  std::shared_ptr<ros::Publisher> <a class="code" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a>; </div> -<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95"> 66</a></span>  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> <a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>; </div> -<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22"> 67</a></span>  std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>; </div> -<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4"> 68</a></span>  std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>; </div> -<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0"> 69</a></span>  std::map<std::string, std::vector<moveit::task_constructor::Task>> <a class="code" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a>; </div> -<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1"> 70</a></span>  std::unique_ptr<JobReader> <a class="code" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a>; </div> -<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008"> 71</a></span>  std::unique_ptr<CuboidReader> <a class="code" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a>; </div> -<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29"> 72</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>; </div> -<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885"> 73</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>; </div> -<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7"> 74</a></span>  std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> <a class="code" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a>; </div> -<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995"> 75</a></span>  std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>> <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>; </div> +<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26"> 61</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a>; </div> +<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f"> 62</a></span>  std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>; </div> +<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2"> 63</a></span>  std::shared_ptr<planning_scene::PlanningScene> <a class="code" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a>; </div> +<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03"> 64</a></span>  std::shared_ptr<ros::Publisher> <a class="code" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a>; </div> +<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22"> 65</a></span>  std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>; </div> +<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4"> 66</a></span>  std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>; </div> +<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0"> 67</a></span>  std::map<std::string, std::vector<moveit::task_constructor::Task>> <a class="code" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a>; </div> +<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1"> 68</a></span>  std::unique_ptr<JobReader> <a class="code" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a>; </div> +<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29"> 69</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>; </div> +<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885"> 70</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>; </div> +<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7"> 71</a></span>  std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> <a class="code" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a>; </div> +<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995"> 72</a></span>  std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>> <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>; </div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div> +<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div> <div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div> -<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div> -<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">public</span>:</div> <div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div> -<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div> -<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh);</div> -<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div> -<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7"> 88</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a>;};</div> -<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div> -<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div> -<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a>() <span class="keyword">override</span>;</div> -<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div> -<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div> -<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) <span class="keyword">override</span>; </div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh);</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div> +<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7"> 85</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a>;};</div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div> +<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div> +<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a>() <span class="keyword">override</span>;</div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div> +<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div> +<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) <span class="keyword">override</span>; </div> +<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div> <div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div> -<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div> -<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div> -<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr);</div> -<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div> -<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div> -<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> & mr, moveit_msgs::RobotTrajectory rt);</div> -<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div> -<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div> -<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(moveit_msgs::PlanningScene& in);</div> -<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div> -<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div> -<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>();</div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr);</div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div> +<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> & mr, moveit_msgs::RobotTrajectory rt);</div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(moveit_msgs::PlanningScene& in);</div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div> +<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>();</div> +<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>();</div> <div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div> -<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>();</div> -<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div> -<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div> -<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::PlanningScene& ps);</div> -<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div> -<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div> -<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  moveit::task_constructor::Task <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);</div> -<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57"> 148</a></span>  <span class="keyword">inline</span> std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>& <a class="code" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>;};</div> -<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44"> 149</a></span>  <span class="keyword">inline</span> std::map<std::string, std::vector<moveit::task_constructor::Task>>& <a class="code" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">taskMap</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a>;};</div> +<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div> +<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::PlanningScene& ps);</div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div> +<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  moveit::task_constructor::Task <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);</div> +<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57"> 145</a></span>  <span class="keyword">inline</span> std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>& <a class="code" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>;};</div> +<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44"> 146</a></span>  <span class="keyword">inline</span> std::map<std::string, std::vector<moveit::task_constructor::Task>>& <a class="code" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">taskMap</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a>;};</div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div> +<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92"> 148</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">setTasks</a>(std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>& tasks) {<a class="code" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a> = tasks;};</div> +<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div> <div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div> -<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92"> 151</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">setTasks</a>(std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>& tasks) {<a class="code" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a> = tasks;};</div> -<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div> +<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>() <span class="keyword">override</span>;</div> <div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div> -<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>() <span class="keyword">override</span>;</div> -<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div> -<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> };</div> -<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div> -<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="preprocessor">#endif</span></div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> };</div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div> +<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="preprocessor">#endif</span></div> </div><!-- fragment --></div><!-- contents --> -<div class="ttc" id="aclassMoveitMediator_html_aec492f16ca476ed4b1ce8770ba19219c"><div class="ttname"><a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00068">moveit_mediator.cpp:68</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a45e4b2f48c3c243d72615e81038c2885"><div class="ttname"><a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator::rs_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > rs_</div><div class="ttdoc">shared robot state between all robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00073">moveit_mediator.h:73</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a937ab6d84f60f683accc39f2bc914d29"><div class="ttname"><a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdoc">shared allowed collision matrix between robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00072">moveit_mediator.h:72</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_aec492f16ca476ed4b1ce8770ba19219c"><div class="ttname"><a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00057">moveit_mediator.cpp:57</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a45e4b2f48c3c243d72615e81038c2885"><div class="ttname"><a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator::rs_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > rs_</div><div class="ttdoc">shared robot state between all robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00070">moveit_mediator.h:70</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a937ab6d84f60f683accc39f2bc914d29"><div class="ttname"><a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdoc">shared allowed collision matrix between robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00069">moveit_mediator.h:69</a></div></div> <div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div> <div class="ttc" id="aparallel__robot_8h_html"><div class="ttname"><a href="parallel__robot_8h.html">parallel_robot.h</a></div></div> <div class="ttc" id="ajob__reader_8h_html"><div class="ttname"><a href="job__reader_8h.html">job_reader.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a41cd26abc56422280688eae7ca021a44"><div class="ttname"><a href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">MoveitMediator::taskMap</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > & taskMap()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00149">moveit_mediator.h:149</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a33ae7dc9e2d38c809d59bfa0d7bbe421"><div class="ttname"><a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a></div><div class="ttdeci">void mergeACM(moveit_msgs::PlanningScene &in)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00563">moveit_mediator.cpp:563</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a41cd26abc56422280688eae7ca021a44"><div class="ttname"><a href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">MoveitMediator::taskMap</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > & taskMap()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00146">moveit_mediator.h:146</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a33ae7dc9e2d38c809d59bfa0d7bbe421"><div class="ttname"><a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a></div><div class="ttdeci">void mergeACM(moveit_msgs::PlanningScene &in)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00521">moveit_mediator.cpp:521</a></div></div> <div class="ttc" id="alog__decorator_8h_html"><div class="ttname"><a href="log__decorator_8h.html">log_decorator.h</a></div></div> <div class="ttc" id="aclassMoveitMediator_html"><div class="ttname"><a href="classMoveitMediator.html">MoveitMediator</a></div><div class="ttdoc">Refined MoveitMediator.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00058">moveit_mediator.h:58</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_aaf5860e324b447ccaf93e614421bad26"><div class="ttname"><a href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">MoveitMediator::mgi_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_</div><div class="ttdoc">Move Group Interface of the whole multi-cell.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00062">moveit_mediator.h:62</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_aaf5860e324b447ccaf93e614421bad26"><div class="ttname"><a href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">MoveitMediator::mgi_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_</div><div class="ttdoc">Move Group Interface of the whole multi-cell.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00061">moveit_mediator.h:61</a></div></div> <div class="ttc" id="aabstract__robot__decorator_8h_html"><div class="ttname"><a href="abstract__robot__decorator_8h.html">abstract_robot_decorator.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a6b5a8e24b7c3fa6bc6784dc63ed43995"><div class="ttname"><a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > executions_</div><div class="ttdoc">Shared execution map containing groot node information.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00075">moveit_mediator.h:75</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a79e0223629cc5c5d50aa5f721160dee1"><div class="ttname"><a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< JobReader > job_reader_</div><div class="ttdoc">jobReader instancde which reads task information</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00070">moveit_mediator.h:70</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a9b16784a81023bf4e258acf1618edd95"><div class="ttname"><a href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</div><div class="ttdoc">Planningscene monitor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00066">moveit_mediator.h:66</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a3bd2f6ff7906c23b0503449d3863b854"><div class="ttname"><a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a></div><div class="ttdeci">void taskPlanner()</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00292">moveit_mediator.cpp:292</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_acd39aee6c6a3d55f5492d5ec07bd0da0"><div class="ttname"><a href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">MoveitMediator::task_map_</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > task_map_</div><div class="ttdoc">Tasks mapped to Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00069">moveit_mediator.h:69</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a6b5a8e24b7c3fa6bc6784dc63ed43995"><div class="ttname"><a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > executions_</div><div class="ttdoc">Shared execution map containing groot node information.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00072">moveit_mediator.h:72</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a79e0223629cc5c5d50aa5f721160dee1"><div class="ttname"><a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< JobReader > job_reader_</div><div class="ttdoc">jobReader instancde which reads task information</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00068">moveit_mediator.h:68</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a3bd2f6ff7906c23b0503449d3863b854"><div class="ttname"><a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a></div><div class="ttdeci">void taskPlanner()</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00236">moveit_mediator.cpp:236</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_acd39aee6c6a3d55f5492d5ec07bd0da0"><div class="ttname"><a href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">MoveitMediator::task_map_</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > task_map_</div><div class="ttdoc">Tasks mapped to Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00067">moveit_mediator.h:67</a></div></div> <div class="ttc" id="aclassMoveitMediator_html_a9b2bee0946f0635db6ae08150b496792"><div class="ttname"><a href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator::MoveitMediator</a></div><div class="ttdeci">MoveitMediator(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00012">moveit_mediator.cpp:12</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a390303f3a11baeac837f150463f8cec7"><div class="ttname"><a href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">MoveitMediator::tasks_</a></div><div class="ttdeci">std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > tasks_</div><div class="ttdoc">tasks multimap</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00074">moveit_mediator.h:74</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a1107411a95846d672c2ba800034f91a2"><div class="ttname"><a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</div><div class="ttdoc">Shared Planning Scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00064">moveit_mediator.h:64</a></div></div> -<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_aaad3539de5c9b389bbde424a94337ee4"><div class="ttname"><a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</div><div class="ttdoc">Moveit task Constructior cartesian planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00068">moveit_mediator.h:68</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a4cd7c33c1a5a66b55131094fb725e4e6"><div class="ttname"><a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a></div><div class="ttdeci">void parallelExec(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00628">moveit_mediator.cpp:628</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a10558d2bb61a012a1495de7f4fb12008"><div class="ttname"><a href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00071">moveit_mediator.h:71</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a60724698c5c21f37810f193791aa26c0"><div class="ttname"><a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a></div><div class="ttdeci">void manipulateACM(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</div><div class="ttdoc">Manipulate ACM by extracting inforamtion of spicified robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00131">moveit_mediator.cpp:131</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a390303f3a11baeac837f150463f8cec7"><div class="ttname"><a href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">MoveitMediator::tasks_</a></div><div class="ttdeci">std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > tasks_</div><div class="ttdoc">tasks multimap</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00071">moveit_mediator.h:71</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a1107411a95846d672c2ba800034f91a2"><div class="ttname"><a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</div><div class="ttdoc">Shared Planning Scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00063">moveit_mediator.h:63</a></div></div> +<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_aaad3539de5c9b389bbde424a94337ee4"><div class="ttname"><a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</div><div class="ttdoc">Moveit task Constructior cartesian planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00066">moveit_mediator.h:66</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a4cd7c33c1a5a66b55131094fb725e4e6"><div class="ttname"><a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a></div><div class="ttdeci">void parallelExec(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00585">moveit_mediator.cpp:585</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a60724698c5c21f37810f193791aa26c0"><div class="ttname"><a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a></div><div class="ttdeci">void manipulateACM(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</div><div class="ttdoc">Manipulate ACM by extracting inforamtion of spicified robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00118">moveit_mediator.cpp:118</a></div></div> <div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_afff0b1c9ff2c44d6183cee51656a3a57"><div class="ttname"><a href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">MoveitMediator::executions</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > & executions()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00148">moveit_mediator.h:148</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_afff0b1c9ff2c44d6183cee51656a3a57"><div class="ttname"><a href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">MoveitMediator::executions</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > & executions()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00145">moveit_mediator.h:145</a></div></div> <div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a38e44c6e4bbe9f4e20215baa96b5cc03"><div class="ttname"><a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</div><div class="ttdoc">Publisher to manage PlanningScene diffs.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00065">moveit_mediator.h:65</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a0a426873a61e05fdb5132494e8f5ac92"><div class="ttname"><a href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">MoveitMediator::setTasks</a></div><div class="ttdeci">void setTasks(std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00151">moveit_mediator.h:151</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a45344034f504d548cb373fad34f5fada"><div class="ttname"><a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">connect robot and initialize Moveit components</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00047">moveit_mediator.cpp:47</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a74366e69063d71d7b4ebc6219724564f"><div class="ttname"><a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</div><div class="ttdoc">PlanningSceneInteface to manage Scene Objects.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00063">moveit_mediator.h:63</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a38e44c6e4bbe9f4e20215baa96b5cc03"><div class="ttname"><a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</div><div class="ttdoc">Publisher to manage PlanningScene diffs.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00064">moveit_mediator.h:64</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a0a426873a61e05fdb5132494e8f5ac92"><div class="ttname"><a href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">MoveitMediator::setTasks</a></div><div class="ttdeci">void setTasks(std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00148">moveit_mediator.h:148</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a45344034f504d548cb373fad34f5fada"><div class="ttname"><a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">connect robot and initialize Moveit components</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00036">moveit_mediator.cpp:36</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a74366e69063d71d7b4ebc6219724564f"><div class="ttname"><a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</div><div class="ttdoc">PlanningSceneInteface to manage Scene Objects.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00062">moveit_mediator.h:62</a></div></div> <div class="ttc" id="aposition__condition_8h_html"><div class="ttname"><a href="position__condition_8h.html">position_condition.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a4ba2eb6738772bacbfa0dc9dbff5ed61"><div class="ttname"><a href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">MoveitMediator::visual_tools_</a></div><div class="ttdeci">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_</div><div class="ttdoc">MoveItVisualTools.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00061">moveit_mediator.h:61</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_ac960a22e328d1fc71532019a3766bc22"><div class="ttname"><a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</div><div class="ttdoc">Moveit task Constructior simple planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00067">moveit_mediator.h:67</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_ac960a22e328d1fc71532019a3766bc22"><div class="ttname"><a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</div><div class="ttdoc">Moveit task Constructior simple planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00065">moveit_mediator.h:65</a></div></div> <div class="ttc" id="aclassMoveitMediator_html_a5cc07592a3bdaac2e60faa94bf3ef517"><div class="ttname"><a href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">MoveitMediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdoc">Moveit Robot-Model as specified in SDF.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00060">moveit_mediator.h:60</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a718c6e366b14a90455c24b4556988a5d"><div class="ttname"><a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a></div><div class="ttdeci">moveit::task_constructor::Task createTask(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdoc">Create Task with Moveit Task Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00632">moveit_mediator.cpp:632</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a718c6e366b14a90455c24b4556988a5d"><div class="ttname"><a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a></div><div class="ttdeci">moveit::task_constructor::Task createTask(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdoc">Create Task with Moveit Task Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00589">moveit_mediator.cpp:589</a></div></div> <div class="ttc" id="aexecution_8h_html"><div class="ttname"><a href="execution_8h.html">execution.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a2b7e11a58f4efddd642c82d250620bb7"><div class="ttname"><a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a></div><div class="ttdeci">void mergePS(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</div><div class="ttdoc">Merge Planning scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00588">moveit_mediator.cpp:588</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_aa8edee17b0761961d4aa04e933d17af7"><div class="ttname"><a href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">MoveitMediator::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00088">moveit_mediator.h:88</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_a2737afa6ea3e13c6a5d94eadeaff703d"><div class="ttname"><a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a></div><div class="ttdeci">void publishTables()</div><div class="ttdoc">publish all panels in the planning scene</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00105">moveit_mediator.cpp:105</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a2b7e11a58f4efddd642c82d250620bb7"><div class="ttname"><a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a></div><div class="ttdeci">void mergePS(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</div><div class="ttdoc">Merge Planning scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00545">moveit_mediator.cpp:545</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_aa8edee17b0761961d4aa04e933d17af7"><div class="ttname"><a href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">MoveitMediator::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00085">moveit_mediator.h:85</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_a2737afa6ea3e13c6a5d94eadeaff703d"><div class="ttname"><a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a></div><div class="ttdeci">void publishTables()</div><div class="ttdoc">publish all panels in the planning scene</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00094">moveit_mediator.cpp:94</a></div></div> <div class="ttc" id="amoveit__panel_8h_html"><div class="ttname"><a href="moveit__panel_8h.html">moveit_panel.h</a></div></div> -<div class="ttc" id="aclassMoveitMediator_html_af2e9bb37a7e5cc9dfa6f95730c1d3867"><div class="ttname"><a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">mediator function</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00122">moveit_mediator.cpp:122</a></div></div> +<div class="ttc" id="aclassMoveitMediator_html_af2e9bb37a7e5cc9dfa6f95730c1d3867"><div class="ttname"><a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">mediator function</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00111">moveit_mediator.cpp:111</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__panel_8cpp.html b/doc/html/moveit__panel_8cpp.html index 9e3c91ddb2f860b5d2a533594bae185700e819d2..17521212356ad61059b2922a23fb2147114d30ad 100644 --- a/doc/html/moveit__panel_8cpp.html +++ b/doc/html/moveit__panel_8cpp.html @@ -50,8 +50,8 @@ Include dependency graph for moveit_panel.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__panel_8cpp_source.html b/doc/html/moveit__panel_8cpp_source.html index f1fd0d20b16be1fbbb9e8c56bc8398e4916575e3..ba63de4815f4c1502af3012392cf9a22e6fa6a39 100644 --- a/doc/html/moveit__panel_8cpp_source.html +++ b/doc/html/moveit__panel_8cpp_source.html @@ -106,8 +106,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__panel_8h.html b/doc/html/moveit__panel_8h.html index f567fe2f969c66d86fec0e1d9de3ec11eca141ee..c5ed083fa01e3804c0977b9ef0f6aff0a0d1b743 100644 --- a/doc/html/moveit__panel_8h.html +++ b/doc/html/moveit__panel_8h.html @@ -55,11 +55,14 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="moveit__panel_8h__dep__incl.png" border="0" usemap="#moveit__panel_8hdep" alt=""/></div> <map name="moveit__panel_8hdep" id="moveit__panel_8hdep"> -<area shape="rect" title=" " alt="" coords="173,5,296,32"/> -<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="249,80,388,107"/> -<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" title=" " alt="" coords="338,5,461,32"/> +<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="243,80,390,107"/> +<area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="414,80,553,107"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="94,155,230,181"/> +<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="254,155,379,181"/> +<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="404,155,565,181"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="5,229,148,256"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="172,229,323,256"/> </map> </div> </div> @@ -75,8 +78,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/moveit__panel_8h__dep__incl.map b/doc/html/moveit__panel_8h__dep__incl.map index b6cb2ca514b8588b54e383162b6512e536f86cb9..e325e9c8a7db77657bcd6e72b5d9026b2ce27856 100644 --- a/doc/html/moveit__panel_8h__dep__incl.map +++ b/doc/html/moveit__panel_8h__dep__incl.map @@ -1,7 +1,10 @@ <map id="moveit_panel.h" name="moveit_panel.h"> -<area shape="rect" id="node1" title=" " alt="" coords="173,5,296,32"/> -<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" id="node5" href="$moveit__panel_8cpp.html" title=" " alt="" coords="249,80,388,107"/> -<area shape="rect" id="node3" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" id="node4" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" id="node1" title=" " alt="" coords="338,5,461,32"/> +<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="243,80,390,107"/> +<area shape="rect" id="node8" href="$moveit__panel_8cpp.html" title=" " alt="" coords="414,80,553,107"/> +<area shape="rect" id="node3" href="$grasp__mediator_8h.html" title=" " alt="" coords="94,155,230,181"/> +<area shape="rect" id="node6" href="$cell__routine_8cpp.html" title=" " alt="" coords="254,155,379,181"/> +<area shape="rect" id="node7" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="404,155,565,181"/> +<area shape="rect" id="node4" href="$config__routine_8cpp.html" title=" " alt="" coords="5,229,148,256"/> +<area shape="rect" id="node5" href="$grasp__mediator_8cpp.html" title=" " alt="" coords="172,229,323,256"/> </map> diff --git a/doc/html/moveit__panel_8h__dep__incl.md5 b/doc/html/moveit__panel_8h__dep__incl.md5 index ca47d5f902b60e3b5e4e7344b3da5f343fab5e7c..39c1fb1e9affab2abad93606cf3be9444a8c17b5 100644 --- a/doc/html/moveit__panel_8h__dep__incl.md5 +++ b/doc/html/moveit__panel_8h__dep__incl.md5 @@ -1 +1 @@ -8bab6002cfc8d67c506b35038e5ad392 \ No newline at end of file +dd9d241b0740fa524be0c106460ef0e2 \ No newline at end of file diff --git a/doc/html/moveit__panel_8h__dep__incl.png b/doc/html/moveit__panel_8h__dep__incl.png index 0a6abe8298ecdefbcbdb3f82ba6de95b3f29b039..32caaa10bf4f7039f056077bcfe605ade1a58065 100644 Binary files a/doc/html/moveit__panel_8h__dep__incl.png and b/doc/html/moveit__panel_8h__dep__incl.png differ diff --git a/doc/html/moveit__panel_8h_source.html b/doc/html/moveit__panel_8h_source.html index 87ee98337cf29882b376041e8bbdcb619b25dc38..3ffcc23f28011408ccfbb9754adbbce6efa85519 100644 --- a/doc/html/moveit__panel_8h_source.html +++ b/doc/html/moveit__panel_8h_source.html @@ -64,8 +64,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/mtc2taskspace_8cpp.html b/doc/html/mtc2taskspace_8cpp.html index bbfd5e506b23b605146a0587d041b68628bd9833..4da07e1d39e1850b5ae4b046e07e5163af132c40 100644 --- a/doc/html/mtc2taskspace_8cpp.html +++ b/doc/html/mtc2taskspace_8cpp.html @@ -97,8 +97,8 @@ Functions</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/mtc2taskspace_8cpp_source.html b/doc/html/mtc2taskspace_8cpp_source.html index 0b30401af7ea0d067699a192e11e69ed9eb0724f..b8ea56fb6f55b73cca7134b24f2e35188701e744 100644 --- a/doc/html/mtc2taskspace_8cpp_source.html +++ b/doc/html/mtc2taskspace_8cpp_source.html @@ -52,8 +52,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panda__decorator_8cpp.html b/doc/html/panda__decorator_8cpp.html index 1d3bf1f2376d656894cf735af4e5bbc94632e2ae..d36a4892a83690e8d2aa799b4d540f9d17ef3043 100644 --- a/doc/html/panda__decorator_8cpp.html +++ b/doc/html/panda__decorator_8cpp.html @@ -58,8 +58,8 @@ Include dependency graph for panda_decorator.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panda__decorator_8cpp_source.html b/doc/html/panda__decorator_8cpp_source.html index 5f09d929baf3e57b6f0576c722d0aaca812db7ab..19247b8a93bd37e99e44bd38276f866301683886 100644 --- a/doc/html/panda__decorator_8cpp_source.html +++ b/doc/html/panda__decorator_8cpp_source.html @@ -85,8 +85,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panda__decorator_8h.html b/doc/html/panda__decorator_8h.html index 107162508585a44153fd532c53e174debb586e19..95daa5764de0e5a5ecef9816b01e250a729fe330 100644 --- a/doc/html/panda__decorator_8h.html +++ b/doc/html/panda__decorator_8h.html @@ -57,10 +57,11 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="panda__decorator_8h__dep__incl.png" border="0" usemap="#panda__decorator_8hdep" alt=""/></div> <map name="panda__decorator_8hdep" id="panda__decorator_8hdep"> -<area shape="rect" title=" " alt="" coords="163,5,306,32"/> +<area shape="rect" title=" " alt="" coords="242,5,385,32"/> <area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="5,87,131,114"/> -<area shape="rect" href="panda__decorator_8cpp.html" title=" " alt="" coords="155,87,314,114"/> -<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="338,80,510,121"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="155,87,298,114"/> +<area shape="rect" href="panda__decorator_8cpp.html" title=" " alt="" coords="322,87,481,114"/> +<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="505,80,677,121"/> </map> </div> </div> @@ -77,8 +78,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panda__decorator_8h__dep__incl.map b/doc/html/panda__decorator_8h__dep__incl.map index b3cd6aad448925e16450b377e55d6540541b0199..2d898e3fe3bb17c23527b8dd03a962d6a4d135c8 100644 --- a/doc/html/panda__decorator_8h__dep__incl.map +++ b/doc/html/panda__decorator_8h__dep__incl.map @@ -1,6 +1,7 @@ <map id="panda_decorator.h" name="panda_decorator.h"> -<area shape="rect" id="node1" title=" " alt="" coords="163,5,306,32"/> +<area shape="rect" id="node1" title=" " alt="" coords="242,5,385,32"/> <area shape="rect" id="node2" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,87,131,114"/> -<area shape="rect" id="node3" href="$panda__decorator_8cpp.html" title=" " alt="" coords="155,87,314,114"/> -<area shape="rect" id="node4" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="338,80,510,121"/> +<area shape="rect" id="node3" href="$config__routine_8cpp.html" title=" " alt="" coords="155,87,298,114"/> +<area shape="rect" id="node4" href="$panda__decorator_8cpp.html" title=" " alt="" coords="322,87,481,114"/> +<area shape="rect" id="node5" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="505,80,677,121"/> </map> diff --git a/doc/html/panda__decorator_8h__dep__incl.md5 b/doc/html/panda__decorator_8h__dep__incl.md5 index f1dbdaa20ebacb393ccfd81d6d88c515b8d38c76..b2dda05454a3c8cd43da2176cbbe2d0195e54e96 100644 --- a/doc/html/panda__decorator_8h__dep__incl.md5 +++ b/doc/html/panda__decorator_8h__dep__incl.md5 @@ -1 +1 @@ -f5cae80b4baa819efd4de192e53d097d \ No newline at end of file +dd4cf69bce590394b407fd8fcde6485c \ No newline at end of file diff --git a/doc/html/panda__decorator_8h__dep__incl.png b/doc/html/panda__decorator_8h__dep__incl.png index 5126e2d53f293a6df7cdb16d7bdfa03d25105058..39052d97b280292c86446722a652db08e2c56424 100644 Binary files a/doc/html/panda__decorator_8h__dep__incl.png and b/doc/html/panda__decorator_8h__dep__incl.png differ diff --git a/doc/html/panda__decorator_8h_source.html b/doc/html/panda__decorator_8h_source.html index 8b499d2efa87817db3b82acc6c1cb14894d7d9af..e22d8506ba9270e5e4cfe263e4ad1914ff147610 100644 --- a/doc/html/panda__decorator_8h_source.html +++ b/doc/html/panda__decorator_8h_source.html @@ -63,8 +63,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panel_8cpp.html b/doc/html/panel_8cpp.html index a731f266e9615a245b455b1c45f4d68b3ce67f74..fad2dd80c78e5a8876ca8f03f8985086dd69e7b6 100644 --- a/doc/html/panel_8cpp.html +++ b/doc/html/panel_8cpp.html @@ -45,8 +45,8 @@ Include dependency graph for panel.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panel_8cpp_source.html b/doc/html/panel_8cpp_source.html index dfff6039716f79fd6ba570609b159bf6cec1ef18..a0237cc70f1eee6b0234972c6e90d7a40941e38d 100644 --- a/doc/html/panel_8cpp_source.html +++ b/doc/html/panel_8cpp_source.html @@ -45,8 +45,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panel_8h.html b/doc/html/panel_8h.html index 7967885f026cf6dae009c22a9fcd382b79496445..734383d19ad2b4a4305fc47a2f7ea58ef450db11 100644 --- a/doc/html/panel_8h.html +++ b/doc/html/panel_8h.html @@ -45,24 +45,28 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="panel_8h__dep__incl.png" border="0" usemap="#panel_8hdep" alt=""/></div> <map name="panel_8hdep" id="panel_8hdep"> -<area shape="rect" title=" " alt="" coords="935,5,1006,32"/> -<area shape="rect" href="ceti__robot_8h.html" title=" " alt="" coords="767,80,865,107"/> -<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="839,304,1011,345"/> +<area shape="rect" title=" " alt="" coords="1206,5,1277,32"/> +<area shape="rect" href="ceti__robot_8h.html" title=" " alt="" coords="1008,80,1107,107"/> +<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="1093,304,1265,345"/> <area shape="rect" href="moveit__panel_8h.html" title=" " alt="" coords="120,80,243,107"/> -<area shape="rect" href="rviz__panel_8h.html" title=" " alt="" coords="920,155,1021,181"/> -<area shape="rect" href="panel_8cpp.html" title=" " alt="" coords="1163,80,1248,107"/> -<area shape="rect" href="abstract__mediator_8h.html" title=" " alt="" coords="470,155,623,181"/> -<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="635,229,845,256"/> -<area shape="rect" href="ceti__robot_8cpp.html" title=" " alt="" coords="664,155,779,181"/> -<area shape="rect" href="execution_8h.html" title=" " alt="" coords="219,229,317,256"/> -<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="123,393,248,420"/> -<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="369,393,530,420"/> -<area shape="rect" href="abstract__mediator_8cpp.html" title=" " alt="" coords="341,229,509,256"/> -<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="168,311,315,338"/> -<area shape="rect" href="execution_8cpp.html" title=" " alt="" coords="339,311,453,338"/> -<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="591,311,815,338"/> +<area shape="rect" href="rviz__panel_8h.html" title=" " alt="" coords="1191,155,1292,181"/> +<area shape="rect" href="panel_8cpp.html" title=" " alt="" coords="1433,80,1519,107"/> +<area shape="rect" href="abstract__mediator_8h.html" title=" " alt="" coords="513,155,666,181"/> +<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="906,229,1115,256"/> +<area shape="rect" href="ceti__robot_8cpp.html" title=" " alt="" coords="905,155,1020,181"/> +<area shape="rect" href="execution_8h.html" title=" " alt="" coords="540,229,639,256"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="164,393,300,420"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="55,468,198,495"/> +<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="324,393,449,420"/> +<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="474,393,635,420"/> +<area shape="rect" href="abstract__mediator_8cpp.html" title=" " alt="" coords="663,229,831,256"/> +<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="320,311,467,338"/> +<area shape="rect" href="execution_8cpp.html" title=" " alt="" coords="661,311,774,338"/> +<area shape="rect" href="test__bt_8cpp.html" title=" " alt="" coords="542,311,637,338"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="222,468,373,495"/> +<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="844,311,1068,338"/> <area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="5,155,144,181"/> -<area shape="rect" href="rviz__panel_8cpp.html" title=" " alt="" coords="971,229,1087,256"/> +<area shape="rect" href="rviz__panel_8cpp.html" title=" " alt="" coords="1242,229,1358,256"/> </map> </div> </div> @@ -78,8 +82,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/panel_8h__dep__incl.map b/doc/html/panel_8h__dep__incl.map index 3f1594f3bf169fc4d80d6aacebb480a2a9453aa4..516d0f9ad7e9877b1b7df3f455457f1d1ff3bb9a 100644 --- a/doc/html/panel_8h__dep__incl.map +++ b/doc/html/panel_8h__dep__incl.map @@ -1,20 +1,24 @@ <map id="panel.h" name="panel.h"> -<area shape="rect" id="node1" title=" " alt="" coords="935,5,1006,32"/> -<area shape="rect" id="node2" href="$ceti__robot_8h.html" title=" " alt="" coords="767,80,865,107"/> -<area shape="rect" id="node11" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="839,304,1011,345"/> -<area shape="rect" id="node14" href="$moveit__panel_8h.html" title=" " alt="" coords="120,80,243,107"/> -<area shape="rect" id="node16" href="$rviz__panel_8h.html" title=" " alt="" coords="920,155,1021,181"/> -<area shape="rect" id="node18" href="$panel_8cpp.html" title=" " alt="" coords="1163,80,1248,107"/> -<area shape="rect" id="node3" href="$abstract__mediator_8h.html" title=" " alt="" coords="470,155,623,181"/> -<area shape="rect" id="node9" href="$base__calculation__mediator_8h.html" title=" " alt="" coords="635,229,845,256"/> -<area shape="rect" id="node13" href="$ceti__robot_8cpp.html" title=" " alt="" coords="664,155,779,181"/> -<area shape="rect" id="node4" href="$execution_8h.html" title=" " alt="" coords="219,229,317,256"/> -<area shape="rect" id="node6" href="$cell__routine_8cpp.html" title=" " alt="" coords="123,393,248,420"/> -<area shape="rect" id="node7" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="369,393,530,420"/> -<area shape="rect" id="node12" href="$abstract__mediator_8cpp.html" title=" " alt="" coords="341,229,509,256"/> -<area shape="rect" id="node5" href="$moveit__mediator_8h.html" title=" " alt="" coords="168,311,315,338"/> -<area shape="rect" id="node8" href="$execution_8cpp.html" title=" " alt="" coords="339,311,453,338"/> -<area shape="rect" id="node10" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="591,311,815,338"/> -<area shape="rect" id="node15" href="$moveit__panel_8cpp.html" title=" " alt="" coords="5,155,144,181"/> -<area shape="rect" id="node17" href="$rviz__panel_8cpp.html" title=" " alt="" coords="971,229,1087,256"/> +<area shape="rect" id="node1" title=" " alt="" coords="1206,5,1277,32"/> +<area shape="rect" id="node2" href="$ceti__robot_8h.html" title=" " alt="" coords="1008,80,1107,107"/> +<area shape="rect" id="node15" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="1093,304,1265,345"/> +<area shape="rect" id="node18" href="$moveit__panel_8h.html" title=" " alt="" coords="120,80,243,107"/> +<area shape="rect" id="node20" href="$rviz__panel_8h.html" title=" " 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coords="474,393,635,420"/> +<area shape="rect" id="node16" href="$abstract__mediator_8cpp.html" title=" " alt="" coords="663,229,831,256"/> +<area shape="rect" id="node5" href="$moveit__mediator_8h.html" title=" " alt="" coords="320,311,467,338"/> +<area shape="rect" id="node11" href="$execution_8cpp.html" title=" " alt="" coords="661,311,774,338"/> +<area shape="rect" id="node12" href="$test__bt_8cpp.html" title=" " alt="" coords="542,311,637,338"/> +<area shape="rect" id="node8" href="$grasp__mediator_8cpp.html" title=" " alt="" coords="222,468,373,495"/> +<area shape="rect" id="node14" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="844,311,1068,338"/> +<area shape="rect" id="node19" href="$moveit__panel_8cpp.html" title=" " alt="" coords="5,155,144,181"/> +<area shape="rect" id="node21" href="$rviz__panel_8cpp.html" title=" " alt="" coords="1242,229,1358,256"/> </map> diff --git a/doc/html/panel_8h__dep__incl.md5 b/doc/html/panel_8h__dep__incl.md5 index 3103bd9488b553323008f4779664ed26301cf0a0..645437c383c62042e8ef767ac0d63d9cf65e2b9e 100644 --- a/doc/html/panel_8h__dep__incl.md5 +++ b/doc/html/panel_8h__dep__incl.md5 @@ -1 +1 @@ -47348de96500341d1f6e7b6c43d30527 \ No newline at end of file +b4394cd9aa8f9da70ac65bd4c6348c4f \ No newline at end of file diff --git a/doc/html/panel_8h__dep__incl.png b/doc/html/panel_8h__dep__incl.png index 1ea7e7b888ac64acf7ed120247d0a508a89a92c8..8dac394dc2031580d7d99d0c626570b4dabc7a85 100644 Binary files a/doc/html/panel_8h__dep__incl.png and b/doc/html/panel_8h__dep__incl.png differ diff --git a/doc/html/panel_8h_source.html b/doc/html/panel_8h_source.html index 4b05b547b04fb715d16b7126acecafdf09279747..4151bd8876058043c14b4ed334b4ac1a0f3cb95f 100644 --- a/doc/html/panel_8h_source.html +++ b/doc/html/panel_8h_source.html @@ -69,8 +69,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/parallel__robot_8cpp.html b/doc/html/parallel__robot_8cpp.html index 26577ac718bf9c5a3bdcfabec965a31c62819f33..a5ac3e0e1685bcefd22bd172900e1d1128dd01a9 100644 --- a/doc/html/parallel__robot_8cpp.html +++ b/doc/html/parallel__robot_8cpp.html @@ -50,8 +50,8 @@ Include dependency graph for parallel_robot.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/parallel__robot_8cpp_source.html b/doc/html/parallel__robot_8cpp_source.html index 64e3db04b83724eb31e90f47f32a8b752b684d1d..f85b9b1589a741203972baf6879caa72cfbed986 100644 --- a/doc/html/parallel__robot_8cpp_source.html +++ b/doc/html/parallel__robot_8cpp_source.html @@ -189,8 +189,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/parallel__robot_8h.html b/doc/html/parallel__robot_8h.html index b0da2f22c150884de0d245b91689d4c1dac116a3..a61fcfa7de706499df3045982d1ef5b2b0eed67c 100644 --- a/doc/html/parallel__robot_8h.html +++ b/doc/html/parallel__robot_8h.html @@ -44,11 +44,15 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="parallel__robot_8h__dep__incl.png" border="0" usemap="#parallel__robot_8hdep" alt=""/></div> <map name="parallel__robot_8hdep" id="parallel__robot_8hdep"> -<area shape="rect" title=" " alt="" coords="173,5,297,32"/> -<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" href="parallel__robot_8cpp.html" title=" " alt="" coords="249,80,388,107"/> -<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" title=" " alt="" coords="421,5,545,32"/> +<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="243,80,390,107"/> +<area shape="rect" href="parallel__robot_8cpp.html" title=" " alt="" coords="414,80,553,107"/> +<area shape="rect" href="test__bt_8cpp.html" title=" " alt="" coords="577,80,672,107"/> +<area shape="rect" href="grasp__mediator_8h.html" title=" " alt="" coords="94,155,230,181"/> +<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="254,155,379,181"/> +<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="404,155,565,181"/> +<area shape="rect" href="config__routine_8cpp.html" title=" " alt="" coords="5,229,148,256"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="172,229,323,256"/> </map> </div> </div> @@ -64,8 +68,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/parallel__robot_8h__dep__incl.map b/doc/html/parallel__robot_8h__dep__incl.map index 8e2d9747e90c3ea16b5edec78f3dd43b9d0dfe6b..86141769596d06280101ede677493b9b5b9986e8 100644 --- a/doc/html/parallel__robot_8h__dep__incl.map +++ b/doc/html/parallel__robot_8h__dep__incl.map @@ -1,7 +1,11 @@ <map id="parallel_robot.h" name="parallel_robot.h"> -<area shape="rect" id="node1" title=" " alt="" coords="173,5,297,32"/> -<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" id="node5" href="$parallel__robot_8cpp.html" title=" " alt="" coords="249,80,388,107"/> -<area shape="rect" id="node3" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" id="node4" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" id="node1" title=" " alt="" coords="421,5,545,32"/> +<area shape="rect" id="node2" href="$moveit__mediator_8h.html" 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a/doc/html/parallel__robot_8h__dep__incl.md5 +++ b/doc/html/parallel__robot_8h__dep__incl.md5 @@ -1 +1 @@ -0eca7d991e40b1c4af267462f428b815 \ No newline at end of file +53149605ad4a4dc5f190d2acdc6864be \ No newline at end of file diff --git a/doc/html/parallel__robot_8h__dep__incl.png b/doc/html/parallel__robot_8h__dep__incl.png index b39c4229f79ebc81b7234f39847476f0de351631..9a93ecabf9208f5a37a88d8004869fd103f7b569 100644 Binary files a/doc/html/parallel__robot_8h__dep__incl.png and b/doc/html/parallel__robot_8h__dep__incl.png differ diff --git a/doc/html/parallel__robot_8h_source.html b/doc/html/parallel__robot_8h_source.html index d6c185d3004ebc651729f4be3bfc3923eb334aa4..5742a9decadd87a3e563810b5b49a80ec012e689 100644 --- a/doc/html/parallel__robot_8h_source.html +++ b/doc/html/parallel__robot_8h_source.html @@ -92,8 +92,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/position__condition_8cpp.html b/doc/html/position__condition_8cpp.html index 56e0ef13b43902d73224e37c875585ff33369060..d36e90dbf6c4fffbe0e907e2c0f891c84d83ba7c 100644 --- a/doc/html/position__condition_8cpp.html +++ b/doc/html/position__condition_8cpp.html @@ -54,8 +54,8 @@ Include dependency graph for position_condition.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff 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-64,11 +64,15 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="position__condition_8h__dep__incl.png" border="0" usemap="#position__condition_8hdep" alt=""/></div> <map name="position__condition_8hdep" id="position__condition_8hdep"> -<area shape="rect" title=" " alt="" coords="166,5,319,32"/> -<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/> -<area shape="rect" href="position__condition_8cpp.html" title=" " alt="" coords="249,80,417,107"/> -<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/> -<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/> +<area shape="rect" title=" " alt="" coords="421,5,575,32"/> +<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="243,80,390,107"/> +<area shape="rect" href="position__condition_8cpp.html" title=" " alt="" 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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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/robot__base__calculation__approach_8cpp.html b/doc/html/robot__base__calculation__approach_8cpp.html index a7006895b143e6dabd16c8875d30344140013d73..59ca94f139bf46b5eac2d0f31c897ccaad21a22f 100644 --- a/doc/html/robot__base__calculation__approach_8cpp.html +++ b/doc/html/robot__base__calculation__approach_8cpp.html @@ -52,50 +52,52 @@ Include dependency graph for robot_base_calculation_approach.cpp:</div> <div class="dyncontent"> <div class="center"><img src="robot__base__calculation__approach_8cpp__incl.png" border="0" usemap="#robot__base__calculation__approach_8cpp" alt=""/></div> <map 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7c801c01487cb16f48e0fcd50ecd70e95bff76da..8b132d95d10c27f7b236b0d1b1eee3cdd82c9dd2 100644 --- a/doc/html/robot__reader_8h__dep__incl.md5 +++ b/doc/html/robot__reader_8h__dep__incl.md5 @@ -1 +1 @@ -5c8fecb8192d36c09876fe8b0093f2e9 \ No newline at end of file +d9f5edb1ddf8c464d3d689a625860194 \ No newline at end of file diff --git a/doc/html/robot__reader_8h__dep__incl.png b/doc/html/robot__reader_8h__dep__incl.png index a6fd3da41aeb5ce784501264f5c282bfc950fb10..d81b3673b0207902a87ae2ecbccd8d566590d3da 100644 Binary files a/doc/html/robot__reader_8h__dep__incl.png and b/doc/html/robot__reader_8h__dep__incl.png differ diff --git a/doc/html/robot__reader_8h_source.html b/doc/html/robot__reader_8h_source.html index c88627827131c7a029807fef685cbf0d0df28c2c..c13676075a9cad16476979802452ae5dbb2a4417 100644 --- a/doc/html/robot__reader_8h_source.html +++ b/doc/html/robot__reader_8h_source.html @@ -66,8 +66,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/rviz__panel_8cpp.html b/doc/html/rviz__panel_8cpp.html index 5eee7c09c82a36fd156e030dd7f18c3e03fe2da3..9968331e7d381977bf457ea641679b27e5159f07 100644 --- a/doc/html/rviz__panel_8cpp.html +++ b/doc/html/rviz__panel_8cpp.html @@ -47,8 +47,8 @@ Include dependency graph for rviz_panel.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/rviz__panel_8cpp_source.html b/doc/html/rviz__panel_8cpp_source.html index 2a0690a2f1a2dd865ade8c24e18e0ce91350cc3e..ac04b2792cc93e12fa995356cf704c75bc27e272 100644 --- a/doc/html/rviz__panel_8cpp_source.html +++ b/doc/html/rviz__panel_8cpp_source.html @@ -91,8 +91,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/rviz__panel_8h.html b/doc/html/rviz__panel_8h.html index b6c40048a99b1aab4299791e7e640cb39964fddc..99d35b4e5e04df389a8dbdee11bf28e9158bc037 100644 --- a/doc/html/rviz__panel_8h.html +++ b/doc/html/rviz__panel_8h.html @@ -68,8 +68,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/rviz__panel_8h_source.html b/doc/html/rviz__panel_8h_source.html index fcce0be4bbba4bf73a03d9f6b1c6033fda6011f5..55c42a5c679a2a0cb1b8a3bb88784cd3c6003e5d 100644 --- a/doc/html/rviz__panel_8h_source.html +++ b/doc/html/rviz__panel_8h_source.html @@ -61,8 +61,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base_8cpp.html b/doc/html/simple__base_8cpp.html index e6ac1b31ec3fd8fb7756391223609fc96b5c3865..3448f9f1fc4c8fe59411233cc826b19f4932d8b2 100644 --- a/doc/html/simple__base_8cpp.html +++ b/doc/html/simple__base_8cpp.html @@ -62,8 +62,8 @@ Include dependency graph for simple_base.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base_8cpp_source.html b/doc/html/simple__base_8cpp_source.html index 048fd7278cbd2d305f320aabeba28e48ef71502e..12a25b558a75b2cded1fac318ca29aef9cd6f9d6 100644 --- a/doc/html/simple__base_8cpp_source.html +++ b/doc/html/simple__base_8cpp_source.html @@ -147,8 +147,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base_8h.html b/doc/html/simple__base_8h.html index d398acd8dcf8785d2d945bc133f4e88ad4700a05..025820a2bac80a5f683a4643ac80143b4147f155 100644 --- a/doc/html/simple__base_8h.html +++ b/doc/html/simple__base_8h.html @@ -90,8 +90,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base_8h_source.html b/doc/html/simple__base_8h_source.html index e9efce1ea9807a1d26e23fd671cd8ba18b2991af..cd78a4d05a49fe947de33d0a5864f7a8cc7910f9 100644 --- a/doc/html/simple__base_8h_source.html +++ b/doc/html/simple__base_8h_source.html @@ -71,8 +71,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base__implementation_8cpp.html b/doc/html/simple__base__implementation_8cpp.html index 1b4c6707f2c22b0640741b9eead9e468f63f8fcf..24d87c6dec97564f8c780dd5acaabb0cfe99c416 100644 --- a/doc/html/simple__base__implementation_8cpp.html +++ b/doc/html/simple__base__implementation_8cpp.html @@ -59,8 +59,8 @@ Include dependency graph for simple_base_implementation.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base__implementation_8cpp_source.html b/doc/html/simple__base__implementation_8cpp_source.html index f3d5267cfc92ca074f789c0fc72658db598e47c3..5594c503ffcd31aab55617fc8c285f5d98c02cb7 100644 --- a/doc/html/simple__base__implementation_8cpp_source.html +++ b/doc/html/simple__base__implementation_8cpp_source.html @@ -99,8 +99,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base__implementation_8h.html b/doc/html/simple__base__implementation_8h.html index 3b90c3c721fe38523675e6e977863b8a910c211a..41c1c7bfc63585ecda338ec38990d63d2122f162 100644 --- a/doc/html/simple__base__implementation_8h.html +++ b/doc/html/simple__base__implementation_8h.html @@ -79,8 +79,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/simple__base__implementation_8h_source.html b/doc/html/simple__base__implementation_8h_source.html index c13dac2af5d9633d8f048940e56aae6b6cd7a4da..bda9bb82c0e6f65707349ad66b4aa681dda42a59 100644 --- a/doc/html/simple__base__implementation_8h_source.html +++ b/doc/html/simple__base__implementation_8h_source.html @@ -67,8 +67,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structjob__data-members.html b/doc/html/structjob__data-members.html index 865c4ff795dddce3b69056bef0f7a193abcc3775..8bfa0a54d07e5f372c63d415a5e97b05b5051c8c 100644 --- a/doc/html/structjob__data-members.html +++ b/doc/html/structjob__data-members.html @@ -30,8 +30,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structjob__data.html b/doc/html/structjob__data.html index 0e23084f3e1e07a0ed2600ffa4da28f9003d4ed3..05df12700bf0a48b7442d33bf9431a1da41f9e0d 100644 --- a/doc/html/structjob__data.html +++ b/doc/html/structjob__data.html @@ -64,8 +64,8 @@ Public Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structobject__data-members.html b/doc/html/structobject__data-members.html index ba2e4d9635e73bca63f90a6354a0f9507d635a6f..6f27e688cdb2c76259692bd8f7bdd6f2c557fc12 100644 --- a/doc/html/structobject__data-members.html +++ b/doc/html/structobject__data-members.html @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structobject__data.html b/doc/html/structobject__data.html index 461d153b2045e18a44ca3682e3f6d17365131f5f..b85722cb01edade4606f1eb2736e9cdbb552ce2f 100644 --- a/doc/html/structobject__data.html +++ b/doc/html/structobject__data.html @@ -100,8 +100,8 @@ Public Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structprotobuf__entry-members.html b/doc/html/structprotobuf__entry-members.html index 411ef6bbd207ca801ae33c61703c7717540c05aa..350c5fce7e78753b9ec94f50369d47040f87c8a0 100644 --- a/doc/html/structprotobuf__entry-members.html +++ b/doc/html/structprotobuf__entry-members.html @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structprotobuf__entry.html b/doc/html/structprotobuf__entry.html index 1f05c5b65ace6d88f6d1def5a908f1ed212c8138..7e13e6a6cc3ac38c2cf08b91d3a02b07a430b8e0 100644 --- a/doc/html/structprotobuf__entry.html +++ b/doc/html/structprotobuf__entry.html @@ -42,7 +42,7 @@ Public Attributes</h2></td></tr> <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> <div class="textblock"><p>Protobuf entry. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00031">31</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00033">33</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div><h2 class="groupheader">Member Data Documentation</h2> <a id="a44e08c6e54f4bdd1317f6df29175230b"></a> <h2 class="memtitle"><span class="permalink"><a href="#a44e08c6e54f4bdd1317f6df29175230b">◆ </a></span>name_</h2> @@ -56,7 +56,7 @@ Public Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00032">32</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00034">34</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -72,7 +72,7 @@ Public Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00033">33</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00035">35</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -88,7 +88,7 @@ Public Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00034">34</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00036">36</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -100,8 +100,8 @@ Public Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structwing__BP-members.html b/doc/html/structwing__BP-members.html index 359c8788a08aa5886d82ed05eed5de30162723a1..56664de215db795656b3067f782889b7d5fad00f 100644 --- a/doc/html/structwing__BP-members.html +++ b/doc/html/structwing__BP-members.html @@ -32,8 +32,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/structwing__BP.html b/doc/html/structwing__BP.html index 1424a81bd93a225d7091105ce97e6ae5c68713a4..b752fcb907a3c70cef25fe68d63ea10587eb8d89 100644 --- a/doc/html/structwing__BP.html +++ b/doc/html/structwing__BP.html @@ -42,7 +42,7 @@ Public Attributes</h2></td></tr> <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> <div class="textblock"><p>Blueprint of panel data. </p> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00024">24</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00026">26</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div><h2 class="groupheader">Member Data Documentation</h2> <a id="a294e3a77e24dec89f73422224f4091c9"></a> <h2 class="memtitle"><span class="permalink"><a href="#a294e3a77e24dec89f73422224f4091c9">◆ </a></span>name_</h2> @@ -56,7 +56,7 @@ Public Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00025">25</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -72,7 +72,7 @@ Public Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00026">26</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00028">28</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -88,7 +88,7 @@ Public Attributes</h2></td></tr> </table> </div><div class="memdoc"> -<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> +<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00029">29</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p> </div> </div> @@ -100,8 +100,8 @@ Public Attributes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/task__space__reader_8cpp.html b/doc/html/task__space__reader_8cpp.html index 61a30b060b453b48038d537d351819c69530cc9c..145c71c8a10497e48eff57b27958eef2f9ad2e3a 100644 --- a/doc/html/task__space__reader_8cpp.html +++ b/doc/html/task__space__reader_8cpp.html @@ -51,8 +51,8 @@ Include dependency graph for task_space_reader.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/task__space__reader_8cpp_source.html b/doc/html/task__space__reader_8cpp_source.html index d9b4a26de1a3a9988f59d4ec596584e549905c51..babc4a5f68a1d59cf3cff83978f3512fef8e98d5 100644 --- a/doc/html/task__space__reader_8cpp_source.html +++ b/doc/html/task__space__reader_8cpp_source.html @@ -108,8 +108,8 @@ $(function() { <br clear="all" /> <hr size="1"><div style="align: right;"> <a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br /> -Author(s): MA <matteo.aneddama@gmail.com></br /> -<small>autogenerated on Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/task__space__reader_8h.html b/doc/html/task__space__reader_8h.html index bcfc9aab099cfdec6730caaf990f3ec394eb5b13..ee83aa2c4fa987a8793d44284d090a7cb44d6de2 100644 --- a/doc/html/task__space__reader_8h.html +++ b/doc/html/task__space__reader_8h.html @@ -72,8 +72,8 @@ Classes</h2></td></tr> <br clear="all" /> <hr size="1"><div style="align: right;"> <a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br /> -Author(s): MA <matteo.aneddama@gmail.com></br /> -<small>autogenerated on Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/task__space__reader_8h_source.html b/doc/html/task__space__reader_8h_source.html index d1b031a44d0ce62a9605172e4f3a64a4c7e4f424..3937d761589d7c9f64427878e268b06ce516518e 100644 --- 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rel="stylesheet" type="text/css"> +<script type="text/javascript" src="jquery.js"></script> +</head> +<body onload='searchBox.OnSelectItem(0);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li><li class="navelem"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="summary"> +<a href="#func-members">Functions</a> </div> + <div class="headertitle"> +<div class="title">test_bt.cpp File Reference</div> </div> +</div><!--header--> +<div class="contents"> +<div class="textblock"><code>#include <ros/ros.h></code><br /> +<code>#include <behaviortree_cpp_v3/behavior_tree.h></code><br /> +<code>#include <behaviortree_cpp_v3/tree_node.h></code><br /> +<code>#include <behaviortree_cpp_v3/bt_factory.h></code><br /> +<code>#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h></code><br /> +<code>#include <stdint.h></code><br /> +<code>#include "<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>"</code><br /> +<code>#include "<a class="el" href="execution_8h_source.html">bt/execution.h</a>"</code><br /> +<code>#include "<a class="el" href="position__condition_8h_source.html">bt/position_condition.h</a>"</code><br /> +<code>#include "<a class="el" href="parallel__robot_8h_source.html">bt/parallel_robot.h</a>"</code><br /> +<code>#include <boost/circular_buffer.hpp></code><br /> +</div><div class="textblock"><div class="dynheader"> 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href="test__bt_8cpp_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="func-members"></a> +Functions</h2></td></tr> +<tr class="memitem:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="test__bt_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr> +<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af20233f181c6e17e856a882df5466f10"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__bt_8cpp.html#af20233f181c6e17e856a882df5466f10">TEST</a> (BaseTestSuit, stringTest)</td></tr> +<tr class="separator:af20233f181c6e17e856a882df5466f10"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a4a4956355a4690ad767a61e26c261dc3"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__bt_8cpp.html#a4a4956355a4690ad767a61e26c261dc3">TEST</a> (BtTestSuit, basicCooperativeTest)</td></tr> +<tr class="separator:a4a4956355a4690ad767a61e26c261dc3"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a8a66f628a607602bc7cec1991951f91b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">TEST</a> (BtTestSuit, basicParallelTest)</td></tr> +<tr class="separator:a8a66f628a607602bc7cec1991951f91b"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a327275760eee562f5a93eed69f8e4b04"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__bt_8cpp.html#a327275760eee562f5a93eed69f8e4b04">TEST</a> (BtTestSuit, ComplexCooperativeTest)</td></tr> +<tr class="separator:a327275760eee562f5a93eed69f8e4b04"><td class="memSeparator" colspan="2"> </td></tr> +</table> +<h2 class="groupheader">Function Documentation</h2> +<a id="a3c04138a5bfe5d72780bb7e82a18e627"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e82a18e627">◆ </a></span>main()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">int main </td> + <td>(</td> + <td class="paramtype">int </td> + <td class="paramname"><em>argc</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">char ** </td> + <td class="paramname"><em>argv</em> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__bt_8cpp_source.html#l00190">190</a> of file <a class="el" href="test__bt_8cpp_source.html">test_bt.cpp</a>.</p> + +</div> +</div> +<a id="af20233f181c6e17e856a882df5466f10"></a> +<h2 class="memtitle"><span class="permalink"><a href="#af20233f181c6e17e856a882df5466f10">◆ </a></span>TEST() <span class="overload">[1/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + <td>(</td> + <td class="paramtype">BaseTestSuit </td> + <td class="paramname">, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">stringTest </td> + <td class="paramname"> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__bt_8cpp_source.html#l00157">157</a> of file <a class="el" href="test__bt_8cpp_source.html">test_bt.cpp</a>.</p> + +</div> +</div> +<a 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<span class="overload">[3/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + <td>(</td> + <td class="paramtype">BtTestSuit </td> + <td class="paramname">, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">basicParallelTest </td> + <td class="paramname"> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__bt_8cpp_source.html#l00015">15</a> of file <a class="el" href="test__bt_8cpp_source.html">test_bt.cpp</a>.</p> + +</div> +</div> +<a id="a327275760eee562f5a93eed69f8e4b04"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a327275760eee562f5a93eed69f8e4b04">◆ </a></span>TEST() <span class="overload">[4/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + 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0000000000000000000000000000000000000000..92055e7f821cafb51b407a077e558a6fac4d706d Binary files /dev/null and b/doc/html/test__bt_8cpp__incl.png differ diff --git a/doc/html/test__bt_8cpp_source.html b/doc/html/test__bt_8cpp_source.html new file mode 100644 index 0000000000000000000000000000000000000000..ae995559cc289b33fe240e988a896b0d7a121434 --- /dev/null +++ b/doc/html/test__bt_8cpp_source.html @@ -0,0 +1,240 @@ +<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8"> +<title>multi_cell_builder: test_bt.cpp Source File</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);'> +<!-- Generated by Doxygen 1.8.17 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +<div id="nav-path" class="navpath"> + <ul> +<li class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li><li class="navelem"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">test_bt.cpp</div> </div> +</div><!--header--> +<div class="contents"> +<a href="test__bt_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include <ros/ros.h></span></div> +<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <behaviortree_cpp_v3/behavior_tree.h></span></div> +<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <behaviortree_cpp_v3/tree_node.h></span></div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <behaviortree_cpp_v3/bt_factory.h></span></div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h></span></div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <stdint.h></span></div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="abstract__param__reader_8h.html">reader/abstract_param_reader.h</a>"</span></div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="execution_8h.html">bt/execution.h</a>"</span></div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="position__condition_8h.html">bt/position_condition.h</a>"</span></div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="parallel__robot_8h.html">bt/parallel_robot.h</a>"</span></div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <boost/circular_buffer.hpp></span></div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> +<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b"> 15</a></span> <a class="code" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">TEST</a>(BtTestSuit, basicParallelTest){</div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;</div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div> +<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  boost::circular_buffer<std::pair<std::string, job_data>> cb_jd;</div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="structjob__data.html">job_data</a> job1;</div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="structjob__data.html">job_data</a> job2;</div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  job1.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,0,0))};</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  job2.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(2,2,0,1),tf2::Vector3(0,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(2,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,2,0))};</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  std::vector<std::pair<std::string,tf2::Vector3>> boxes = {{<span class="stringliteral">"box1"</span>, tf2::Vector3(0,0,0)}, {<span class="stringliteral">"box2"</span>, tf2::Vector3(2,2,0)}};</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job1});</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm2"</span>, job2});</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">while</span>(!cb_jd.empty()){</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& box : boxes){</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  std::pair<std::string, job_data> temp = cb_jd.front();</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), box.second) == 0) {</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++){</div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  box.second = temp.second.jobs_[k].getOrigin();</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  }</div> +<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  cb_jd.pop_front();</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  } <span class="keywordflow">else</span> {cb_jd.push_back(temp);}</div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  }</div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  }</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  ASSERT_EQ(cb_jd.size(), 0); <span class="comment">//All jobs</span></div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> }</div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div> +<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="test__bt_8cpp.html#a4a4956355a4690ad767a61e26c261dc3"> 43</a></span> <a class="code" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">TEST</a>(BtTestSuit, basicCooperativeTest){</div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">// BT::BehaviorTreeFactory factory;</span></div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">// factory.registerNodeType<Execution>("Execution");</span></div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">// factory.registerNodeType<PositionCondition>("PositionCondition");</span></div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment">// factory.registerNodeType<Parallel_robot>("Parallel_robot");</span></div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;</div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  boost::circular_buffer<std::pair<std::string, job_data>> cb_jd;</div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="structjob__data.html">job_data</a> job1, job2, job3;</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  job1.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,0,0))};</div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  job2.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(2,2,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(2,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,2,0))};</div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  job3.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0,0))};</div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div> +<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  std::vector<std::pair<std::string,tf2::Vector3>> boxes = {{<span class="stringliteral">"box1"</span>, tf2::Vector3(0,0,0)}, {<span class="stringliteral">"box2"</span>, tf2::Vector3(2,2,0)}};</div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job1});</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm2"</span>, job2});</div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job3});</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">while</span>(!cb_jd.empty()){</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& box : boxes){</div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  std::pair<std::string, job_data> temp = cb_jd.front();</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), box.second) == 0) {</div> +<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++){</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  box.second = temp.second.jobs_[k].getOrigin();</div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  }</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  cb_jd.pop_front();</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  } <span class="keywordflow">else</span> {cb_jd.push_back(temp);}</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  }</div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ASSERT_EQ(cb_jd.size(), 0); <span class="comment">//All jobs</span></div> +<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> }</div> +<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div> +<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="test__bt_8cpp.html#a327275760eee562f5a93eed69f8e4b04"> 77</a></span> <a class="code" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">TEST</a>(BtTestSuit, ComplexCooperativeTest){</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;</div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  boost::circular_buffer<std::pair<std::string, job_data>> cb_jd(3);</div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="structjob__data.html">job_data</a> job1, job2, job3;</div> +<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  job1.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1.5f,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,2,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,2.5f,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,3,0))};</div> +<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  job2.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0.5f,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1.5f,0))};</div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  job3.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a> = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1.5f,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,2,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,2.5f,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,3,0))};</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  std::vector<std::pair<std::string,tf2::Vector3>> boxes = {{<span class="stringliteral">"box1"</span>, tf2::Vector3(0,0,0)}, {<span class="stringliteral">"box2"</span>, tf2::Vector3(2,2,0)}};</div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job3});</div> +<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job1});</div> +<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm2"</span>, job2});</div> +<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div> +<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">//ASSERT_FALSE(boxes[0].second == cb_jd[0].second.jobs_[0].getOrigin());</span></div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div> +<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div> +<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">bool</span> jobs_remaining = <span class="keyword">true</span>;</div> +<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">while</span> (jobs_remaining && !cb_jd.empty() && !boxes.empty()) {</div> +<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">bool</span> moved = <span class="keyword">false</span>;</div> +<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = cb_jd.begin(); it != cb_jd.end();) {</div> +<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">auto</span>& temp = *it;</div> +<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">bool</span> ready_to_move = <span class="keyword">true</span>;</div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& box : boxes) {</div> +<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">if</span> (temp.second.jobs_.front().getOrigin() == box.second) {</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++) {</div> +<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  box.second = temp.second.jobs_[k].getOrigin();</div> +<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div> +<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">if</span> (ready_to_move) {</div> +<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  moved = <span class="keyword">true</span>;</div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  it = cb_jd.erase(it);</div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div> +<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  } <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  ready_to_move = <span class="keyword">false</span>;</div> +<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div> +<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  }</div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">if</span> (!ready_to_move) {</div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  ++it;</div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div> +<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  jobs_remaining = moved;</div> +<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  ASSERT_EQ(cb_jd.size(), 1); <span class="comment">// All jobs</span></div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  boxes.clear();</div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job3});</div> +<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm1"</span>, job1});</div> +<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  cb_jd.push_back({<span class="stringliteral">"panda_arm2"</span>, job2});</div> +<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div> +<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  jobs_remaining = <span class="keyword">true</span>;</div> +<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">while</span> (jobs_remaining && !cb_jd.empty() && !boxes.empty()) {</div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">bool</span> moved = <span class="keyword">false</span>;</div> +<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = cb_jd.begin(); it != cb_jd.end();) {</div> +<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">auto</span>& temp = *it;</div> +<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">bool</span> ready_to_move = <span class="keyword">true</span>;</div> +<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& box : boxes) {</div> +<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">if</span> (temp.second.jobs_.front().getOrigin() == box.second) {</div> +<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++) {</div> +<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  box.second = temp.second.jobs_[k].getOrigin();</div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div> +<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> (ready_to_move) {</div> +<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  moved = <span class="keyword">true</span>;</div> +<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  it = cb_jd.erase(it);</div> +<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div> +<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  } <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  ready_to_move = <span class="keyword">false</span>;</div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span> (!ready_to_move) {</div> +<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  ++it;</div> +<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  }</div> +<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div> +<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  jobs_remaining = moved;</div> +<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  }</div> +<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  ASSERT_EQ(cb_jd.size(), 3); <span class="comment">// All jobs</span></div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> }</div> +<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div> +<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="test__bt_8cpp.html#af20233f181c6e17e856a882df5466f10"> 157</a></span> <a class="code" href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">TEST</a>(BaseTestSuit, stringTest){</div> +<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  std::map<std::string, std::vector<tf2::Vector3>> input_map = {</div> +<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  {<span class="stringliteral">"a"</span>, {tf2::Vector3(0,0,0), tf2::Vector3(1,0,0)}},</div> +<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {<span class="stringliteral">"b"</span>, {tf2::Vector3(1,0,0), tf2::Vector3(2,0,0)}},</div> +<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  {<span class="stringliteral">"c"</span>, {tf2::Vector3(0,1,0), tf2::Vector3(0,2,0)}}</div> +<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  };</div> +<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  </div> +<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  std::vector<std::vector<std::string>> result;</div> +<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  std::set<std::string> keysUsed;</div> +<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div> +<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& pair1 : input_map) {</div> +<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">if</span> (keysUsed.count(pair1.first) > 0) <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div> +<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">auto</span> lastVector1 = pair1.second.back();</div> +<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  std::vector<std::string> group = {pair1.first};</div> +<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div> +<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& pair2 : input_map) {</div> +<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">if</span> (pair1.first == pair2.first || keysUsed.count(pair2.first) > 0) <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keyword">auto</span> firstVector2 = pair2.second.front();</div> +<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div> +<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (lastVector1 == firstVector2) {</div> +<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  group.push_back(pair2.first);</div> +<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  lastVector1 = pair2.second.back();</div> +<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  keysUsed.insert(pair2.first);</div> +<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div> +<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div> +<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  result.push_back(group);</div> +<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div> +<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div> +<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  ASSERT_EQ(result.size(),2);</div> +<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> }</div> +<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div> +<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div> +<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="test__bt_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 190</a></span> <span class="keywordtype">int</span> <a class="code" href="test__bt_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div> +<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  testing::InitGoogleTest(&argc, argv);</div> +<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  ros::init(argc, argv, <span class="stringliteral">"bt-test"</span>);</div> +<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  ros::NodeHandle nh;</div> +<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">return</span> RUN_ALL_TESTS();</div> +<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> }</div> +</div><!-- fragment --></div><!-- contents --> +<div class="ttc" id="aparallel__robot_8h_html"><div class="ttname"><a href="parallel__robot_8h.html">parallel_robot.h</a></div></div> +<div class="ttc" id="astructjob__data_html_a9995696b3e7a24afb51e67a3cc8616d0"><div class="ttname"><a href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data::jobs_</a></div><div class="ttdeci">std::vector< tf2::Transform > jobs_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00022">abstract_param_reader.h:22</a></div></div> +<div class="ttc" id="aabstract__param__reader_8h_html"><div class="ttname"><a href="abstract__param__reader_8h.html">abstract_param_reader.h</a></div></div> +<div class="ttc" id="atest__bt_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="test__bt_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="test__bt_8cpp_source.html#l00190">test_bt.cpp:190</a></div></div> +<div class="ttc" id="atest__bt_8cpp_html_a8a66f628a607602bc7cec1991951f91b"><div class="ttname"><a href="test__bt_8cpp.html#a8a66f628a607602bc7cec1991951f91b">TEST</a></div><div class="ttdeci">TEST(BtTestSuit, basicParallelTest)</div><div class="ttdef"><b>Definition:</b> <a href="test__bt_8cpp_source.html#l00015">test_bt.cpp:15</a></div></div> +<div class="ttc" id="astructjob__data_html"><div class="ttname"><a href="structjob__data.html">job_data</a></div><div class="ttdoc">Job data.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00021">abstract_param_reader.h:21</a></div></div> +<div class="ttc" id="aposition__condition_8h_html"><div class="ttname"><a href="position__condition_8h.html">position_condition.h</a></div></div> +<div class="ttc" id="aexecution_8h_html"><div class="ttname"><a href="execution_8h.html">execution.h</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/test__reader_8cpp.html b/doc/html/test__reader_8cpp.html new file mode 100644 index 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class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li><li class="navelem"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="summary"> +<a href="#func-members">Functions</a> </div> + <div class="headertitle"> +<div class="title">test_reader.cpp File Reference</div> </div> +</div><!--header--> +<div class="contents"> +<div class="textblock"><code>#include <ros/ros.h></code><br /> +<code>#include <gtest/gtest.h></code><br /> +<code>#include "<a class="el" href="cuboid__reader_8h_source.html">reader/cuboid_reader.h</a>"</code><br /> +<code>#include "<a class="el" href="job__reader_8h_source.html">reader/job_reader.h</a>"</code><br /> +<code>#include "<a class="el" href="map__reader_8h_source.html">reader/map_reader.h</a>"</code><br /> +<code>#include "<a class="el" href="robot__reader_8h_source.html">reader/robot_reader.h</a>"</code><br /> +</div><div class="textblock"><div class="dynheader"> +Include dependency graph for test_reader.cpp:</div> +<div class="dyncontent"> +<div class="center"><img src="test__reader_8cpp__incl.png" border="0" usemap="#test__reader_8cpp" alt=""/></div> +<map name="test__reader_8cpp" id="test__reader_8cpp"> +<area shape="rect" title=" " alt="" coords="605,5,727,32"/> +<area shape="rect" title=" " alt="" coords="5,251,84,278"/> +<area shape="rect" title=" " alt="" coords="1038,80,1142,107"/> +<area shape="rect" href="cuboid__reader_8h.html" title=" " alt="" coords="299,80,471,107"/> +<area shape="rect" href="job__reader_8h.html" title=" " alt="" coords="865,80,1014,107"/> +<area shape="rect" href="map__reader_8h.html" title=" " alt="" coords="495,80,653,107"/> +<area shape="rect" href="robot__reader_8h.html" title=" " alt="" coords="678,80,841,107"/> +<area shape="rect" title=" " alt="" coords="852,251,965,278"/> +<area shape="rect" title=" " alt="" coords="990,251,1139,278"/> +<area shape="rect" title=" 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href="test__reader_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr> +<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a76c316033806c557d81ea59ab6c59692"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">TEST</a> (ReaderTestSuit, cuboidReader)</td></tr> +<tr class="separator:a76c316033806c557d81ea59ab6c59692"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:abab6ac6317e5aa0b17e5e105e77e504a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__reader_8cpp.html#abab6ac6317e5aa0b17e5e105e77e504a">TEST</a> (ReaderTestSuit, jobReader)</td></tr> +<tr class="separator:abab6ac6317e5aa0b17e5e105e77e504a"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a41676f355c97a8041a158950b866c78a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__reader_8cpp.html#a41676f355c97a8041a158950b866c78a">TEST</a> (ReaderTestSuit, mapReader)</td></tr> +<tr class="separator:a41676f355c97a8041a158950b866c78a"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ad0af9049dedc5017058c5738f1ca8d36"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="test__reader_8cpp.html#ad0af9049dedc5017058c5738f1ca8d36">TEST</a> (ReaderTestSuit, robotReader)</td></tr> +<tr class="separator:ad0af9049dedc5017058c5738f1ca8d36"><td class="memSeparator" colspan="2"> </td></tr> +</table> +<h2 class="groupheader">Function Documentation</h2> +<a id="a3c04138a5bfe5d72780bb7e82a18e627"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e82a18e627">◆ </a></span>main()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">int main </td> + <td>(</td> + <td class="paramtype">int </td> + <td class="paramname"><em>argc</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">char ** </td> + <td class="paramname"><em>argv</em> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__reader_8cpp_source.html#l00067">67</a> of file <a class="el" href="test__reader_8cpp_source.html">test_reader.cpp</a>.</p> + +</div> +</div> +<a id="a76c316033806c557d81ea59ab6c59692"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a76c316033806c557d81ea59ab6c59692">◆ </a></span>TEST() <span class="overload">[1/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + <td>(</td> + <td class="paramtype">ReaderTestSuit </td> + <td class="paramname">, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">cuboidReader </td> + <td class="paramname"> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__reader_8cpp_source.html#l00009">9</a> of file <a class="el" href="test__reader_8cpp_source.html">test_reader.cpp</a>.</p> + +</div> +</div> +<a id="abab6ac6317e5aa0b17e5e105e77e504a"></a> +<h2 class="memtitle"><span class="permalink"><a href="#abab6ac6317e5aa0b17e5e105e77e504a">◆ </a></span>TEST() <span class="overload">[2/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + <td>(</td> + <td class="paramtype">ReaderTestSuit </td> + <td class="paramname">, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">jobReader </td> + <td class="paramname"> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__reader_8cpp_source.html#l00016">16</a> of file <a class="el" href="test__reader_8cpp_source.html">test_reader.cpp</a>.</p> + +</div> +</div> +<a id="a41676f355c97a8041a158950b866c78a"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a41676f355c97a8041a158950b866c78a">◆ </a></span>TEST() <span class="overload">[3/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + <td>(</td> + <td class="paramtype">ReaderTestSuit </td> + <td class="paramname">, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">mapReader </td> + <td class="paramname"> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__reader_8cpp_source.html#l00036">36</a> of file <a class="el" href="test__reader_8cpp_source.html">test_reader.cpp</a>.</p> + +</div> +</div> +<a id="ad0af9049dedc5017058c5738f1ca8d36"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ad0af9049dedc5017058c5738f1ca8d36">◆ </a></span>TEST() <span class="overload">[4/4]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">TEST </td> + <td>(</td> + <td class="paramtype">ReaderTestSuit </td> + <td class="paramname">, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">robotReader </td> + <td class="paramname"> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> + +<p class="definition">Definition at line <a class="el" href="test__reader_8cpp_source.html#l00044">44</a> of file <a class="el" href="test__reader_8cpp_source.html">test_reader.cpp</a>.</p> + +</div> +</div> +</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/test__reader_8cpp__incl.map b/doc/html/test__reader_8cpp__incl.map new file mode 100644 index 0000000000000000000000000000000000000000..658da1b39752004591ae9a26cb815e752f0cb839 --- /dev/null +++ b/doc/html/test__reader_8cpp__incl.map @@ -0,0 +1,19 @@ +<map id="test_reader.cpp" name="test_reader.cpp"> +<area shape="rect" id="node1" title=" " alt="" coords="605,5,727,32"/> +<area shape="rect" id="node2" title=" " alt="" coords="5,251,84,278"/> +<area shape="rect" id="node3" title=" " alt="" coords="1038,80,1142,107"/> +<area shape="rect" id="node4" 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class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li><li class="navelem"><a class="el" href="dir_5dbef07ae17552def12da89c7166292a.html">reader</a></li> </ul> +</div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">test_reader.cpp</div> </div> +</div><!--header--> +<div class="contents"> +<a href="test__reader_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include <ros/ros.h></span></div> +<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <gtest/gtest.h></span></div> +<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "<a class="code" href="cuboid__reader_8h.html">reader/cuboid_reader.h</a>"</span></div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="job__reader_8h.html">reader/job_reader.h</a>"</span></div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="map__reader_8h.html">reader/map_reader.h</a>"</span></div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="robot__reader_8h.html">reader/robot_reader.h</a>"</span></div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div> +<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692"> 9</a></span> <a class="code" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">TEST</a>(ReaderTestSuit, cuboidReader){</div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  std::shared_ptr<ros::NodeHandle> nh = std::make_shared<ros::NodeHandle>();</div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::unique_ptr<CuboidReader> cr = std::make_unique<CuboidReader>(nh);</div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  ASSERT_EQ(cr->cuboidBin().size(), 7);</div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  ASSERT_EQ(cr->cuboidObstacle().size(), 0);</div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> }</div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div> +<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="test__reader_8cpp.html#abab6ac6317e5aa0b17e5e105e77e504a"> 16</a></span> <a class="code" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">TEST</a>(ReaderTestSuit, jobReader){</div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  std::shared_ptr<ros::NodeHandle> nh = std::make_shared<ros::NodeHandle>();</div> +<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  std::unique_ptr<JobReader> jr = std::make_unique<JobReader>(nh);</div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="comment">// Check jobs per agent</span></div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordtype">int</span> jobs1 = 0;</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordtype">int</span> jobs2 = 0;</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& jobs: jr->robotData()){</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">if</span>(jobs.first == <span class="stringliteral">"panda_arm1"</span>){</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  jobs1++;</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  }</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordflow">if</span>(jobs.first == <span class="stringliteral">"panda_arm1"</span>){</div> +<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  jobs2++;</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  }</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  }</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  ASSERT_EQ(jobs1, 1);</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  ASSERT_EQ(jobs2, 1);</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  ASSERT_EQ(jobs1 + jobs2, 2); <span class="comment">//All jobs</span></div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> }</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div> +<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="test__reader_8cpp.html#a41676f355c97a8041a158950b866c78a"> 36</a></span> <a class="code" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">TEST</a>(ReaderTestSuit, mapReader){</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  std::shared_ptr<ros::NodeHandle> nh = std::make_shared<ros::NodeHandle>();</div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  std::unique_ptr<MapReader> mr = std::make_unique<MapReader>(nh);</div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="comment">// count entrys</span></div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  ASSERT_EQ(mr->mapData().size(), 6864);</div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> }</div> +<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div> +<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="test__reader_8cpp.html#ad0af9049dedc5017058c5738f1ca8d36"> 44</a></span> <a class="code" href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">TEST</a>(ReaderTestSuit, robotReader){</div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  std::shared_ptr<ros::NodeHandle> nh = std::make_shared<ros::NodeHandle>();</div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  std::unique_ptr<RobotReader> rr = std::make_unique<RobotReader>(nh);</div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="comment">// count entrys</span></div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  ASSERT_EQ(rr->robotData().size(), 2);</div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  ASSERT_EQ(rr->robotData()[0].name_, <span class="stringliteral">"panda_arm1"</span>);</div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">const</span> tf2::Vector3 position1(0,0,0.885f/2.0f);</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">const</span> tf2::Vector3 size1(0.8f/2.0f, 0.8f/2.0f,position1.getZ());</div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> tf2::Quaternion rot1(0,0, 0, 1);</div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  ASSERT_EQ(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(rr->robotData()[0].pose_.getOrigin().distance2(position1)), 0);</div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ASSERT_EQ(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(rr->robotData()[0].size_.distance2(size1)), 0);</div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  ASSERT_EQ(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(rr->robotData()[0].pose_.getRotation().length2() - rot1.length2()), 0);</div> +<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  ASSERT_EQ(rr->robotData()[1].name_, <span class="stringliteral">"panda_arm2"</span>);</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> tf2::Vector3 position2(0,1.31f,0.885f/2.0f);</div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">const</span> tf2::Vector3 size2(0.8f/2.0f, 0.8f/2.0f,position2.getZ());</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">const</span> tf2::Quaternion rot2(0,0, 0, 1);</div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  ASSERT_EQ(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(rr->robotData()[1].pose_.getOrigin().distance2(position2)), 0);</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  ASSERT_EQ(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(rr->robotData()[1].size_.distance2(size2)), 0);</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  ASSERT_EQ(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(rr->robotData()[1].pose_.getRotation().length2() - rot2.length2()), 0);</div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> }</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div> +<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="test__reader_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 67</a></span> <span class="keywordtype">int</span> <a class="code" href="test__reader_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  testing::InitGoogleTest(&argc, argv);</div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  ros::init(argc, argv, <span class="stringliteral">"reader-test"</span>);</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  ros::NodeHandle nh;</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span> RUN_ALL_TESTS();</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div> +</div><!-- fragment --></div><!-- contents --> +<div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div> +<div class="ttc" id="amap__reader_8h_html"><div class="ttname"><a href="map__reader_8h.html">map_reader.h</a></div></div> +<div class="ttc" id="ajob__reader_8h_html"><div class="ttname"><a href="job__reader_8h.html">job_reader.h</a></div></div> +<div class="ttc" id="arobot__reader_8h_html"><div class="ttname"><a href="robot__reader_8h.html">robot_reader.h</a></div></div> +<div class="ttc" id="atest__reader_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="test__reader_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="test__reader_8cpp_source.html#l00067">test_reader.cpp:67</a></div></div> +<div class="ttc" id="atest__reader_8cpp_html_a76c316033806c557d81ea59ab6c59692"><div class="ttname"><a href="test__reader_8cpp.html#a76c316033806c557d81ea59ab6c59692">TEST</a></div><div class="ttdeci">TEST(ReaderTestSuit, cuboidReader)</div><div class="ttdef"><b>Definition:</b> <a href="test__reader_8cpp_source.html#l00009">test_reader.cpp:9</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): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> +</div> +</body> +</html> diff --git a/doc/html/ts__reader_8cpp.html b/doc/html/ts__reader_8cpp.html index be9dc7b464d9c4c6113b59a9785ed664704e2f42..35702e18686e82d74c6d30392452e0c152796bdf 100644 --- a/doc/html/ts__reader_8cpp.html +++ b/doc/html/ts__reader_8cpp.html @@ -51,8 +51,8 @@ Include dependency graph for ts_reader.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ts__reader_8cpp_source.html b/doc/html/ts__reader_8cpp_source.html index 4f67b3642082c6eca70681ff68872f6c58faa07c..5c549b9f3715931aa1d81002adb874d26276dbdc 100644 --- a/doc/html/ts__reader_8cpp_source.html +++ b/doc/html/ts__reader_8cpp_source.html @@ -107,8 +107,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ts__reader_8h.html b/doc/html/ts__reader_8h.html index c0102211826aa888ebf0e01a6d792c79d39ed928..577819e3b426e807685d716d8a2d5c78a071e237 100644 --- a/doc/html/ts__reader_8h.html +++ b/doc/html/ts__reader_8h.html @@ -53,19 +53,23 @@ This graph shows which files directly or indirectly include this file:</div> <div class="dyncontent"> <div class="center"><img src="ts__reader_8h__dep__incl.png" border="0" usemap="#ts__reader_8hdep" alt=""/></div> <map name="ts__reader_8hdep" id="ts__reader_8hdep"> -<area shape="rect" title=" " alt="" coords="490,5,585,32"/> +<area shape="rect" title=" " alt="" coords="565,5,659,32"/> <area shape="rect" 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coords="700,237,847,263"/> +<area shape="rect" href="execution_8cpp.html" title=" " alt="" coords="922,237,1035,263"/> +<area shape="rect" href="test__bt_8cpp.html" title=" " alt="" coords="1059,237,1154,263"/> +<area shape="rect" href="grasp__mediator_8cpp.html" title=" " alt="" coords="621,393,771,420"/> <area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="276,237,500,263"/> </map> </div> @@ -83,8 +87,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ts__reader_8h__dep__incl.map b/doc/html/ts__reader_8h__dep__incl.map index 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a/doc/html/ts__reader_8h__dep__incl.png and b/doc/html/ts__reader_8h__dep__incl.png differ diff --git a/doc/html/ts__reader_8h_source.html b/doc/html/ts__reader_8h_source.html index 9e02cd2bd2d83bc83aededc66448d380b9405e90..c073fb17cc439f819ad39ac5eeeacd3de32f9288 100644 --- a/doc/html/ts__reader_8h_source.html +++ b/doc/html/ts__reader_8h_source.html @@ -66,8 +66,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur10__decorator_8cpp.html b/doc/html/ur10__decorator_8cpp.html index 1fe87b2e6772cf2be2e02de54c7fad9a4d3b21ec..10ae592a2e9566a9c3907a6ba15a25ee11ee4d09 100644 --- a/doc/html/ur10__decorator_8cpp.html +++ b/doc/html/ur10__decorator_8cpp.html @@ -58,8 +58,8 @@ Include dependency graph for ur10_decorator.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur10__decorator_8cpp_source.html b/doc/html/ur10__decorator_8cpp_source.html index d6f044dccaf9a52c7f07350aaf0b99ee8033a19d..0f1b9b1d9876d8420c1cbf71b3c2e5d0859b5a7b 100644 --- a/doc/html/ur10__decorator_8cpp_source.html +++ b/doc/html/ur10__decorator_8cpp_source.html @@ -83,8 +83,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur10__decorator_8h.html b/doc/html/ur10__decorator_8h.html index 11d52fb155f3a55e25141c037e4b8c3178e70d1d..347ca4ffef47f96b5c48a3026eb9ca702a10ecc5 100644 --- a/doc/html/ur10__decorator_8h.html +++ b/doc/html/ur10__decorator_8h.html @@ -75,8 +75,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur10__decorator_8h_source.html b/doc/html/ur10__decorator_8h_source.html index 1dcb78224ae0ba5146d096d93c4c61bfd5963863..c718ab4d87c3d51883ee6d1b1393c736ae85b2d4 100644 --- a/doc/html/ur10__decorator_8h_source.html +++ b/doc/html/ur10__decorator_8h_source.html @@ -62,8 +62,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur5__decorator_8cpp.html b/doc/html/ur5__decorator_8cpp.html index fc93732b29ac2731e6392dbe3e5546d33cec297b..a29c643065b90d13e88b29a1222ec274751c815f 100644 --- a/doc/html/ur5__decorator_8cpp.html +++ b/doc/html/ur5__decorator_8cpp.html @@ -58,8 +58,8 @@ Include dependency graph for ur5_decorator.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur5__decorator_8cpp_source.html b/doc/html/ur5__decorator_8cpp_source.html index 0ab19a21bc6fa5e1353994631d3b2f6cb6b2e8fb..c3b7e17adf4b3879e583727b37728bc9cf0bbc21 100644 --- a/doc/html/ur5__decorator_8cpp_source.html +++ b/doc/html/ur5__decorator_8cpp_source.html @@ -83,8 +83,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur5__decorator_8h.html b/doc/html/ur5__decorator_8h.html index 395c23c92c6f01fa9c050b9da4b327c6adbf5171..107a077fd293a54676f8ac85a3e32e8493ec10aa 100644 --- a/doc/html/ur5__decorator_8h.html +++ b/doc/html/ur5__decorator_8h.html @@ -75,8 +75,8 @@ Classes</h2></td></tr> <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/ur5__decorator_8h_source.html b/doc/html/ur5__decorator_8h_source.html index 82fdc7c458ab70e4f30d2803c76865730f70bf67..22641f9b85d0b1d88e9a80911779c70d953880bc 100644 --- a/doc/html/ur5__decorator_8h_source.html +++ b/doc/html/ur5__decorator_8h_source.html @@ -63,8 +63,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/wing__reader_8cpp.html b/doc/html/wing__reader_8cpp.html index 8c96ec441bd6a65a3813d72559097491b19fc60f..0abc84da3c99d2778d6f754f3851f10c292b226f 100644 --- a/doc/html/wing__reader_8cpp.html +++ b/doc/html/wing__reader_8cpp.html @@ -51,8 +51,8 @@ Include dependency graph for wing_reader.cpp:</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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/wing__reader_8cpp_source.html b/doc/html/wing__reader_8cpp_source.html index 5e28aef7f19cd1d5af82b3ba5d26c45c4e839762..e4eb0ee2732cefe98b1e72c418986f0e492c42a2 100644 --- a/doc/html/wing__reader_8cpp_source.html +++ b/doc/html/wing__reader_8cpp_source.html @@ -206,8 +206,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/html/wing__reader_8h.html b/doc/html/wing__reader_8h.html index 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newline at end of file +a0b0fb81cea028258fe1f4153180cfae \ No newline at end of file diff --git a/doc/html/wing__reader_8h__dep__incl.png b/doc/html/wing__reader_8h__dep__incl.png index a7fa124c77d5dc051e92c92ded3e063d4ed6d6d5..0ae73f7af90c6044d70d4fda5a2e7cde55d18a49 100644 Binary files a/doc/html/wing__reader_8h__dep__incl.png and b/doc/html/wing__reader_8h__dep__incl.png differ diff --git a/doc/html/wing__reader_8h_source.html b/doc/html/wing__reader_8h_source.html index 25d45319ca12ed75dd9cb1bd52aca7dff48b7302..88c1483f73f9d052df8d2a309a5495496862b32e 100644 --- a/doc/html/wing__reader_8h_source.html +++ b/doc/html/wing__reader_8h_source.html @@ -65,8 +65,8 @@ $(function() { <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 Mon Mar 27 2023 19:07:14</small> +Author(s): Matteo Anedda <matteo.aneddama@gmail.com></br /> +<small>autogenerated on Sun Apr 9 2023 23:59:51</small> </div> </body> </html> diff --git a/doc/manifest.yaml b/doc/manifest.yaml index 7020a0f8c204e25d0ca04004831b2a8e6d399de8..d9db4c6ba7ab109dc54b44eeb7ea73dc2d94794b 100644 --- a/doc/manifest.yaml +++ b/doc/manifest.yaml @@ -1,39 +1,42 @@ actions: [] -authors: MA <matteo.aneddama@gmail.com> +authors: Matteo Anedda <matteo.aneddama@gmail.com> brief: '' bugtracker: '' depends: +- yaml-cpp +- moveit_core +- moveit_grasps_filter +- message_runtime +- std_msgs - tf_conversions -- roscpp +- trajectory_msgs - moveit_ros_planning +- filesystem +- ccf +- pcl_ros +- moveit_grasps - roslint -- trajectory_msgs -- moveit_msgs +- gb_grasp - catkin -- moveit_task_constructor_capabilities -- pcl_ros -- moveit_grasps_filter -- tf -- moveit_core -- rosparam_shortcuts - moveit_visual_tools -- yaml-cpp -- moveit_task_constructor_core -- ccf -- geometry_msgs -- moveit_grasps -- moveit_ros_planning_interface -- message_generation +- moveit_msgs +- rosparam_shortcuts +- tf - eigen_conversions -- std_msgs -- moveit_task_constructor_visualization +- moveit_task_constructor_capabilities +- message_generation +- moveit_ros_planning_interface - behaviortree_cpp_v3 -- filesystem -- message_runtime -- gb_grasp -description: hjbiubi +- moveit_task_constructor_visualization +- roscpp +- moveit_task_constructor_core +- geometry_msgs +description: The package is used to generate multi-robot workcells out of reference + scene models. It incorporates and applies concepts from the work of Matteo Anedda + and Ferdinand Auerswald to place robots and objects in the scene and execute simple + sequences in parallel. license: BSD -maintainers: MA <matteo.aneddama@gmail.com> +maintainers: Matteo Anedda <matteo.aneddama@gmail.com> msgs: [] package_type: package repo_url: '' diff --git a/include/mediator/grasp_mediator.h b/include/mediator/grasp_mediator.h index e0e6d3446ffe87fe5c9b25bc13306d5588f59f98..425b913acb8bc408a50d8f404c7230f1da3cbf54 100644 --- a/include/mediator/grasp_mediator.h +++ b/include/mediator/grasp_mediator.h @@ -18,11 +18,13 @@ class GraspMediator : public AbstractMediator{ std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_; //!< Planningscene monitor std::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> grasp_pipeline_demo_; //!< Auerswald grasp pipeline std::string referenceRobot_; //!< Reference Robot - bool autoMapping_;//!< override graspmap config + std::string resultPath_;//!< path to the result + std::map<const std::string, Cuboid> relevant_boxes_; public: GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh); + void rewriteResult(); void mediate() override; void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override; void setPanel() override; diff --git a/package.xml b/package.xml index c2d4f5eb4d4cbfe6afb41cb5b781034759f2a6af..96d0ce8a412738c77c94dbf7ff06551ab3ce12af 100644 --- a/package.xml +++ b/package.xml @@ -2,13 +2,12 @@ <name>multi_cell_builder</name> <version>2.0.0</version> <description> - hjbiubi - </description> - <maintainer email="matteo.aneddama@gmail.com">MA</maintainer> + The package is used to generate multi-robot workcells out of reference scene models. It incorporates and applies concepts from the work of Matteo Anedda and Ferdinand Auerswald to place robots and objects in the scene and execute simple sequences in parallel. </description> + <maintainer email="matteo.aneddama@gmail.com">Matteo Anedda</maintainer> <license>BSD</license> - <author email="matteo.aneddama@gmail.com">MA</author> + <author email="matteo.aneddama@gmail.com">Matteo Anedda</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/results/dummy/1040381609/1040381609.yaml b/results/dummy/-1317123923/-1317123923.yaml similarity index 100% rename from results/dummy/1040381609/1040381609.yaml rename to results/dummy/-1317123923/-1317123923.yaml diff --git a/results/dummy/-669386858/configs/-669386858_panda_arm1.yaml b/results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml similarity index 100% rename from results/dummy/-669386858/configs/-669386858_panda_arm1.yaml rename to results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml diff --git a/results/dummy/-669386858/configs/-669386858_panda_arm2.yaml b/results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml similarity index 100% rename from results/dummy/-669386858/configs/-669386858_panda_arm2.yaml rename to results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml diff --git a/results/dummy/-669386858/launch/panda_arm1_-669386858.launch b/results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch similarity index 92% rename from results/dummy/-669386858/launch/panda_arm1_-669386858.launch rename to results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch index 7e3a6fb6d4ffcfbc19a085697595dea5cba57015..bfddbe82f201433e294c1ef4df757777d91bc789 100644 --- a/results/dummy/-669386858/launch/panda_arm1_-669386858.launch +++ b/results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 -3.14159"/> -<arg name="result" default="dummy/-669386858/-669386858.yaml" /> +<arg name="result" default="dummy/-1317123923/-1317123923.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-669386858/configs/-669386858_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1040381609/launch/panda_arm2_1040381609.launch b/results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch similarity index 92% rename from results/dummy/1040381609/launch/panda_arm2_1040381609.launch rename to results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch index 8f216e315acba2d17bbb0e358e1f3b7541c22fcf..2d550ea1403f16bdc59d630952f8e839f75062d3 100644 --- a/results/dummy/1040381609/launch/panda_arm2_1040381609.launch +++ b/results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 1.33714e-06"/> -<arg name="result" default="dummy/1040381609/1040381609.yaml" /> +<arg name="result" default="dummy/-1317123923/-1317123923.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1053289444/1053289444.yaml b/results/dummy/-1427321257/-1427321257.yaml similarity index 100% rename from results/dummy/1053289444/1053289444.yaml rename to results/dummy/-1427321257/-1427321257.yaml diff --git a/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml b/results/dummy/-1427321257/configs/-1427321257_panda_arm1.yaml similarity index 100% rename from results/dummy/1053289444/configs/1053289444_panda_arm1.yaml rename to results/dummy/-1427321257/configs/-1427321257_panda_arm1.yaml diff --git a/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml b/results/dummy/-1427321257/configs/-1427321257_panda_arm2.yaml similarity index 100% rename from results/dummy/1053289444/configs/1053289444_panda_arm2.yaml rename to results/dummy/-1427321257/configs/-1427321257_panda_arm2.yaml diff --git a/results/dummy/96902036/launch/panda_arm1_96902036.launch b/results/dummy/-1427321257/launch/panda_arm1_-1427321257.launch similarity index 93% rename from results/dummy/96902036/launch/panda_arm1_96902036.launch rename to results/dummy/-1427321257/launch/panda_arm1_-1427321257.launch index f15c3c2aa8a2712c29c4ad90aa0f30bf17793339..c93a42b3deff6c91a0087cdb8539992b4ab01eb7 100644 --- a/results/dummy/96902036/launch/panda_arm1_96902036.launch +++ b/results/dummy/-1427321257/launch/panda_arm1_-1427321257.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/96902036/96902036.yaml" /> +<arg name="result" default="dummy/-1427321257/-1427321257.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/96902036/configs/96902036_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1427321257/configs/-1427321257_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/96902036/launch/panda_arm2_96902036.launch b/results/dummy/-1427321257/launch/panda_arm2_-1427321257.launch similarity index 93% rename from results/dummy/96902036/launch/panda_arm2_96902036.launch rename to results/dummy/-1427321257/launch/panda_arm2_-1427321257.launch index cd0a495514aba2d44db424222521d7ac9f662013..23169843596b368542cd0527adf4d6bf1549c8be 100644 --- a/results/dummy/96902036/launch/panda_arm2_96902036.launch +++ b/results/dummy/-1427321257/launch/panda_arm2_-1427321257.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/96902036/96902036.yaml" /> +<arg name="result" default="dummy/-1427321257/-1427321257.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/96902036/configs/96902036_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1427321257/configs/-1427321257_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-669386858/-669386858.yaml b/results/dummy/-1429757615/-1429757615.yaml similarity index 100% rename from results/dummy/-669386858/-669386858.yaml rename to results/dummy/-1429757615/-1429757615.yaml diff --git a/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml b/results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml similarity index 100% rename from results/dummy/1040381609/configs/1040381609_panda_arm1.yaml rename to results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml diff --git a/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml b/results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml similarity index 100% rename from results/dummy/1040381609/configs/1040381609_panda_arm2.yaml rename to results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml diff --git a/results/dummy/1040381609/launch/panda_arm1_1040381609.launch b/results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch similarity index 92% rename from results/dummy/1040381609/launch/panda_arm1_1040381609.launch rename to results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch index abe0c647f986613a1c272d8aa2b0f6c1c2047cd4..7c4749902b642886f36a029d13aa069d7be8c246 100644 --- a/results/dummy/1040381609/launch/panda_arm1_1040381609.launch +++ b/results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 -3.14159"/> -<arg name="result" default="dummy/1040381609/1040381609.yaml" /> +<arg name="result" default="dummy/-1429757615/-1429757615.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-669386858/launch/panda_arm2_-669386858.launch b/results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch similarity index 92% rename from results/dummy/-669386858/launch/panda_arm2_-669386858.launch rename to results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch index fc9cd2a5494c0774adf6c20c276e4fba2b766eea..b267cd3b54f6ec079e8313c482c6a66a5bb1b664 100644 --- a/results/dummy/-669386858/launch/panda_arm2_-669386858.launch +++ b/results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 1.33714e-06"/> -<arg name="result" default="dummy/-669386858/-669386858.yaml" /> +<arg name="result" default="dummy/-1429757615/-1429757615.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-669386858/configs/-669386858_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1819966056/-1819966056.yaml b/results/dummy/-1797583301/-1797583301.yaml similarity index 100% rename from results/dummy/-1819966056/-1819966056.yaml rename to results/dummy/-1797583301/-1797583301.yaml diff --git a/results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml b/results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml similarity index 100% rename from results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml rename to results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml diff --git a/results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml b/results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml similarity index 100% rename from results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml rename to results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml diff --git a/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch b/results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch similarity index 92% rename from results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch rename to results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch index c0d6c3649d2d547655884ce6af11ad4822fc1365..c27c526dd74b7c29c9de82fe8a6d51dedd0c6b88 100644 --- a/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch +++ b/results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/-1819966056/-1819966056.yaml" /> +<arg name="result" default="dummy/-1797583301/-1797583301.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/2080544241/launch/panda_arm2_2080544241.launch b/results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch similarity index 92% rename from results/dummy/2080544241/launch/panda_arm2_2080544241.launch rename to results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch index 41e270c4d53501ee2e071c39f4073a1c50354f0c..fa6495f3afd2b408bcd6dc40b8919f37252c57ce 100644 --- a/results/dummy/2080544241/launch/panda_arm2_2080544241.launch +++ b/results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> -<arg name="referenceXYZ" default="-0.420005 1.305 0.8875"/> +<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/2080544241/2080544241.yaml" /> +<arg name="result" default="dummy/-1797583301/-1797583301.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2080544241/configs/2080544241_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/110121597/110121597.yaml b/results/dummy/-1805062065/-1805062065.yaml similarity index 100% rename from results/dummy/110121597/110121597.yaml rename to results/dummy/-1805062065/-1805062065.yaml diff --git a/results/dummy/110121597/configs/110121597_panda_arm1.yaml b/results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml similarity index 100% rename from results/dummy/110121597/configs/110121597_panda_arm1.yaml rename to results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml diff --git a/results/dummy/110121597/configs/110121597_panda_arm2.yaml b/results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml similarity index 100% rename from results/dummy/110121597/configs/110121597_panda_arm2.yaml rename to results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml diff --git a/results/dummy/110121597/launch/panda_arm1_110121597.launch b/results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch similarity index 93% rename from results/dummy/110121597/launch/panda_arm1_110121597.launch rename to results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch index f98069399c5c9233346c0e662fbeba5ba22274e3..e22f2a33a8c96445bc5c421cc77f1a80160c7374 100644 --- a/results/dummy/110121597/launch/panda_arm1_110121597.launch +++ b/results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/110121597/110121597.yaml" /> +<arg name="result" default="dummy/-1805062065/-1805062065.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/110121597/launch/panda_arm2_110121597.launch b/results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch similarity index 93% rename from results/dummy/110121597/launch/panda_arm2_110121597.launch rename to results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch index 77aceb2cf8a8a820d026b4ca7e8af14eb5c49143..d6360227254792c4c6d3b1a1a2fe75cbc1072e6b 100644 --- a/results/dummy/110121597/launch/panda_arm2_110121597.launch +++ b/results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/110121597/110121597.yaml" /> +<arg name="result" default="dummy/-1805062065/-1805062065.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1977885614/1977885614.yaml b/results/dummy/-1808776340/-1808776340.yaml similarity index 100% rename from results/dummy/1977885614/1977885614.yaml rename to results/dummy/-1808776340/-1808776340.yaml diff --git a/results/dummy/1977885614/configs/1977885614_panda_arm1.yaml b/results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml similarity index 100% rename from results/dummy/1977885614/configs/1977885614_panda_arm1.yaml rename to results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml diff --git a/results/dummy/1977885614/configs/1977885614_panda_arm2.yaml b/results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml similarity index 100% rename from results/dummy/1977885614/configs/1977885614_panda_arm2.yaml rename to results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml diff --git a/results/dummy/1977885614/launch/panda_arm1_1977885614.launch b/results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch similarity index 92% rename from results/dummy/1977885614/launch/panda_arm1_1977885614.launch rename to results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch index f6e35f3d4c1a47ff8db73e72b5e8e9ab5ef41c75..300a67ec99677864a86fbfca846b907f92a0da98 100644 --- a/results/dummy/1977885614/launch/panda_arm1_1977885614.launch +++ b/results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/1977885614/1977885614.yaml" /> +<arg name="result" default="dummy/-1808776340/-1808776340.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1977885614/configs/1977885614_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1977885614/launch/panda_arm2_1977885614.launch b/results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch similarity index 92% rename from results/dummy/1977885614/launch/panda_arm2_1977885614.launch rename to results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch index d98ad1c8038de9dce611b32cf4db921166987506..64794364c6ea8d2434e600fe72bcfa8d83a93d63 100644 --- a/results/dummy/1977885614/launch/panda_arm2_1977885614.launch +++ b/results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/1977885614/1977885614.yaml" /> +<arg name="result" default="dummy/-1808776340/-1808776340.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1977885614/configs/1977885614_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1756812213/-1756812213.yaml b/results/dummy/-2018095925/-2018095925.yaml similarity index 100% rename from results/dummy/-1756812213/-1756812213.yaml rename to results/dummy/-2018095925/-2018095925.yaml diff --git a/results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml b/results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml similarity index 100% rename from results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml rename to results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml diff --git a/results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml b/results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml similarity index 100% rename from results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml rename to results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml diff --git a/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch b/results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch similarity index 92% rename from results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch rename to results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch index 6c437b25e0f4648433a56589d5ff4ef1302244f7..fce1305fe052577b13af0deeefc94f3787dbdb9d 100644 --- a/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch +++ b/results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/-1613604190/-1613604190.yaml" /> +<arg name="result" default="dummy/-2018095925/-2018095925.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch b/results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch similarity index 92% rename from results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch rename to results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch index cba0787ad76c5ab7563d15dece926f6876b707c0..e128b2082f99f6958c21a0ccf4bbf06f139eb849 100644 --- a/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch +++ b/results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/-1613604190/-1613604190.yaml" /> +<arg name="result" default="dummy/-2018095925/-2018095925.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-401688786/-401688786.yaml b/results/dummy/-430424823/-430424823.yaml similarity index 65% rename from results/dummy/-401688786/-401688786.yaml rename to results/dummy/-430424823/-430424823.yaml index 6411aaa6a9e613f4a9dfb4f7910eade420236a66..d0253826d22fa5d57a377c3b9504c903a0881fe9 100644 --- a/results/dummy/-401688786/-401688786.yaml +++ b/results/dummy/-430424823/-430424823.yaml @@ -7,7 +7,7 @@ { 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.100002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, +{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, { 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, @@ -16,20 +16,62 @@ { 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.204998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, -{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.857498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, -{ 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } }, -{ 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } }, -{ 'id': 'object1','type': 'BOX','pos': { 'x': -0.6,'y': -0.6,'z': 0.996 }, 'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } }, -{ 'id': 'object2','type': 'BOX','pos': { 'x': -0.6,'y': -0.5,'z': 0.996 }, 'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } }, -{ 'id': 'object3','type': 'BOX','pos': { 'x': -0.4,'y': -0.6,'z': 0.959 }, 'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } }, -{ 'id': 'object4','type': 'BOX','pos': { 'x': -0.6,'y': -0.4,'z': 0.996 }, 'size': { 'length': 0.031,'width': 0.062,'height': 0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } }, -{ 'id': 'object5','type': 'BOX','pos': { 'x': -0.4,'y': -0.5,'z': 0.959 }, 'size': { 'length': 0.031,'width': 0.031,'height': 0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } }, -{ 'id': 'obstacle1','pos': { 'x': 0.34,'y': -0.11,'z': 0.94 }, 'size': { 'length': 0.3,'width': 0.3,'height': 0.1 },'orientation': { 'z': 0.452123,'w': 1 },'color': { 'b': 1 } }, -{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, -{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.204997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, -]} \ No newline at end of file +{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, +{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'position: + x: -0.050002 + y: 0.129998 + z: 0.9355 +orientation: + x: 0 + y: 0 + z: 0 + w: 1 +', 'type': 'BOX', 'pos': { 'x': -0.050002, 'y': 0.129998, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified +{ 'id': 'position: + x: 0.069998 + y: 0.069998 + z: 0.9355 +orientation: + x: 0 + y: 0 + z: 0 + w: 1 +', 'type': 'BOX', 'pos': { 'x': 0.069998, 'y': 0.069998, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified +{ 'id': 'position: + x: 0.159998 + y: 0.099998 + z: 0.9355 +orientation: + x: 0 + y: 0 + z: 0 + w: 1 +', 'type': 'BOX', 'pos': { 'x': 0.159998, 'y': 0.099998, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified +{ 'id': 'position: + x: -0.140002 + y: -0.200002 + z: 0.9355 +orientation: + x: 0 + y: 0 + z: 0.382683 + w: 0.92388 +', 'type': 'BOX', 'pos': { 'x': -0.140002, 'y': -0.200002, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0.382683, 'w': 0.92388},'color': { 'b': 1 } }, #modified +{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, +{ 'id': 'position: + x: 0.039998 + y: -0.200002 + z: 0.9355 +orientation: + x: 0 + y: 0 + z: 0 + w: 1 +', 'type': 'BOX', 'pos': { 'x': 0.039998, 'y': -0.200002, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified +{ 'id': 'red2', 'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, +{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +]} diff --git a/results/dummy/96902036/configs/96902036_panda_arm1.yaml b/results/dummy/-430424823/configs/-430424823_panda_arm1.yaml similarity index 100% rename from results/dummy/96902036/configs/96902036_panda_arm1.yaml rename to results/dummy/-430424823/configs/-430424823_panda_arm1.yaml diff --git a/results/dummy/96902036/configs/96902036_panda_arm2.yaml b/results/dummy/-430424823/configs/-430424823_panda_arm2.yaml similarity index 100% rename from results/dummy/96902036/configs/96902036_panda_arm2.yaml rename to results/dummy/-430424823/configs/-430424823_panda_arm2.yaml diff --git a/results/dummy/1053289444/launch/panda_arm1_1053289444.launch b/results/dummy/-430424823/launch/panda_arm1_-430424823.launch similarity index 92% rename from results/dummy/1053289444/launch/panda_arm1_1053289444.launch rename to results/dummy/-430424823/launch/panda_arm1_-430424823.launch index a36b61342f0e0c127bbce72b23f182f406000f10..03af62a7486fbf3ccae331479c54d59b2fa2aa65 100644 --- a/results/dummy/1053289444/launch/panda_arm1_1053289444.launch +++ b/results/dummy/-430424823/launch/panda_arm1_-430424823.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/1053289444/1053289444.yaml" /> +<arg name="result" default="dummy/-430424823/-430424823.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-430424823/configs/-430424823_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1053289444/launch/panda_arm2_1053289444.launch b/results/dummy/-430424823/launch/panda_arm2_-430424823.launch similarity index 92% rename from results/dummy/1053289444/launch/panda_arm2_1053289444.launch rename to results/dummy/-430424823/launch/panda_arm2_-430424823.launch index 19b2609a31af0d931a8e012fcbeed8b911c5ac89..ac285dd9783173c19f2c8211c9673769dad5253e 100644 --- a/results/dummy/1053289444/launch/panda_arm2_1053289444.launch +++ b/results/dummy/-430424823/launch/panda_arm2_-430424823.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/1053289444/1053289444.yaml" /> +<arg name="result" default="dummy/-430424823/-430424823.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-430424823/configs/-430424823_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/576191206/576191206.yaml b/results/dummy/-455104659/-455104659.yaml similarity index 100% rename from results/dummy/576191206/576191206.yaml rename to results/dummy/-455104659/-455104659.yaml diff --git a/results/dummy/-401688786/configs/-401688786_panda_arm1.yaml b/results/dummy/-455104659/configs/-455104659_panda_arm1.yaml similarity index 100% rename from results/dummy/-401688786/configs/-401688786_panda_arm1.yaml rename to results/dummy/-455104659/configs/-455104659_panda_arm1.yaml diff --git a/results/dummy/-401688786/configs/-401688786_panda_arm2.yaml b/results/dummy/-455104659/configs/-455104659_panda_arm2.yaml similarity index 100% rename from results/dummy/-401688786/configs/-401688786_panda_arm2.yaml rename to results/dummy/-455104659/configs/-455104659_panda_arm2.yaml diff --git a/results/dummy/576191206/launch/panda_arm1_576191206.launch b/results/dummy/-455104659/launch/panda_arm1_-455104659.launch similarity index 93% rename from results/dummy/576191206/launch/panda_arm1_576191206.launch rename to results/dummy/-455104659/launch/panda_arm1_-455104659.launch index 1322bda8ac0e6e896ef291e2a680efe2b3940659..9d4632e1de127b4e8562f51e4736fdcef18e0fca 100644 --- a/results/dummy/576191206/launch/panda_arm1_576191206.launch +++ b/results/dummy/-455104659/launch/panda_arm1_-455104659.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/576191206/576191206.yaml" /> +<arg name="result" default="dummy/-455104659/-455104659.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/576191206/configs/576191206_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-455104659/configs/-455104659_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/576191206/launch/panda_arm2_576191206.launch b/results/dummy/-455104659/launch/panda_arm2_-455104659.launch similarity index 93% rename from results/dummy/576191206/launch/panda_arm2_576191206.launch rename to results/dummy/-455104659/launch/panda_arm2_-455104659.launch index 7217f928656f03ad52f73f90996e3f544e3fdfe6..e1f19056963f9d7dc80797e2ae6a6086d075e095 100644 --- a/results/dummy/576191206/launch/panda_arm2_576191206.launch +++ b/results/dummy/-455104659/launch/panda_arm2_-455104659.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/576191206/576191206.yaml" /> +<arg name="result" default="dummy/-455104659/-455104659.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/576191206/configs/576191206_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-455104659/configs/-455104659_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-572750681/-572750681.yaml b/results/dummy/1449337039/1449337039.yaml similarity index 100% rename from results/dummy/-572750681/-572750681.yaml rename to results/dummy/1449337039/1449337039.yaml diff --git a/results/dummy/-572750681/configs/-572750681_panda_arm1.yaml b/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml similarity index 100% rename from results/dummy/-572750681/configs/-572750681_panda_arm1.yaml rename to results/dummy/1449337039/configs/1449337039_panda_arm1.yaml diff --git a/results/dummy/-572750681/configs/-572750681_panda_arm2.yaml b/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml similarity index 100% rename from results/dummy/-572750681/configs/-572750681_panda_arm2.yaml rename to results/dummy/1449337039/configs/1449337039_panda_arm2.yaml diff --git a/results/dummy/-572750681/launch/panda_arm1_-572750681.launch b/results/dummy/1449337039/launch/panda_arm1_1449337039.launch similarity index 92% rename from results/dummy/-572750681/launch/panda_arm1_-572750681.launch rename to results/dummy/1449337039/launch/panda_arm1_1449337039.launch index 435932542932fac6bc07a262c9d2ecbacc7824e9..d3a8c9b0b825cc2607d3b3ced35371eb1127f5ef 100644 --- a/results/dummy/-572750681/launch/panda_arm1_-572750681.launch +++ b/results/dummy/1449337039/launch/panda_arm1_1449337039.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/-572750681/-572750681.yaml" /> +<arg name="result" default="dummy/1449337039/1449337039.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-572750681/configs/-572750681_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-572750681/launch/panda_arm2_-572750681.launch b/results/dummy/1449337039/launch/panda_arm2_1449337039.launch similarity index 92% rename from results/dummy/-572750681/launch/panda_arm2_-572750681.launch rename to results/dummy/1449337039/launch/panda_arm2_1449337039.launch index a7919e9bc4d35c5974cfcfeaa907cc4b607d8a98..940ab82f8a39874773f78e55f4eea548e01fe78c 100644 --- a/results/dummy/-572750681/launch/panda_arm2_-572750681.launch +++ b/results/dummy/1449337039/launch/panda_arm2_1449337039.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/-572750681/-572750681.yaml" /> +<arg name="result" default="dummy/1449337039/1449337039.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-572750681/configs/-572750681_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1591106626/-1591106626.yaml b/results/dummy/1878181496/1878181496.yaml similarity index 100% rename from results/dummy/-1591106626/-1591106626.yaml rename to results/dummy/1878181496/1878181496.yaml diff --git a/results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml b/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml similarity index 100% rename from results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml rename to results/dummy/1878181496/configs/1878181496_panda_arm1.yaml diff --git a/results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml b/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml similarity index 100% rename from results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml rename to results/dummy/1878181496/configs/1878181496_panda_arm2.yaml diff --git a/results/dummy/-918908789/launch/panda_arm1_-918908789.launch b/results/dummy/1878181496/launch/panda_arm1_1878181496.launch similarity index 92% rename from results/dummy/-918908789/launch/panda_arm1_-918908789.launch rename to results/dummy/1878181496/launch/panda_arm1_1878181496.launch index 6923f7379fa03ae9c9c1bd73c5f01de67db0e536..9753786dffffbdac94c58de25ebb75f5adc2fc92 100644 --- a/results/dummy/-918908789/launch/panda_arm1_-918908789.launch +++ b/results/dummy/1878181496/launch/panda_arm1_1878181496.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 -3.14159"/> -<arg name="result" default="dummy/-918908789/-918908789.yaml" /> +<arg name="result" default="dummy/1878181496/1878181496.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-918908789/launch/panda_arm2_-918908789.launch b/results/dummy/1878181496/launch/panda_arm2_1878181496.launch similarity index 92% rename from results/dummy/-918908789/launch/panda_arm2_-918908789.launch rename to results/dummy/1878181496/launch/panda_arm2_1878181496.launch index 2f4d2e84f7f8379202364e78ec73bfaa22c483f4..b10553360b71b6be53184041d8e9148a28716829 100644 --- a/results/dummy/-918908789/launch/panda_arm2_-918908789.launch +++ b/results/dummy/1878181496/launch/panda_arm2_1878181496.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 1.33714e-06"/> -<arg name="result" default="dummy/-918908789/-918908789.yaml" /> +<arg name="result" default="dummy/1878181496/1878181496.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1069777227/-1069777227.yaml b/results/dummy/2009508287/2009508287.yaml similarity index 100% rename from results/dummy/-1069777227/-1069777227.yaml rename to results/dummy/2009508287/2009508287.yaml diff --git a/results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml b/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml similarity index 100% rename from results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml rename to results/dummy/2009508287/configs/2009508287_panda_arm1.yaml diff --git a/results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml b/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml similarity index 100% rename from results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml rename to results/dummy/2009508287/configs/2009508287_panda_arm2.yaml diff --git a/results/dummy/1190412551/launch/panda_arm1_1190412551.launch b/results/dummy/2009508287/launch/panda_arm1_2009508287.launch similarity index 92% rename from results/dummy/1190412551/launch/panda_arm1_1190412551.launch rename to results/dummy/2009508287/launch/panda_arm1_2009508287.launch index e377e428a5bdaf080e704c366a3f11c226f9bd58..bf476256b97f041f7501a6a1b583b01d2f414826 100644 --- a/results/dummy/1190412551/launch/panda_arm1_1190412551.launch +++ b/results/dummy/2009508287/launch/panda_arm1_2009508287.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/1190412551/1190412551.yaml" /> +<arg name="result" default="dummy/2009508287/2009508287.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1190412551/configs/1190412551_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1190412551/launch/panda_arm2_1190412551.launch b/results/dummy/2009508287/launch/panda_arm2_2009508287.launch similarity index 92% rename from results/dummy/1190412551/launch/panda_arm2_1190412551.launch rename to results/dummy/2009508287/launch/panda_arm2_2009508287.launch index c9eef1d4f16d599fa88e5e88ce72b9dec5c2ef4d..4ca8916bceda8a5dac84f501ddcbe6db3b55a3c5 100644 --- a/results/dummy/1190412551/launch/panda_arm2_1190412551.launch +++ b/results/dummy/2009508287/launch/panda_arm2_2009508287.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/1190412551/1190412551.yaml" /> +<arg name="result" default="dummy/2009508287/2009508287.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1190412551/configs/1190412551_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1190412551/1190412551.yaml b/results/dummy/2033083939/2033083939.yaml similarity index 100% rename from results/dummy/1190412551/1190412551.yaml rename to results/dummy/2033083939/2033083939.yaml diff --git a/results/dummy/1190412551/configs/1190412551_panda_arm1.yaml b/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml similarity index 100% rename from results/dummy/1190412551/configs/1190412551_panda_arm1.yaml rename to results/dummy/2033083939/configs/2033083939_panda_arm1.yaml diff --git a/results/dummy/1190412551/configs/1190412551_panda_arm2.yaml b/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml similarity index 100% rename from results/dummy/1190412551/configs/1190412551_panda_arm2.yaml rename to results/dummy/2033083939/configs/2033083939_panda_arm2.yaml diff --git a/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch b/results/dummy/2033083939/launch/panda_arm1_2033083939.launch similarity index 92% rename from results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch rename to results/dummy/2033083939/launch/panda_arm1_2033083939.launch index f192ae64de183ceda1566f2a145b24986f5b9802..18f4d160973c991a31c6a58b7c6e0d84a57d4c85 100644 --- a/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch +++ b/results/dummy/2033083939/launch/panda_arm1_2033083939.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/-1069777227/-1069777227.yaml" /> +<arg name="result" default="dummy/2033083939/2033083939.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch b/results/dummy/2033083939/launch/panda_arm2_2033083939.launch similarity index 92% rename from results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch rename to results/dummy/2033083939/launch/panda_arm2_2033083939.launch index 81f7a65de3770644d1b21e7c49d3a8166cedcb10..6725a5c8c132c8056c3d284a0b5ae4028f4429db 100644 --- a/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch +++ b/results/dummy/2033083939/launch/panda_arm2_2033083939.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/-1069777227/-1069777227.yaml" /> +<arg name="result" default="dummy/2033083939/2033083939.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/2080544241/2080544241.yaml b/results/dummy/21093532/21093532.yaml similarity index 100% rename from results/dummy/2080544241/2080544241.yaml rename to results/dummy/21093532/21093532.yaml diff --git a/results/dummy/2080544241/configs/2080544241_panda_arm1.yaml b/results/dummy/21093532/configs/21093532_panda_arm1.yaml similarity index 100% rename from results/dummy/2080544241/configs/2080544241_panda_arm1.yaml rename to results/dummy/21093532/configs/21093532_panda_arm1.yaml diff --git a/results/dummy/2080544241/configs/2080544241_panda_arm2.yaml b/results/dummy/21093532/configs/21093532_panda_arm2.yaml similarity index 100% rename from results/dummy/2080544241/configs/2080544241_panda_arm2.yaml rename to results/dummy/21093532/configs/21093532_panda_arm2.yaml diff --git a/results/dummy/2080544241/launch/panda_arm1_2080544241.launch b/results/dummy/21093532/launch/panda_arm1_21093532.launch similarity index 92% rename from results/dummy/2080544241/launch/panda_arm1_2080544241.launch rename to results/dummy/21093532/launch/panda_arm1_21093532.launch index 1aa906648d1f0d1fc33491c61b48c742d9837f85..9172fc70fc013da5645d319fe8fe938d318785f7 100644 --- a/results/dummy/2080544241/launch/panda_arm1_2080544241.launch +++ b/results/dummy/21093532/launch/panda_arm1_21093532.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.420002 -2.59133e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/2080544241/2080544241.yaml" /> +<arg name="result" default="dummy/21093532/21093532.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2080544241/configs/2080544241_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/21093532/configs/21093532_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch b/results/dummy/21093532/launch/panda_arm2_21093532.launch similarity index 92% rename from results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch rename to results/dummy/21093532/launch/panda_arm2_21093532.launch index d85418b2883f9d0e9a301dce706e8d4cb69dac09..2d08085788f76468d34be28760ac673dd92201e3 100644 --- a/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch +++ b/results/dummy/21093532/launch/panda_arm2_21093532.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> -<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/> +<arg name="referenceXYZ" default="-0.420005 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/-1819966056/-1819966056.yaml" /> +<arg name="result" default="dummy/21093532/21093532.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/21093532/configs/21093532_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1613604190/-1613604190.yaml b/results/dummy/451266307/451266307.yaml similarity index 100% rename from results/dummy/-1613604190/-1613604190.yaml rename to results/dummy/451266307/451266307.yaml diff --git a/results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml b/results/dummy/451266307/configs/451266307_panda_arm1.yaml similarity index 100% rename from results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml rename to results/dummy/451266307/configs/451266307_panda_arm1.yaml diff --git a/results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml b/results/dummy/451266307/configs/451266307_panda_arm2.yaml similarity index 100% rename from results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml rename to results/dummy/451266307/configs/451266307_panda_arm2.yaml diff --git a/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch b/results/dummy/451266307/launch/panda_arm1_451266307.launch similarity index 92% rename from results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch rename to results/dummy/451266307/launch/panda_arm1_451266307.launch index a213858868335acd65457a2f2f398b7f6d090562..c0936b7dffea8bb49fe1e903827edd2a4fe86098 100644 --- a/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch +++ b/results/dummy/451266307/launch/panda_arm1_451266307.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/-1756812213/-1756812213.yaml" /> +<arg name="result" default="dummy/451266307/451266307.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/451266307/configs/451266307_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch b/results/dummy/451266307/launch/panda_arm2_451266307.launch similarity index 92% rename from results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch rename to results/dummy/451266307/launch/panda_arm2_451266307.launch index 888320d6738cff148e1e1db20c39ec93fdeade76..0bbdd8eb774b0ef0536951aec9e4e9235e74586c 100644 --- a/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch +++ b/results/dummy/451266307/launch/panda_arm2_451266307.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/-1756812213/-1756812213.yaml" /> +<arg name="result" default="dummy/451266307/451266307.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/451266307/configs/451266307_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/96902036/96902036.yaml b/results/dummy/621087765/621087765.yaml similarity index 89% rename from results/dummy/96902036/96902036.yaml rename to results/dummy/621087765/621087765.yaml index df60e8084f9eb22036f58048dd47153aa1e5faae..42183134cc97f311b09ebc6dce13e29a87974603 100644 --- a/results/dummy/96902036/96902036.yaml +++ b/results/dummy/621087765/621087765.yaml @@ -7,7 +7,7 @@ { 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, +{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.100002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, { 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, @@ -16,10 +16,11 @@ { 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, -{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.204998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, +{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.857498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, { 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, @@ -27,6 +28,6 @@ { 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': 'red1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': 'red2', 'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, -{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, -{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.204997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, ]} \ No newline at end of file diff --git a/results/dummy/576191206/configs/576191206_panda_arm1.yaml b/results/dummy/621087765/configs/621087765_panda_arm1.yaml similarity index 100% rename from results/dummy/576191206/configs/576191206_panda_arm1.yaml rename to results/dummy/621087765/configs/621087765_panda_arm1.yaml diff --git a/results/dummy/576191206/configs/576191206_panda_arm2.yaml b/results/dummy/621087765/configs/621087765_panda_arm2.yaml similarity index 100% rename from results/dummy/576191206/configs/576191206_panda_arm2.yaml rename to results/dummy/621087765/configs/621087765_panda_arm2.yaml diff --git a/results/dummy/-401688786/launch/panda_arm1_-401688786.launch b/results/dummy/621087765/launch/panda_arm1_621087765.launch similarity index 92% rename from results/dummy/-401688786/launch/panda_arm1_-401688786.launch rename to results/dummy/621087765/launch/panda_arm1_621087765.launch index f199030a543a4b6c090fcecd0aa88fa3fc10dde7..b2bfb033db5449527a9469ae302390cde58b43c8 100644 --- a/results/dummy/-401688786/launch/panda_arm1_-401688786.launch +++ b/results/dummy/621087765/launch/panda_arm1_621087765.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/-401688786/-401688786.yaml" /> +<arg name="result" default="dummy/621087765/621087765.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-401688786/configs/-401688786_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/621087765/configs/621087765_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-401688786/launch/panda_arm2_-401688786.launch b/results/dummy/621087765/launch/panda_arm2_621087765.launch similarity index 92% rename from results/dummy/-401688786/launch/panda_arm2_-401688786.launch rename to results/dummy/621087765/launch/panda_arm2_621087765.launch index f7db1b0162fa24405de92b356461306acb9fa646..537d32926ff233dcc486b4bf53e7eede9998c5b9 100644 --- a/results/dummy/-401688786/launch/panda_arm2_-401688786.launch +++ b/results/dummy/621087765/launch/panda_arm2_621087765.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/-401688786/-401688786.yaml" /> +<arg name="result" default="dummy/621087765/621087765.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-401688786/configs/-401688786_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/621087765/configs/621087765_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1404468123/1404468123.yaml b/results/dummy/77303307/77303307.yaml similarity index 100% rename from results/dummy/1404468123/1404468123.yaml rename to results/dummy/77303307/77303307.yaml diff --git a/results/dummy/1404468123/configs/1404468123_panda_arm1.yaml b/results/dummy/77303307/configs/77303307_panda_arm1.yaml similarity index 100% rename from results/dummy/1404468123/configs/1404468123_panda_arm1.yaml rename to results/dummy/77303307/configs/77303307_panda_arm1.yaml diff --git a/results/dummy/1404468123/configs/1404468123_panda_arm2.yaml b/results/dummy/77303307/configs/77303307_panda_arm2.yaml similarity index 100% rename from results/dummy/1404468123/configs/1404468123_panda_arm2.yaml rename to results/dummy/77303307/configs/77303307_panda_arm2.yaml diff --git a/results/dummy/1404468123/launch/panda_arm1_1404468123.launch b/results/dummy/77303307/launch/panda_arm1_77303307.launch similarity index 92% rename from results/dummy/1404468123/launch/panda_arm1_1404468123.launch rename to results/dummy/77303307/launch/panda_arm1_77303307.launch index 256bc9bfb3093c1474ba5cef02e934330b6634a6..f542c37f569020b43bfa4d9a93e4c69a38681f54 100644 --- a/results/dummy/1404468123/launch/panda_arm1_1404468123.launch +++ b/results/dummy/77303307/launch/panda_arm1_77303307.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/1404468123/1404468123.yaml" /> +<arg name="result" default="dummy/77303307/77303307.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1404468123/configs/1404468123_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/77303307/configs/77303307_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/1404468123/launch/panda_arm2_1404468123.launch b/results/dummy/77303307/launch/panda_arm2_77303307.launch similarity index 92% rename from results/dummy/1404468123/launch/panda_arm2_1404468123.launch rename to results/dummy/77303307/launch/panda_arm2_77303307.launch index 4647613bb746ca66de2ccd621df5720950d46473..3e6489e06c1321c411a380df85123358eacff8f1 100644 --- a/results/dummy/1404468123/launch/panda_arm2_1404468123.launch +++ b/results/dummy/77303307/launch/panda_arm2_77303307.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.320006 1.405 0.8875"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/> -<arg name="result" default="dummy/1404468123/1404468123.yaml" /> +<arg name="result" default="dummy/77303307/77303307.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1404468123/configs/1404468123_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/77303307/configs/77303307_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-918908789/-918908789.yaml b/results/dummy/794022642/794022642.yaml similarity index 100% rename from results/dummy/-918908789/-918908789.yaml rename to results/dummy/794022642/794022642.yaml diff --git a/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml b/results/dummy/794022642/configs/794022642_panda_arm1.yaml similarity index 100% rename from results/dummy/-918908789/configs/-918908789_panda_arm1.yaml rename to results/dummy/794022642/configs/794022642_panda_arm1.yaml diff --git a/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml b/results/dummy/794022642/configs/794022642_panda_arm2.yaml similarity index 100% rename from results/dummy/-918908789/configs/-918908789_panda_arm2.yaml rename to results/dummy/794022642/configs/794022642_panda_arm2.yaml diff --git a/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch b/results/dummy/794022642/launch/panda_arm1_794022642.launch similarity index 92% rename from results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch rename to results/dummy/794022642/launch/panda_arm1_794022642.launch index ccfec99b18e360923dd31a7e28bbe92a02bb1af1..c25233a990f5f38e776957f0ff7252a595dc7bb6 100644 --- a/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch +++ b/results/dummy/794022642/launch/panda_arm1_794022642.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm1" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/> <arg name="referenceRPY" default="0 -0 -3.14159"/> -<arg name="result" default="dummy/-1591106626/-1591106626.yaml" /> +<arg name="result" default="dummy/794022642/794022642.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/794022642/configs/794022642_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch b/results/dummy/794022642/launch/panda_arm2_794022642.launch similarity index 92% rename from results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch rename to results/dummy/794022642/launch/panda_arm2_794022642.launch index 9c7acaa446f9d832f2b1e2aca3516173b2949abb..b6f19b39aa5f38bc63b87d3d47586141d6a492e2 100644 --- a/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch +++ b/results/dummy/794022642/launch/panda_arm2_794022642.launch @@ -1,12 +1,11 @@ <launch> <arg name="referenceRobot" default="panda_arm2" /> -<arg name="autoMapping" default="true" /> <arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/> <arg name="referenceRPY" default="0 -0 1.33714e-06"/> -<arg name="result" default="dummy/-1591106626/-1591106626.yaml" /> +<arg name="result" default="dummy/794022642/794022642.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> -<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <arg name="pipeline" default="ompl"/> <arg name="db" default="false"/> <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> @@ -49,7 +48,7 @@ <param name="planning_group_name" value="panda_arm_hand" /> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/794022642/configs/794022642_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp index 36b2b3aff9cfadea91e97f7543d371f13b74473b..dbc4176f9e7aaf058517db4b1af1763e98432c41 100644 --- a/src/mediator/base_calculation_mediator.cpp +++ b/src/mediator/base_calculation_mediator.cpp @@ -686,13 +686,12 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution std::stringstream launch; launch << "<launch>\n"; launch << "<arg name=\"referenceRobot\" default=\""<< wc_solution[c].name_ << "\" />\n"; - launch << "<arg name=\"autoMapping\" default=\"true\" />\n"; launch << "<arg name=\"referenceXYZ\" default=\""<< arm_x <<" "<< arm_y << " " << arm_z <<"\"/>\n"; launch << "<arg name=\"referenceRPY\" default=\"" << r << " " << p << " " << y << "\"/>\n"; launch << "<arg name=\"result\" default=\"" << filename_ <<"/" << resultFile << "/" << resultFile <<".yaml\" />\n"; launch << "<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/$(arg result)\"/>\n"; launch << "<rosparam param=\"referenceRobot\" subst_value=\"True\"> $(arg referenceRobot)</rosparam>\n"; - launch << "<rosparam param=\"autoMapping\" subst_value=\"True\"> $(arg autoMapping)</rosparam>\n"; + launch << "<rosparam param=\"resultPath\" subst_value=\"True\"> $(arg result)</rosparam>\n"; launch << "<arg name=\"pipeline\" default=\"ompl\"/>\n"; launch << "<arg name=\"db\" default=\"false\"/>\n"; launch << "<arg name=\"db_path\" default=\"$(find panda_moveit_config)/default_warehouse_mongo_db\"/>\n"; diff --git a/src/mediator/grasp_mediator.cpp b/src/mediator/grasp_mediator.cpp index cfce4fd0f51fdc11224330476e973aac18be8d0f..75c24e55fc93d69b3ef8f1a382ad7734dd543301 100644 --- a/src/mediator/grasp_mediator.cpp +++ b/src/mediator/grasp_mediator.cpp @@ -6,7 +6,7 @@ GraspMediator::GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh) , grasp_pipeline_demo_(std::make_unique<moveit_grasps_demo::GraspPipelineDemo>()) { nh->getParam("/referenceRobot", referenceRobot_); - nh->getParam("/autoMapping", autoMapping_); + nh->getParam("/resultPath", resultPath_); } @@ -101,6 +101,7 @@ void GraspMediator::mediate() { tf2::Transform pos(tf2::Quaternion(b.Pose.orientation.x, b.Pose.orientation.y, b.Pose.orientation.z, b.Pose.orientation.w), tf2::Vector3(b.Pose.position.x, b.Pose.position.y, b.Pose.position.z)); if (robots_.at(referenceRobot_)->checkSingleObjectCollision(pos, temp, temp2)){ grasp_pipeline_demo_->sceneBoxes().push_back(b); + relevant_boxes_.insert_or_assign(b.Name, b); } } @@ -118,5 +119,46 @@ void GraspMediator::mediate() { grasp_pipeline_demo_->generateGraspMap(); grasp_pipeline_demo_->getVoxelizedEnv(); grasp_pipeline_demo_->computeConfig(); - grasp_pipeline_demo_->build(); -} \ No newline at end of file + rewriteResult(); +} + +void GraspMediator::rewriteResult(){ + std::string inputPath = ros::package::getPath("multi_cell_builder") + "/results/" + resultPath_; + std::ifstream input_file(inputPath); + if (!input_file) { + ROS_INFO("file not found"); + ros::shutdown(); + } + + std::ofstream output_file("input.txt.tmp"); + if (!output_file) { + ROS_INFO("temp file not open"); + ros::shutdown(); + } + + for (auto& c: grasp_pipeline_demo_->sortConfig().objects){ + ROS_INFO("%s", c.first.c_str()); + } + + + std::string line; + while (std::getline(input_file, line)) { + for (const auto& c: grasp_pipeline_demo_->sortConfig().objects){ + std::size_t found = line.find(c.first); + if (found != std::string::npos) { + std::stringstream ss; + ss << "{ 'id': '"<< c.first<<"', 'type': 'BOX', 'pos': { 'x': "<< c.second->Pose.position.x <<", 'y': " << c.second->Pose.position.y <<", 'z': " << c.second->Pose.position.z <<" },'size': { 'length': "<< relevant_boxes_.at(c.first).x_depth <<", 'width': "<< relevant_boxes_.at(c.first).y_width <<", 'height': " << relevant_boxes_.at(c.first).z_heigth << "},'orientation': { 'x': "<< c.second->Pose.orientation.x <<", 'y': "<< c.second->Pose.orientation.y<<", 'z': "<< c.second->Pose.orientation.z<<", 'w': " << c.second->Pose.orientation.w<<"},'color': { 'b': 1 } }, #modified"; + line = ss.str(); + } + } + output_file << line << "\n"; + } + + input_file.close(); + output_file.close(); + + // replace input file with temporary file + if (std::rename("input.txt.tmp", inputPath.c_str()) != 0) { + std::cerr << "Failed to replace input file\n"; + } +} \ No newline at end of file