diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3360be4aa23d40747c6ee4350b3c91f1a03e91ca..3f5c522c952f75b4922f438fecf04f69d9c4a10c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,11 +1,8 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.0.2)
project(multi_cell_builder)
# C++ 11
add_compile_options(-std=c++17)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
moveit_task_constructor_core
@@ -27,11 +24,9 @@ find_package(catkin REQUIRED COMPONENTS
tf_conversions
trajectory_msgs
pcl_ros
- actionlib_msgs
gb_grasp
moveit_grasps
- behaviortree_cpp_v3
)
find_package(yaml-cpp REQUIRED)
@@ -88,11 +83,7 @@ src/reader/wing_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
-src/bt/execution.cpp
-src/bt/position_condition.cpp
-src/bt/parallel_robot.cpp
+
)
@@ -115,13 +106,6 @@ src/reader/wing_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
-src/bt/execution.cpp
-src/bt/position_condition.cpp
-src/bt/parallel_robot.cpp
-
-
)
add_executable(grasp_cell_routine src/grasp_cell_routine.cpp
@@ -142,13 +126,35 @@ src/reader/robot_reader.cpp
src/reader/wing_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
+)
+
+add_executable(robot_base_calculation_approach src/robot_base_calculation_approach.cpp
+src/robot/abstract_robot.cpp
+src/robot/ceti_robot.cpp
+src/robot/decorators/panda_decorator.cpp
+
+src/base_bridge/simple_base_implementation.cpp
+src/base_bridge/simple_base.cpp
+src/robot_element/decorators/log_decorator.cpp
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
-src/bt/execution.cpp
-src/bt/position_condition.cpp
-src/bt/parallel_robot.cpp
+src/robot_element/observers/panel.cpp
+src/robot_element/observers/rviz_panel.cpp
+src/robot_element/observers/moveit_panel.cpp
+src/robot_element/observers/field.cpp
+
+
+src/mediator/abstract_mediator.cpp
+src/mediator/base_calculation_mediator.cpp
+
+src/reader/abstract_param_reader.cpp
+src/reader/robot_reader.cpp
+src/reader/wing_reader.cpp
+src/reader/cuboid_reader.cpp
+src/reader/job_reader.cpp
+src/reader/task_space_reader.cpp
+src/reader/map_reader.cpp
+src/reader/ts_reader.cpp
)
@@ -159,7 +165,6 @@ src/reader/abstract_param_reader.cpp
src/reader/task_space_reader.cpp
src/reader/robot_reader.cpp
src/reader/job_reader.cpp
-
)
@@ -167,24 +172,30 @@ add_dependencies(base_routine ${base_routine_EXPORTED_TARGETS} ${catkin_EXPORTED
add_dependencies(cell_routine ${cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(mtc2taskspace ${mtc2taskspace_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(grasp_cell_routine ${grasp_cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(robot_base_calculation_approach ${robot_base_calculation_approach_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(robot_base_calculation_approach
+ ${catkin_LIBRARIES}
+ ${OCTOMAP_LIBRARIES}
+ ${PCL_LIBRARY_DIRS}
+ yaml-cpp
+)
target_link_libraries(base_routine
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
${PCL_LIBRARY_DIRS}
${moveit_grasps_LIBRARIES}
- ${BEHAVIOR_TREE_LIBRARY}
yaml-cpp
)
+
target_link_libraries(cell_routine
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
${PCL_LIBRARY_DIRS}
${moveit_grasps_LIBRARIES}
- ${BEHAVIOR_TREE_LIBRARY}
yaml-cpp
-
)
target_link_libraries(grasp_cell_routine
@@ -192,7 +203,6 @@ target_link_libraries(grasp_cell_routine
${OCTOMAP_LIBRARIES}
${PCL_LIBRARY_DIRS}
${moveit_grasps_LIBRARIES}
- ${BEHAVIOR_TREE_LIBRARY}
yaml-cpp
)
diff --git a/doc/html/abstract__base_8h.html b/doc/html/abstract__base_8h.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/abstract__base_8h.html
@@ -0,0 +1,97 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_base.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">abstract_base.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include "octomap/octomap.h"</code><br />
+<code>#include <pcl/point_cloud.h></code><br />
+<code>#include <pcl/octree/octree.h></code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></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_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__base__implementation_8h_source.html">bridge/abstract_base_implementation.h</a>"</code><br />
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+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
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+</map>
+</div>
+</div>
+<p><a href="abstract__base_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html">Abstract_base</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base class. <a href="classAbstract__base.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_base.h 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 -->
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+ 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_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_base.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__base_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 ABSTRACT_BASE_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_BASE_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.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 "octomap/octomap.h"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <pcl/octree/octree.h></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"> 13</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <fstream></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</span>  </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="abstract__base__implementation_8h.html">bridge/abstract_base_implementation.h</a>"</span></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="keyword">class </span><a class="code" href="classAbstract__base__implementation.html">Abstract_base_implementation</a>;</div>
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+<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"> 26</span>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstract__base.html"> 29</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__base.html">Abstract_base</a>{</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0"> 31</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">nh_</a>; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab"> 33</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a>; </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381"> 34</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a>; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc"> 35</a></span>  std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>> <a class="code" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a>; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33"> 36</a></span>  std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> <a class="code" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</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"><a class="line" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e"> 38</a></span>  std::shared_ptr<Abstract_base_implementation> <a class="code" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a>; </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="keyword">public</span>:</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433"> 45</a></span>  <a class="code" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">nh_</a>(d){};</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9"> 51</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstract__base__implementation.html">Abstract_base_implementation</a>* <a class="code" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">implementation</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a>.get();}</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113"> 57</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">set_implementation</a>(std::shared_ptr<Abstract_base_implementation> some_implememntation) {<a class="code" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a> = some_implememntation;}</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80"> 63</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">inv_map</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a>;}</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2"> 69</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">set_inv_map</a>(std::vector<tf2::Transform>& list) {<a class="code" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a> = list;}</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8"> 75</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">map</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a>;}</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479"> 81</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">set_map</a>(std::vector<tf2::Transform>& list) {<a class="code" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a> = list;}</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be"> 87</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& <a class="code" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">task_space</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a>;}</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e"> 93</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">set_task_space</a>(std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>,std::vector<tf2::Quaternion>>>>& s_trans) {<a class="code" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a> = s_trans;}</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="l00097"></a><span class="lineno"> 97</span>  </div>
+<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61"> 100</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& <a class="code" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">target_cloud</a> () { <span class="keywordflow">return</span> <a class="code" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</a>;}</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classAbstract__base.html#a65784b6507975934712e2509e237680a"> 106</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">set_target_cloud</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {<a class="code" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</a> = cloud;}</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="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">static</span> std::vector<pcl::PointXYZ> <a class="code" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">create_pcl_box</a>();</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</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="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">write_task</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot)=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>  </div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">virtual</span> std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">base_calculation</a>()=0;</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__base_html_a205a26b0fb0e75b2ea3a442cdc0926b2"><div class="ttname"><a href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">Abstract_base::base_calculation</a></div><div class="ttdeci">virtual std::map< const std::string, std::vector< pcl::PointXYZ > > base_calculation()=0</div><div class="ttdoc">pure virtual template methode</div></div>
+<div class="ttc" id="aclassAbstract__base_html_a54d21fd6fe1217c1b065c5b500e3e8d0"><div class="ttname"><a href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">Abstract_base::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Ros nodehandle object.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00031">abstract_base.h:31</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a12b49689227a6dd6d0aa55fe273dfae2"><div class="ttname"><a href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">Abstract_base::set_inv_map</a></div><div class="ttdeci">void set_inv_map(std::vector< tf2::Transform > &list)</div><div class="ttdoc">Set inverse map structure.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00069">abstract_base.h:69</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_ab7c57b1ac4fb42ab400c0fc08e9aff61"><div class="ttname"><a href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">Abstract_base::target_cloud</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & target_cloud()</div><div class="ttdoc">Get task cloud.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00100">abstract_base.h:100</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a9fe29f317aeb7337c2eaeaefdc1d1ba9"><div class="ttname"><a href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">Abstract_base::implementation</a></div><div class="ttdeci">Abstract_base_implementation * implementation()</div><div class="ttdoc">Get used implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00051">abstract_base.h:51</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a8c32441b38f2cb24388e8d98fd8fe2bc"><div class="ttname"><a href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">Abstract_base::task_space_</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > task_space_</div><div class="ttdoc">Drop-off locations with their grasp orientations, mapped to a robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00035">abstract_base.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a589f01126eab356919d97480e30b17ab"><div class="ttname"><a href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">Abstract_base::map_</a></div><div class="ttdeci">std::vector< tf2::Transform > map_</div><div class="ttdoc">Reachability map structure of a robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00033">abstract_base.h:33</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="aclassAbstract__base_html_ad4b63750f9b890cf99f9187624cc97be"><div class="ttname"><a href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">Abstract_base::task_space</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > & task_space()</div><div class="ttdoc">Get task space.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00087">abstract_base.h:87</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_aebb83168a14d660a024240bfaad70a80"><div class="ttname"><a href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">Abstract_base::inv_map</a></div><div class="ttdeci">std::vector< tf2::Transform > & inv_map()</div><div class="ttdoc">Get inverse map structure.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00063">abstract_base.h:63</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html"><div class="ttname"><a href="classAbstract__base.html">Abstract_base</a></div><div class="ttdoc">Abstract base class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00029">abstract_base.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a3fa949c8f9fd12d96add87d38810ceef"><div class="ttname"><a href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">Abstract_base::write_task</a></div><div class="ttdeci">virtual void write_task(Abstract_robot *robot)=0</div><div class="ttdoc">write trask</div></div>
+<div class="ttc" id="aclassAbstract__base_html_a4f721d18ef125fe286eeb7978fc499ba"><div class="ttname"><a href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">Abstract_base::create_pcl_box</a></div><div class="ttdeci">static std::vector< pcl::PointXYZ > create_pcl_box()</div><div class="ttdoc">box discretization</div></div>
+<div class="ttc" id="aclassAbstract__base_html_a20a272f916415c6d30d6c3af3eb75f33"><div class="ttname"><a href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">Abstract_base::target_cloud_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > target_cloud_</div><div class="ttdoc">Pointcloud structure, mapped to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00036">abstract_base.h:36</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_ac83e7d3257c5cadc3285a90801f7a479"><div class="ttname"><a href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">Abstract_base::set_map</a></div><div class="ttdeci">void set_map(std::vector< tf2::Transform > &list)</div><div class="ttdoc">Set map structure.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00081">abstract_base.h:81</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_ae41eb0b9891cdcfca4ae7df8234a9113"><div class="ttname"><a href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">Abstract_base::set_implementation</a></div><div class="ttdeci">void set_implementation(std::shared_ptr< Abstract_base_implementation > some_implememntation)</div><div class="ttdoc">Set used implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00057">abstract_base.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__base__implementation_html"><div class="ttname"><a href="classAbstract__base__implementation.html">Abstract_base_implementation</a></div><div class="ttdoc">abstract base implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00011">abstract_base_implementation.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a0a16c06aa3591c4daa7872dd0a1510d8"><div class="ttname"><a href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">Abstract_base::map</a></div><div class="ttdeci">std::vector< tf2::Transform > & map()</div><div class="ttdoc">Get map structure.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00075">abstract_base.h:75</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_ae2031dc21ac6416978f9fe854449287e"><div class="ttname"><a href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">Abstract_base::set_task_space</a></div><div class="ttdeci">void set_task_space(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans)</div><div class="ttdoc">Set task space.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00093">abstract_base.h:93</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_ab73fdbf60e0d79d8ba4eeca3a894e39e"><div class="ttname"><a href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">Abstract_base::implementation_</a></div><div class="ttdeci">std::shared_ptr< Abstract_base_implementation > implementation_</div><div class="ttdoc">refined implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00038">abstract_base.h:38</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a9b80b83e10a75f0421594e46c9b49381"><div class="ttname"><a href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">Abstract_base::inv_map_</a></div><div class="ttdeci">std::vector< tf2::Transform > inv_map_</div><div class="ttdoc">Inversion of reachability map structure.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00034">abstract_base.h:34</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a65784b6507975934712e2509e237680a"><div class="ttname"><a href="classAbstract__base.html#a65784b6507975934712e2509e237680a">Abstract_base::set_target_cloud</a></div><div class="ttdeci">void set_target_cloud(std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</div><div class="ttdoc">Set task cloud.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00106">abstract_base.h:106</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a68300edaeff45edafe777bc4f7be2433"><div class="ttname"><a href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base::Abstract_base</a></div><div class="ttdeci">Abstract_base(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Abstract base constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00045">abstract_base.h:45</a></div></div>
+<div class="ttc" id="aabstract__base__implementation_8h_html"><div class="ttname"><a href="abstract__base__implementation_8h.html">abstract_base_implementation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: abstract_base_implementation.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+</div>
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+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">abstract_base_implementation.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="abstract__base_8h_source.html">bridge/abstract_base.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<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="classAbstract__base__implementation.html">Abstract_base_implementation</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">abstract base implementation <a href="classAbstract__base__implementation.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: abstract_base_implementation.h 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>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_base_implementation.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__base__implementation_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef ABSTRACT_BASE_IMPLEMENTATION_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_BASE_IMPLEMENTATION_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__base_8h.html">bridge/abstract_base.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classAbstract__base__implementation.html"> 11</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> {</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">~Abstract_base_implementation</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">set_grasp_orientations</a>(std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>, std::vector<tf2::Quaternion>>>>& var)=0;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">inv_map_creation</a>(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>,std::vector<tf2::Quaternion>>>>& task_space)=0;</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">// pure virtual methode to calculate pcl clouds</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="comment">//</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="comment">// Manipulates the vector of pcl::cloud of a graspable object</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="comment">// param var caller reference to manipulate member</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="comment">//virtual void cloud_calculation(Abstract_base* var)=0;</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>  </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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__base__implementation_html_a33d38400729ffe7b9e60cca9c3ddc12f"><div class="ttname"><a href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">Abstract_base_implementation::inv_map_creation</a></div><div class="ttdeci">virtual void inv_map_creation(std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space)=0</div><div class="ttdoc">pure virtual methode to create inverse map</div></div>
+<div class="ttc" id="aclassAbstract__base__implementation_html_a4c2ee065ff500f9d588ab967d55d3677"><div class="ttname"><a href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">Abstract_base_implementation::set_grasp_orientations</a></div><div class="ttdeci">virtual void set_grasp_orientations(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var)=0</div><div class="ttdoc">pure virtual methode to set grasp orientations</div></div>
+<div class="ttc" id="aclassAbstract__base__implementation_html_a7e51334938ee2afa88fe37b6e9b75690"><div class="ttname"><a href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">Abstract_base_implementation::~Abstract_base_implementation</a></div><div class="ttdeci">~Abstract_base_implementation()=default</div><div class="ttdoc">Abstract base implementation default destructor.</div></div>
+<div class="ttc" id="aabstract__base_8h_html"><div class="ttname"><a href="abstract__base_8h.html">abstract_base.h</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="aclassAbstract__base__implementation_html_aefda2aa1684b1d8f5db48e999db2e05b"><div class="ttname"><a href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation::Abstract_base_implementation</a></div><div class="ttdeci">Abstract_base_implementation()=default</div><div class="ttdoc">Abstract base implementation default constructor.</div></div>
+<div class="ttc" id="aclassAbstract__base__implementation_html"><div class="ttname"><a href="classAbstract__base__implementation.html">Abstract_base_implementation</a></div><div class="ttdoc">abstract base implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00011">abstract_base_implementation.h:11</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__map__loader_8h.html b/doc/html/abstract__map__loader_8h.html
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+++ b/doc/html/abstract__map__loader_8h.html
@@ -0,0 +1,107 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_map_loader.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>
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+<!-- 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>
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+<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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">abstract_map_loader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include "octomap/octomap.h"</code><br />
+<code>#include <pcl/point_cloud.h></code><br />
+<code>#include <pcl/octree/octree.h></code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__strategy_8h_source.html">impl/abstract_strategy.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for abstract_map_loader.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="abstract__map__loader_8h__incl.png" border="0" usemap="#abstract__map__loader_8h" alt=""/></div>
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+</div>
+</div>
+<p><a href="abstract__map__loader_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="classAbstract__map__loader.html">Abstract_map_loader</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: abstract_map_loader.h Source File</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_map_loader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__map__loader_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 ABSTRACT_MAP_LOADER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_MAP_LOADER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.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 "octomap/octomap.h"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <pcl/octree/octree.h></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"> 13</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <fstream></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 "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="abstract__strategy_8h.html">impl/abstract_strategy.h</a>"</span></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="keyword">class </span><a class="code" href="classAbstract__strategy.html">Abstract_strategy</a>;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">class </span><a class="code" href="classAbstract__robot.html">Abstract_robot</a>;</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="classAbstract__map__loader.html"> 24</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>{</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347"> 26</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a"> 27</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127"> 28</a></span>  std::vector<std::vector<tf2::Transform>> <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f"> 29</a></span>  std::vector<std::vector<std::vector<tf2::Quaternion>>> <a class="code" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a>;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8"> 30</a></span>  std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> <a class="code" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3"> 32</a></span>  <a class="code" href="classAbstract__strategy.html">Abstract_strategy</a> *<a class="code" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a>; </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="keyword">public</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">~Abstract_map_loader</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9"> 38</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">set_strategy</a>(<a class="code" href="classAbstract__strategy.html">Abstract_strategy</a>* some_stratergy) {<a class="code" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a> = some_stratergy;}</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7"> 39</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstract__strategy.html">Abstract_strategy</a>* <a class="code" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">strategy</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a>;}</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e"> 41</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a>;}</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8"> 42</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a>;}</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d"> 43</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">set_inv_map</a>(std::vector<tf2::Transform>& list) {<a class="code" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a> = list;}</div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec"> 44</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">set_map</a>(std::vector<tf2::Transform>& list) {<a class="code" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a> = list;}</div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498"> 45</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">set_task_grasps</a>(std::vector<std::vector<tf2::Transform>>& lists_in_list) {<a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a> = lists_in_list;}</div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5"> 46</a></span>  <span class="keyword">inline</span> std::vector<std::vector<tf2::Transform>>& <a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>;}</div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476"> 47</a></span>  <span class="keyword">inline</span> std::vector<std::vector<std::vector<tf2::Quaternion>>>& <a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a>;}</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b"> 48</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">set_target_rot</a> (std::vector<std::vector<std::vector<tf2::Quaternion>>>& rots) {<a class="code" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a> = rots;}</div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a"> 49</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">set_target_cloud</a>(std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {<a class="code" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a> = cloud;}</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6"> 50</a></span>  <span class="keyword">inline</span> std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& <a class="code" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">target_cloud</a> () { <span class="keywordflow">return</span> <a class="code" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a>;}</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">static</span> std::vector<pcl::PointXYZ> <a class="code" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">create_pcl_box</a>();</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">write_task</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot)=0;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">virtual</span> std::vector<std::vector<pcl::PointXYZ>> <a class="code" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">base_calculation</a>()=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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__map__loader_html_a460481a298b27e411bafcdc584f1f35a"><div class="ttname"><a href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">Abstract_map_loader::map_</a></div><div class="ttdeci">std::vector< tf2::Transform > map_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00027">abstract_map_loader.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a8c4bd31f9c778a3a5ef7a21ab16f6127"><div class="ttname"><a href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">Abstract_map_loader::task_grasps_</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > task_grasps_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00028">abstract_map_loader.h:28</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a297e8f8fa66f70678d19d321033eea4d"><div class="ttname"><a href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">Abstract_map_loader::set_inv_map</a></div><div class="ttdeci">void set_inv_map(std::vector< tf2::Transform > &list)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00043">abstract_map_loader.h:43</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_abb73acebcfbfb3a5acb790eb2d96fbd6"><div class="ttname"><a href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">Abstract_map_loader::target_cloud</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & target_cloud()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00050">abstract_map_loader.h:50</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_aab0898959888bc50f37690808f9571a8"><div class="ttname"><a href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">Abstract_map_loader::target_cloud_</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > target_cloud_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00030">abstract_map_loader.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_af4f75fbdda254f2a506770969cc46d8e"><div class="ttname"><a href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">Abstract_map_loader::inv_map</a></div><div class="ttdeci">std::vector< tf2::Transform > & inv_map()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00041">abstract_map_loader.h:41</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_ad43b3e44a4908e0352c3a7c7b26c8347"><div class="ttname"><a href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">Abstract_map_loader::inv_map_</a></div><div class="ttdeci">std::vector< tf2::Transform > inv_map_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00026">abstract_map_loader.h:26</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_acb51b1dd09b8689778de1a0b593d3a1f"><div class="ttname"><a href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">Abstract_map_loader::write_task</a></div><div class="ttdeci">virtual void write_task(Abstract_robot *robot)=0</div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a797587fa281f28fde814a052396d90bf"><div class="ttname"><a href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">Abstract_map_loader::create_pcl_box</a></div><div class="ttdeci">static std::vector< pcl::PointXYZ > create_pcl_box()</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00116">map_loader.cpp:116</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_ab738d6d84071f7b931e2373a7fefc498"><div class="ttname"><a href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">Abstract_map_loader::set_task_grasps</a></div><div class="ttdeci">void set_task_grasps(std::vector< std::vector< tf2::Transform >> &lists_in_list)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00045">abstract_map_loader.h:45</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_af012c7a4a222097864cbcda7ed58212f"><div class="ttname"><a href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">Abstract_map_loader::target_rot_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Quaternion > > > target_rot_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00029">abstract_map_loader.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a9fdca9d4a86d66a712194e409d799eff"><div class="ttname"><a href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">Abstract_map_loader::base_calculation</a></div><div class="ttdeci">virtual std::vector< std::vector< pcl::PointXYZ > > base_calculation()=0</div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a13fb2cd6ac1a353192161e053426d7c8"><div class="ttname"><a href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">Abstract_map_loader::map</a></div><div class="ttdeci">std::vector< tf2::Transform > & map()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00042">abstract_map_loader.h:42</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a2945aff76228233abb3a89477c013d8a"><div class="ttname"><a href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">Abstract_map_loader::set_target_cloud</a></div><div class="ttdeci">void set_target_cloud(std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00049">abstract_map_loader.h:49</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_aa9772fe2bd594967b8f7b980db442ca5"><div class="ttname"><a href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader::task_grasps</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > & task_grasps()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00046">abstract_map_loader.h:46</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a408d265bc42bdbb25b2db44b9533e668"><div class="ttname"><a href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader::Abstract_map_loader</a></div><div class="ttdeci">Abstract_map_loader()=default</div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a3508478d51dcdf86ed8418006a4dd0d9"><div class="ttname"><a href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">Abstract_map_loader::set_strategy</a></div><div class="ttdeci">void set_strategy(Abstract_strategy *some_stratergy)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00038">abstract_map_loader.h:38</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a3b3675673d54d23b1678bd47df4b2273"><div class="ttname"><a href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">Abstract_map_loader::~Abstract_map_loader</a></div><div class="ttdeci">~Abstract_map_loader()=default</div></div>
+<div class="ttc" id="aclassAbstract__strategy_html"><div class="ttname"><a href="classAbstract__strategy.html">Abstract_strategy</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__strategy_8h_source.html#l00008">abstract_strategy.h:8</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a1edc00738184b6aa4b245727c8ed52ec"><div class="ttname"><a href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">Abstract_map_loader::set_map</a></div><div class="ttdeci">void set_map(std::vector< tf2::Transform > &list)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00044">abstract_map_loader.h:44</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_afd6b5c362ad38cfe32600ff9f1398bc7"><div class="ttname"><a href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">Abstract_map_loader::strategy</a></div><div class="ttdeci">Abstract_strategy * strategy()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00039">abstract_map_loader.h:39</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a18cb3dcb65ee0af86bff355c24814dc3"><div class="ttname"><a href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">Abstract_map_loader::strategy_</a></div><div class="ttdeci">Abstract_strategy * strategy_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00032">abstract_map_loader.h:32</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a2adcb4394435282441360fb2310c231b"><div class="ttname"><a href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">Abstract_map_loader::set_target_rot</a></div><div class="ttdeci">void set_target_rot(std::vector< std::vector< std::vector< tf2::Quaternion >>> &rots)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00048">abstract_map_loader.h:48</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_abdd0484ea0507910d37b0eae257b6476"><div class="ttname"><a href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">Abstract_map_loader::target_rot</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Quaternion > > > & target_rot()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00047">abstract_map_loader.h:47</a></div></div>
+<div class="ttc" id="aabstract__strategy_8h_html"><div class="ttname"><a href="abstract__strategy_8h.html">abstract_strategy.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__param__reader_8cpp.html b/doc/html/abstract__param__reader_8cpp.html
new file mode 100644
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+<div class="title">abstract_param_reader.cpp File Reference</div> </div>
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+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for abstract_param_reader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="abstract__param__reader_8cpp__incl.png" border="0" usemap="#abstract__param__reader_8cpp" alt=""/></div>
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+<p><a href="abstract__param__reader_8cpp_source.html">Go to the source code of this file.</a></p>
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+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__param__reader_8cpp__incl.map b/doc/html/abstract__param__reader_8cpp__incl.map
new file mode 100644
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+<div class="title">abstract_param_reader.cpp</div> </div>
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+<div class="contents">
+<a href="abstract__param__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 "<a class="code" href="abstract__param__reader_8h.html">reader/abstract_param_reader.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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd"> 3</a></span> <span class="keywordtype">float</span> <a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a>(XmlRpc::XmlRpcValue& val){</div>
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+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <span class="keywordflow">switch</span> (val.getType()){</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  <span class="keywordflow">case</span> XmlRpc::XmlRpcValue::TypeInt:</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  t = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(val);</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">case</span> XmlRpc::XmlRpcValue::TypeDouble:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  t = <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(val);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">case</span> XmlRpc::XmlRpcValue::TypeString:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  t = std::stof(val);</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">default</span>:</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  ROS_INFO(<span class="stringliteral">"value type is some unknown type"</span>);</div>
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+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+<div class="title">abstract_param_reader.h File Reference</div> </div>
+</div><!--header-->
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+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structjob__data.html">job_data</a></td></tr>
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+
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+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_param_reader.h 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>
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+});
+/* @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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_param_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__param__reader_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 ABSTRACT_PARAM_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_PARAM_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <fstream></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <regex></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <yaml-cpp/node/detail/node_data.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"><a class="line" href="structobject__data.html"> 13</a></span> <span class="keyword">struct </span><a class="code" href="structobject__data.html">object_data</a> {</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308"> 14</a></span>  std::string <a class="code" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">name_</a>;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d"> 15</a></span>  tf2::Transform <a class="code" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">pose_</a>;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258"> 16</a></span>  tf2::Vector3 <a class="code" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">size_</a>;</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>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structjob__data.html"> 19</a></span> <span class="keyword">struct </span><a class="code" href="structjob__data.html">job_data</a> {</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0"> 20</a></span>  std::vector<tf2::Transform> <a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a>;</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="l00024"></a><span class="lineno"> 24</span>  </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classAbstract__param__reader.html"> 27</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>{</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949"> 29</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0"> 36</a></span>  <a class="code" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>(d){}</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">float</span> <a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue& val);</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">read</a>()=0;</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</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#l00020">abstract_param_reader.h:20</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a734c0833347f6d686f280031b3219de0"><div class="ttname"><a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader::Abstract_param_reader</a></div><div class="ttdeci">Abstract_param_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Abstract param reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00036">abstract_param_reader.h:36</a></div></div>
+<div class="ttc" id="astructobject__data_html_a3f16f6c8bbaeeab8ad6d67a28bc8430d"><div class="ttname"><a href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">object_data::pose_</a></div><div class="ttdeci">tf2::Transform pose_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00015">abstract_param_reader.h:15</a></div></div>
+<div class="ttc" id="astructobject__data_html_a048099bcb764a005e050ef51bdb6b308"><div class="ttname"><a href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">object_data::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00014">abstract_param_reader.h:14</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="astructjob__data_html"><div class="ttname"><a href="structjob__data.html">job_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00019">abstract_param_reader.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a441ed47eee393cc772f19d4be923e34d"><div class="ttname"><a href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader::read</a></div><div class="ttdeci">virtual void read()=0</div><div class="ttdoc">pure virtual read methode</div></div>
+<div class="ttc" id="astructobject__data_html_a1470f3d835395fb7c192273559b8a258"><div class="ttname"><a href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">object_data::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00016">abstract_param_reader.h:16</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__robot_8cpp.html b/doc/html/abstract__robot_8cpp.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot.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><li class="navelem"><a class="el" href="dir_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_robot.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for abstract_robot.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="abstract__robot_8cpp__incl.png" border="0" usemap="#abstract__robot_8cpp" alt=""/></div>
+<map name="abstract__robot_8cpp" id="abstract__robot_8cpp">
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+</div>
+</div>
+<p><a href="abstract__robot_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: abstract_robot.cpp Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+<script type="text/javascript" src="jquery.js"></script>
+</head>
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+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_robot.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__robot_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="robot_2abstract__robot_8h.html">robot/abstract_robot.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"> 3</span>  </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f"> 4</a></span> <a class="code" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot::Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> : name_(name)</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> , tf_(tf)</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> , size_(size){</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a>= tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.22f, 0, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()));</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>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getX(), <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getY(), <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getX(), <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getY(), <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getX(), -<a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getY(), <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">//-+</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getX(), -<a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>.getY(), <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">// --</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"> 15</span>  <span class="comment">// root</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, 0.095f, 0))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, 0.095f, 0))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 0)));</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>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534"> 22</a></span> <span class="keywordtype">float</span> <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">Abstract_robot::area_calculation</a>(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C){</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">return</span> std::abs(</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  (B.getOrigin().getX() * A.getOrigin().getY()) - (A.getOrigin().getX() * B.getOrigin().getY()) +</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  (C.getOrigin().getX() * B.getOrigin().getY()) - (B.getOrigin().getX() * C.getOrigin().getY()) +</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  (A.getOrigin().getX() * C.getOrigin().getY()) - (C.getOrigin().getX() * A.getOrigin().getY()))*0.5f;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot_html_a598a8379918fbdaf44358be840f146b7"><div class="ttname"><a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot::root_tf_</a></div><div class="ttdeci">tf2::Transform root_tf_</div><div class="ttdoc">Robot root on table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00030">impl/abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a1402d06f3393679d585376716cc2a534"><div class="ttname"><a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">Abstract_robot::area_calculation</a></div><div class="ttdeci">float area_calculation(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</div><div class="ttdoc">Triangle area calculator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8cpp_source.html#l00022">abstract_robot.cpp:22</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a28c13c43328a26f12659ff086d77394e"><div class="ttname"><a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdoc">Bounds of table top surface.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00031">impl/abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a704bd9522c6fdaff61cc7584ef20850c"><div class="ttname"><a href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot::Abstract_robot</a></div><div class="ttdeci">Abstract_robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00038">impl/abstract_robot.h:38</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a6d8ed98b1820134733f8d1a42eaa00c4"><div class="ttname"><a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot::robot_root_bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > robot_root_bounds_</div><div class="ttdoc">Bounds of robot arm as sub-region of table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00032">impl/abstract_robot.h:32</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__robot__decorator_8h.html b/doc/html/abstract__robot__decorator_8h.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_decorator.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>
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+<!-- 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 */
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+ 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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li><li class="navelem"><a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">abstract_robot_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include <moveit/planning_pipeline/planning_pipeline.h></code><br />
+<code>#include <moveit/planning_scene_interface/planning_scene_interface.h></code><br />
+<code>#include <moveit/move_group_interface/move_group_interface.h></code><br />
+<code>#include <moveit_msgs/ApplyPlanningScene.h></code><br />
+<code>#include <moveit/robot_model_loader/robot_model_loader.h></code><br />
+<code>#include <moveit/planning_scene/planning_scene.h></code><br />
+<code>#include <moveit/kinematic_constraints/utils.h></code><br />
+<code>#include <gb_grasp/MapGenerator.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for abstract_robot_decorator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="abstract__robot__decorator_8h__incl.png" border="0" usemap="#abstract__robot__decorator_8h" alt=""/></div>
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+</div>
+<p><a href="abstract__robot__decorator_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="classAbstract__robot__decorator.html">Abstract_robot_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_decorator.h Source File</title>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li><li class="navelem"><a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a></li> </ul>
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+<div class="title">abstract_robot_decorator.h</div> </div>
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+<a href="abstract__robot__decorator_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 ABSTRACT_ROBOT_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a>"</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> <span class="preprocessor">#include <moveit/planning_pipeline/planning_pipeline.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <moveit/robot_model_loader/robot_model_loader.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <moveit/kinematic_constraints/utils.h></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"> 15</span>  </div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <gb_grasp/MapGenerator.h></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="classAbstract__robot__decorator.html"> 18</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot.html">Abstract_robot</a>{</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7"> 20</a></span>  std::unique_ptr<Abstract_robot> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160"> 21</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">mgi_</a>;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27"> 22</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</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"><a class="line" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c"> 24</a></span>  std::map<std::string, std::string> <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7"> 25</a></span>  std::shared_ptr<MapGenerator> <a class="code" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">grasp_map_generator_</a>;</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"> 28</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4"> 29</a></span>  <a class="code" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>(std::unique_ptr<Abstract_robot> <a class="code" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>) </div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  : <a class="code" href="classAbstract__robot.html">Abstract_robot</a>(<span class="stringliteral">"blanc"</span>, tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0))</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  , <a class="code" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">mgi_</a>(nullptr)</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  , <a class="code" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a>(nullptr)</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  , <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>(std::move(<a class="code" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>)){};</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61"> 35</a></span>  std::string& <a class="code" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">name</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->name();}</div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950"> 36</a></span>  tf2::Transform& <a class="code" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">tf</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->tf();}</div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b"> 37</a></span>  tf2::Vector3& <a class="code" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">size</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->size();}</div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910"> 38</a></span>  tf2::Transform& <a class="code" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">root_tf</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->root_tf();}</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e"> 39</a></span>  std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->bounds();}</div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419"> 40</a></span>  std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">robot_root_bounds</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->robot_root_bounds();}</div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8"> 41</a></span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">notify</a>()<span class="keyword"> override </span>{<a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->notify();}</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7"> 42</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">check_single_object_collision</a>(tf2::Transform& obj, std::string& b)<span class="keyword"> override </span>{<a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->check_single_object_collision(obj,b);}</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144"> 43</a></span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj)<span class="keyword"> override </span>{<a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->workload_checker(count_vector, obj);}</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174"> 45</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstract__robot.html">Abstract_robot</a>* <a class="code" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>.get();}</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">spezifie_root_bounds</a>()=0;</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">spezifie_robot_groups</a>()=0;</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>  </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> };</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a9a1d6aa0f1bdeeabe95517b0408e0cf8"><div class="ttname"><a href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">Abstract_robot_decorator::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00041">abstract_robot_decorator.h:41</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a2a2ac64bad39febde6685135822c2597"><div class="ttname"><a href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">Abstract_robot_decorator::spezifie_root_bounds</a></div><div class="ttdeci">virtual void spezifie_root_bounds()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a586e264c1add89b1becf4e5d18964160"><div class="ttname"><a href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">Abstract_robot_decorator::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#l00021">abstract_robot_decorator.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a86429ab626717a96cd34de271bb75c5c"><div class="ttname"><a href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">Abstract_robot_decorator::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00024">abstract_robot_decorator.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a9049f28e67b6457114a2b575587de4d4"><div class="ttname"><a href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator::Abstract_robot_decorator</a></div><div class="ttdeci">Abstract_robot_decorator(std::unique_ptr< Abstract_robot > next)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00029">abstract_robot_decorator.h:29</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a889edd0d57abce0f6c2a6bc14bcbee6e"><div class="ttname"><a href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">Abstract_robot_decorator::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00039">abstract_robot_decorator.h:39</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a9bdb9eee650e25e17647b8626ae74c27"><div class="ttname"><a href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">Abstract_robot_decorator::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</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="aclassAbstract__robot__decorator_html_ad725d88bfcce39d8e90c45b38b85e144"><div class="ttname"><a href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">Abstract_robot_decorator::workload_checker</a></div><div class="ttdeci">void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj) override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00043">abstract_robot_decorator.h:43</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a70a76cf36cdbe1179340b533b238151b"><div class="ttname"><a href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">Abstract_robot_decorator::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00037">abstract_robot_decorator.h:37</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a93929b117f84e353f322d353ad762d61"><div class="ttname"><a href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">Abstract_robot_decorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00035">abstract_robot_decorator.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_ae7c7ebc6cbf26f5e99649ffaabf7e419"><div class="ttname"><a href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">Abstract_robot_decorator::robot_root_bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & robot_root_bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00040">abstract_robot_decorator.h:40</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_ad0c58aab1a4758916e8b448f83b1eec7"><div class="ttname"><a href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">Abstract_robot_decorator::check_single_object_collision</a></div><div class="ttdeci">bool check_single_object_collision(tf2::Transform &obj, std::string &b) override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00042">abstract_robot_decorator.h:42</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a41ecd95589c9236d7fc82921276339c7"><div class="ttname"><a href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">Abstract_robot_decorator::next_</a></div><div class="ttdeci">std::unique_ptr< Abstract_robot > next_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00020">abstract_robot_decorator.h:20</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html"><div class="ttname"><a href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00018">abstract_robot_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_aea8ffc58bc7a4187d8d28440e4395174"><div class="ttname"><a href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">Abstract_robot_decorator::next</a></div><div class="ttdeci">Abstract_robot * next()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00045">abstract_robot_decorator.h:45</a></div></div>
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+<hr size="1"><div style="align: right;">
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+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_strategy.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__strategy_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 ABSTRACT_STRATEGY_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_STRATEGY_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__map__loader_8h.html">impl/abstract_map_loader.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="keyword">class </span><a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>;</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="classAbstract__strategy.html"> 8</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__strategy.html">Abstract_strategy</a> {</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">~Abstract_strategy</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">inv_map_creation</a>(<a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* var)=0;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">cloud_calculation</a>(<a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* var)=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"> 16</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__strategy_html_a20c07f343817632f5f946fdb7734159f"><div class="ttname"><a href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">Abstract_strategy::inv_map_creation</a></div><div class="ttdeci">virtual void inv_map_creation(Abstract_map_loader *var)=0</div></div>
+<div class="ttc" id="aabstract__map__loader_8h_html"><div class="ttname"><a href="abstract__map__loader_8h.html">abstract_map_loader.h</a></div></div>
+<div class="ttc" id="aclassAbstract__strategy_html_acfa25fc51d61ef553f5b588732d67335"><div class="ttname"><a href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">Abstract_strategy::cloud_calculation</a></div><div class="ttdeci">virtual void cloud_calculation(Abstract_map_loader *var)=0</div></div>
+<div class="ttc" id="aclassAbstract__strategy_html_accc89e872cb004dc89a51996b8038f5a"><div class="ttname"><a href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy::Abstract_strategy</a></div><div class="ttdeci">Abstract_strategy()=default</div></div>
+<div class="ttc" id="aclassAbstract__strategy_html"><div class="ttname"><a href="classAbstract__strategy.html">Abstract_strategy</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__strategy_8h_source.html#l00008">abstract_strategy.h:8</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__strategy_html_a42ded383c401bd6cc047f5c6064f5e8d"><div class="ttname"><a href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">Abstract_strategy::~Abstract_strategy</a></div><div class="ttdeci">~Abstract_strategy()=default</div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/annotated.html b/doc/html/annotated.html
new file mode 100644
index 0000000000000000000000000000000000000000..3225133715a8ed31376ad389fb8dbb569917074f
--- /dev/null
+++ b/doc/html/annotated.html
@@ -0,0 +1,79 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class 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 */
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+ initMenu('',false,false,'search.php','Search');
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+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">Class List</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" 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="classAbstract__base.html" target="_self">Abstract_base</a></td><td class="desc">Abstract base class </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__base__implementation.html" target="_self">Abstract_base_implementation</a></td><td class="desc">Abstract base implementation </td></tr>
+<tr id="row_2_" 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="classAbstract__map__loader.html" target="_self">Abstract_map_loader</a></td><td class="desc"></td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__mediator.html" target="_self">Abstract_mediator</a></td><td class="desc">Abstract mediator </td></tr>
+<tr id="row_4_" 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="classAbstract__param__reader.html" target="_self">Abstract_param_reader</a></td><td class="desc">Abstract ROS-Param reader class </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__robot.html" target="_self">Abstract_robot</a></td><td class="desc"></td></tr>
+<tr id="row_6_" 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="classAbstract__robot__decorator.html" target="_self">Abstract_robot_decorator</a></td><td class="desc"></td></tr>
+<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__robot__element.html" target="_self">Abstract_robot_element</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="classAbstract__robot__element__decorator.html" target="_self">Abstract_robot_element_decorator</a></td><td class="desc"></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="classAbstract__strategy.html" target="_self">Abstract_strategy</a></td><td class="desc"></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="classBase__by__rotation.html" target="_self">Base_by_rotation</a></td><td class="desc"></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="classBase__calculation__mediator.html" target="_self">Base_calculation_mediator</a></td><td class="desc">Concrete <a class="el" href="classMediator.html">Mediator</a> </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="classCeti__robot.html" target="_self">Ceti_robot</a></td><td class="desc">Concrete Ceti-Robot </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="classCollision__helper.html" target="_self">Collision_helper</a></td><td class="desc"></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="classCuboid__reader.html" target="_self">Cuboid_reader</a></td><td class="desc">Cuboid 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="classField.html" target="_self">Field</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="classField__rviz__decorator.html" target="_self">Field_rviz_decorator</a></td><td class="desc"></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="structjob__data.html" target="_self">job_data</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="classJob__reader.html" target="_self">Job_reader</a></td><td class="desc">Job reader </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="classLog__decorator.html" target="_self">Log_decorator</a></td><td class="desc"></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="classMap__loader.html" target="_self">Map_loader</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="classMap__reader.html" target="_self">Map_reader</a></td><td class="desc">Map reader </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="classMediator.html" target="_self">Mediator</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="classMoveit__grasp__mediator.html" target="_self">Moveit_grasp_mediator</a></td><td class="desc"></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="classMoveit__mediator.html" target="_self">Moveit_mediator</a></td><td class="desc"></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="classMoveit__panel.html" target="_self">Moveit_panel</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="classMoveit__robot.html" target="_self">Moveit_robot</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="structobject__data.html" target="_self">object_data</a></td><td class="desc"></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="classPanda__decorator.html" target="_self">Panda_decorator</a></td><td class="desc"></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="classPanel.html" target="_self">Panel</a></td><td class="desc"></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="classRobot.html" target="_self">Robot</a></td><td class="desc"></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="classRobot__reader.html" target="_self">Robot_reader</a></td><td class="desc"><a class="el" href="classRobot.html">Robot</a> reader </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="classRviz__panel.html" target="_self">Rviz_panel</a></td><td class="desc"></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="classSimple__base.html" target="_self">Simple_base</a></td><td class="desc">Refiend base abstraction </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="classSimple__base__implementation.html" target="_self">Simple_base_implementation</a></td><td class="desc">Refined base implementation </td></tr>
+<tr id="row_35_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTask__space__reader.html" target="_self">Task_space_reader</a></td><td class="desc">Task space reader </td></tr>
+<tr id="row_36_" 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="classTs__reader.html" target="_self">Ts_reader</a></td><td class="desc">TS reader </td></tr>
+<tr id="row_37_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWing.html" target="_self">Wing</a></td><td class="desc"></td></tr>
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+<tr id="row_39_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWing__moveit__decorator.html" target="_self">Wing_moveit_decorator</a></td><td class="desc"></td></tr>
+<tr id="row_40_" 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="classWing__reader.html" target="_self">Wing_reader</a></td><td class="desc"><a class="el" href="classWing.html">Wing</a> reader </td></tr>
+<tr id="row_41_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWing__rviz__decorator.html" target="_self">Wing_rviz_decorator</a></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/base__by__rotation_8cpp.html b/doc/html/base__by__rotation_8cpp.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/base__by__rotation_8cpp.html
@@ -0,0 +1,63 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: base_by_rotation.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><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">base_by_rotation.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="base__by__rotation_8h_source.html">impl/base_by_rotation.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for base_by_rotation.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="base__by__rotation_8cpp__incl.png" border="0" usemap="#base__by__rotation_8cpp" alt=""/></div>
+<map name="base__by__rotation_8cpp" id="base__by__rotation_8cpp">
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+</map>
+</div>
+</div>
+<p><a href="base__by__rotation_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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+<title>multi_cell_builder: base_by_rotation.cpp Source File</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+/* @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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">base_by_rotation.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="base__by__rotation_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="base__by__rotation_8h.html">impl/base_by_rotation.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"> 3</span>  </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4"> 4</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">Base_by_rotation::inv_map_creation</a>(<a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* var) {</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  ROS_INFO(<span class="stringliteral">"starting base calculation implementation..."</span>);</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  ROS_INFO(<span class="stringliteral">"condition based [inv_map] calculation..."</span>);</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  std::vector<tf2::Transform> trans;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < var-><a class="code" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>().size(); i++) {</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x = 0; x < var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>().size(); x++) {</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> y = 0; y < var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()[x].size(); y++) {</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> p = 0; p < var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()[x][y].size(); p++){</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">if</span> (var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()[x][y][p].angle(var-><a class="code" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>()[i].getRotation()) < 0.349066f) {</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  trans.push_back(tf2::Transform(var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()[x][y][p], var-><a class="code" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>()[i].getOrigin()).inverse());</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">break</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"> 17</span>  }</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>  }</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  var-><a class="code" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">set_inv_map</a>(trans);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  ROS_INFO(<span class="stringliteral">"caculated [inv_map] contains %li entrys..."</span>, var-><a class="code" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a>().size());</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="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372"> 24</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">Base_by_rotation::cloud_calculation</a>(<a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* var) {</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ROS_INFO(<span class="stringliteral">"initialyze thread implementations..."</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"> 27</span>  <span class="comment">// Optimize targets in later implementation</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> target_clouds;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  target_clouds.resize(var-><a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>().size());</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < target_clouds.size(); i++) {</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < var-><a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>()[i].size();j++) {</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  target_clouds[i].push_back(pcl::PointCloud< pcl::PointXYZ >::Ptr(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >));</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"> 36</span>  <span class="comment">// Maybe OpenMP</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  ROS_INFO(<span class="stringliteral">"start [cloud] calculation..."</span>);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  tf2::Transform root(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0.4425f));</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < target_clouds.size(); i++){</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < target_clouds[i].size(); j++) {</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> y = 0; y < var-><a class="code" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a>().size(); y++) {</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x = 0; x < var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()[i][j].size(); x++) {</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tf2::Transform target = var-><a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>()[i][j]; target.setRotation(var-><a class="code" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()[i][j][x]);</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  tf2::Transform base = target * (var-><a class="code" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a>()[y] * root);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  target_clouds[i][j]->push_back(pcl::PointXYZ(base.getOrigin().getX(), base.getOrigin().getY(), base.getOrigin().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>  }</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>  var-><a class="code" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">set_target_cloud</a>(target_clouds);</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  ROS_INFO(<span class="stringliteral">"[cloud]calculation done..."</span>);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__map__loader_html_a297e8f8fa66f70678d19d321033eea4d"><div class="ttname"><a href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">Abstract_map_loader::set_inv_map</a></div><div class="ttdeci">void set_inv_map(std::vector< tf2::Transform > &list)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00043">abstract_map_loader.h:43</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_af4f75fbdda254f2a506770969cc46d8e"><div class="ttname"><a href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">Abstract_map_loader::inv_map</a></div><div class="ttdeci">std::vector< tf2::Transform > & inv_map()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00041">abstract_map_loader.h:41</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html_ad3d528929f1ec7bd2ddeed2c68a9fbc4"><div class="ttname"><a href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">Base_by_rotation::inv_map_creation</a></div><div class="ttdeci">void inv_map_creation(Abstract_map_loader *var) override</div><div class="ttdef"><b>Definition:</b> <a href="base__by__rotation_8cpp_source.html#l00004">base_by_rotation.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a13fb2cd6ac1a353192161e053426d7c8"><div class="ttname"><a href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">Abstract_map_loader::map</a></div><div class="ttdeci">std::vector< tf2::Transform > & map()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00042">abstract_map_loader.h:42</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a2945aff76228233abb3a89477c013d8a"><div class="ttname"><a href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">Abstract_map_loader::set_target_cloud</a></div><div class="ttdeci">void set_target_cloud(std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00049">abstract_map_loader.h:49</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_aa9772fe2bd594967b8f7b980db442ca5"><div class="ttname"><a href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader::task_grasps</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > & task_grasps()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00046">abstract_map_loader.h:46</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html_a910ed8dac159764f4b045f07c7ac2372"><div class="ttname"><a href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">Base_by_rotation::cloud_calculation</a></div><div class="ttdeci">void cloud_calculation(Abstract_map_loader *var) override</div><div class="ttdef"><b>Definition:</b> <a href="base__by__rotation_8cpp_source.html#l00024">base_by_rotation.cpp:24</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="abase__by__rotation_8h_html"><div class="ttname"><a href="base__by__rotation_8h.html">base_by_rotation.h</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_abdd0484ea0507910d37b0eae257b6476"><div class="ttname"><a href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">Abstract_map_loader::target_rot</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Quaternion > > > & target_rot()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00047">abstract_map_loader.h:47</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/base__by__rotation_8h.html b/doc/html/base__by__rotation_8h.html
new file mode 100644
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: base_by_rotation.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>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">base_by_rotation.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="abstract__map__loader_8h_source.html">impl/abstract_map_loader.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__strategy_8h_source.html">impl/abstract_strategy.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for base_by_rotation.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="base__by__rotation_8h__incl.png" border="0" usemap="#base__by__rotation_8h" alt=""/></div>
+<map name="base__by__rotation_8h" id="base__by__rotation_8h">
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+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">base_by_rotation.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="base__by__rotation_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 BASE_BY_ROTATION_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define BASE_BY_ROTATION_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__map__loader_8h.html">impl/abstract_map_loader.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="abstract__strategy_8h.html">impl/abstract_strategy.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="classBase__by__rotation.html"> 9</a></span> <span class="keyword">class </span><a class="code" href="classBase__by__rotation.html">Base_by_rotation</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__strategy.html">Abstract_strategy</a> {</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classBase__by__rotation.html#aaf73fbd91908d8b3681e0d6c595bb858">Base_by_rotation</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classBase__by__rotation.html#a63a6ed1a606880c99c0bc96f666d83ba">~Base_by_rotation</a>()= <span class="keywordflow">default</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>  <span class="keywordtype">void</span> <a class="code" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">inv_map_creation</a>(<a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* var) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">cloud_calculation</a>(<a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* var) <span class="keyword">override</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"> 18</span> };</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aabstract__map__loader_8h_html"><div class="ttname"><a href="abstract__map__loader_8h.html">abstract_map_loader.h</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html_ad3d528929f1ec7bd2ddeed2c68a9fbc4"><div class="ttname"><a href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">Base_by_rotation::inv_map_creation</a></div><div class="ttdeci">void inv_map_creation(Abstract_map_loader *var) override</div><div class="ttdef"><b>Definition:</b> <a href="base__by__rotation_8cpp_source.html#l00004">base_by_rotation.cpp:4</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html_aaf73fbd91908d8b3681e0d6c595bb858"><div class="ttname"><a href="classBase__by__rotation.html#aaf73fbd91908d8b3681e0d6c595bb858">Base_by_rotation::Base_by_rotation</a></div><div class="ttdeci">Base_by_rotation()=default</div></div>
+<div class="ttc" id="aclassAbstract__strategy_html"><div class="ttname"><a href="classAbstract__strategy.html">Abstract_strategy</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__strategy_8h_source.html#l00008">abstract_strategy.h:8</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html_a63a6ed1a606880c99c0bc96f666d83ba"><div class="ttname"><a href="classBase__by__rotation.html#a63a6ed1a606880c99c0bc96f666d83ba">Base_by_rotation::~Base_by_rotation</a></div><div class="ttdeci">~Base_by_rotation()=default</div></div>
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+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html"><div class="ttname"><a href="classBase__by__rotation.html">Base_by_rotation</a></div><div class="ttdef"><b>Definition:</b> <a href="base__by__rotation_8h_source.html#l00009">base_by_rotation.h:9</a></div></div>
+<div class="ttc" id="aabstract__strategy_8h_html"><div class="ttname"><a href="abstract__strategy_8h.html">abstract_strategy.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: base_calculation_mediator.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>
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+<!-- Generated by Doxygen 1.8.17 -->
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+ <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">base_calculation_mediator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="base__calculation__mediator_8h_source.html">mediator/base_calculation_mediator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for base_calculation_mediator.cpp:</div>
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+<p><a href="base__calculation__mediator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+<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>
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+<div class="title">base_calculation_mediator.cpp</div> </div>
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+<div class="contents">
+<a href="base__calculation__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="base__calculation__mediator_8h.html">mediator/base_calculation_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="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330"> 3</a></span> <a class="code" href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator::Base_calculation_mediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>(d)</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  , wing_reader_(std::make_unique<<a class="code" href="classWing__reader.html">Wing_reader</a>>(d))</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  , robot_reader_(std::make_unique<<a class="code" href="classRobot__reader.html">Robot_reader</a>>(d))</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  , pub_(std::make_unique<ros::Publisher>()){};</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="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51"> 9</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">Base_calculation_mediator::generate_grounds</a>(<span class="keyword">const</span> tf2::Vector3 origin, <span class="keyword">const</span> <span class="keywordtype">float</span> diameter, <span class="keywordtype">float</span> resolution){</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.size();i++){</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::vector<pcl::PointXYZ> ground_plane; </div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> x = origin.getX() - diameter * 1.5; x <= origin.getX() + diameter * 1.5; x += resolution){</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> y = origin.getY() - diameter * 1.5; y <= origin.getY() + diameter * 1.5; y += resolution){</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  ground_plane.push_back(pcl::PointXYZ(x,y, 0.4425f));</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  ROS_INFO(<span class="stringliteral">"%f"</span>, <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[i]->tf().getOrigin().getZ());</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"> 18</span>  <a class="code" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">grounds_</a>.insert(std::pair<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[i]->name(), ground_plane));</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> }</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06"> 22</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator::connect_robots</a>(std::unique_ptr<Abstract_robot_decorator> robot) {</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  ROS_INFO(<span class="stringliteral">"Connect"</span>);</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.push_back(std::move(robot)); </div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ROS_INFO(<span class="stringliteral">"%s connected..."</span>, <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.front()->name().c_str());</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="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7"> 28</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator::set_panel</a>(){</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.size(); i++){</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> for (int i =0; i < wbp.size(); i++){</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> std::vector<std::unique_ptr<Abstract_robot_element>> v;</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> for (int j =0; j < wbp[i].first.size(); j++){</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> std::unique_ptr<Abstract_robot_element> wing = std::make_unique<Rviz_panel>(wbp[i].first[j].name_, wbp[i].first[j].pose_,wbp[i].first[j].size_);</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> std::unique_ptr<Abstract_robot_element> log = std::make_unique<Log_decorator>(std::move(wing));</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> v.push_back(std::move(log));</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> wings_.push_back(v);</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> }</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> }</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238"> 45</a></span> <span class="keywordtype">bool</span> <a class="code" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator::check_collision</a>( <span class="keyword">const</span> <span class="keywordtype">int</span>& robot){</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">bool</span> succ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  std::vector<int> count_v;</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">auto</span> r = <span class="keyword">dynamic_cast<</span><a class="code" href="classCeti__robot.html">Ceti_robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot].get());</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  count_v.resize(r->observers().size()+1);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  std::string str;</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>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">auto</span> <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a> = <a class="code" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a>->drop_off_data();</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="comment">/*</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> for(long unsigned int j = 0; j < objects_[robot].size(); j++){</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> visualization_msgs::Marker marker;</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> marker.header.frame_id = "map";</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> marker.header.stamp = ros::Time();</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> marker.ns = "objects ";</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> marker.id = j;</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> marker.type = visualization_msgs::Marker::CUBE;</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> marker.action = visualization_msgs::Marker::ADD;</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> marker.pose.position.x = objects_[robot][j].getOrigin().getX();</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> marker.pose.position.y = objects_[robot][j].getOrigin().getY();</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> marker.pose.position.z = objects_[robot][j].getOrigin().getZ();</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> marker.pose.orientation.x = objects_[robot][j].getRotation().getX();</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> marker.pose.orientation.y = objects_[robot][j].getRotation().getY();</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> marker.pose.orientation.z = objects_[robot][j].getRotation().getZ();</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> marker.pose.orientation.w = objects_[robot][j].getRotation().getW();</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> marker.scale.x = box_size.getX();</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> marker.scale.y = box_size.getY();</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> marker.scale.z = box_size.getZ();</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> if(robots_[robot]->check_single_object_collision(objects_[robot][j], str)){</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> marker.color.r = 0;</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> marker.color.g = 1.0;</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> marker.color.b = 0;</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> marker.color.a = 1;</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> } else {</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> marker.color.r = 1;</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> marker.color.g = 0;</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> marker.color.b = 0;</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> marker.color.a = 1.0;</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> succ = false;</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> ma.markers.push_back(marker);</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> robots_[robot]->workload_checker(count_v, objects_[robot][j]);</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> pub_->publish(ma);</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> for (int& i : count_v){</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> if(i == 0) {succ = false; break;}</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> succ;</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>  </div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a"> 99</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator::mediate</a>(){</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  ROS_INFO(<span class="stringliteral">"assigne result to first robot..."</span>);</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">generate_grounds</a>(tf2::Vector3(0,0,0), 3.0f, 0.1f);</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> std::vector<std::vector<tf2::Transform>> filter_per_robot;</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> pcl::octree::OctreePointCloudSearch< pcl::PointXYZ >first_cloud(0.4f);</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> first_cloud.setInputCloud(Abstract_mediator::vector_to_cloud(result_vector_[0]));</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> first_cloud.addPointsFromInputCloud();</span></div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> std::vector<tf2::Transform> ground_per_robot;</span></div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> for(pcl::PointXYZ& p : grCenter){</span></div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> double min_x, min_y, min_z, max_x, max_y, max_z;</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> first_cloud.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> bool isInBox = (p.x >= min_x && p.x <= max_x) && (p.y >= min_y && p.y <= max_y) && (p.z >= min_z && p.z <= max_z);</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> if (isInBox && first_cloud.isVoxelOccupiedAtPoint(p)) {</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> std::vector< int > pointIdxVec;</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> if (first_cloud.voxelSearch(p, pointIdxVec)) ground_per_robot.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(p.x, p.y, p.z)));</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> for(int i = 0; i < objects_.size(); i++){</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> if (i+1 < objects_.size()){</span></div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> for (long unsigned int j = objects_[i].size()-1; j > 0; j--){</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> if(objects_[i][j].getOrigin().distance(objects_[i+1].back().getOrigin()) == 0) objects_[i+1].pop_back();</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> calculate(ground_per_robot);</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> //swap</span></div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> Abstract_robot* ar = robots_[1];</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> robots_[1] = robots_[0];</span></div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> robots_[0] = ar;</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> calculate(ground_per_robot);</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> }</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
+<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645"> 140</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">Base_calculation_mediator::calculate</a>(std::vector<tf2::Transform>& ground_per_robot){</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordtype">int</span> r1 = 0; </div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keyword">auto</span> ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classCeti__robot.html">Ceti_robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[0].get());</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j <= 7; j++){</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  std::bitset<3> <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>(j);</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">build_wings</a>(<a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>, r1);</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>  visualization_msgs::Marker m;</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  m.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  m.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  m.ns = ceti1->name();</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  m.id = 1;</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  m.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  m.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  m.pose.position.x = ceti1->tf().getOrigin().getX();</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  m.pose.position.y = ceti1->tf().getOrigin().getY();</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  m.pose.position.z = ceti1->tf().getOrigin().getZ();</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  m.pose.orientation.x = ceti1->tf().getRotation().getX();</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  m.pose.orientation.y = ceti1->tf().getRotation().getY();</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  m.pose.orientation.z = ceti1->tf().getRotation().getZ();</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  m.pose.orientation.w = ceti1->tf().getRotation().getW();</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  m.scale.x = ceti1->size().getX();</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  m.scale.y = ceti1->size().getY();</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  m.scale.z = ceti1->tf().getOrigin().getZ()*2;</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  m.color.r = 1.0;</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  m.color.g = 1.0;</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  m.color.b = 1.0;</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  m.color.a = 1.0;</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  ma.markers.clear();</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>  ros::Duration timer(0.10);</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < ground_per_robot.size(); i++){</div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  ceti1->set_tf(ground_per_robot[i]);</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="comment">// vis. robot 1</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>  <span class="keywordflow">for</span> ( <span class="keywordtype">float</span> p = 0; p < 2*M_PI; p += 0.0872665f){</div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  ceti1->rotate(0.0872665f);</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  ceti1->notify();</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>  m.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  m.pose.position.x = ceti1->tf().getOrigin().getX();</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  m.pose.position.y = ceti1->tf().getOrigin().getY();</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  m.pose.position.z = ceti1->tf().getOrigin().getZ();</div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  m.pose.orientation.x = ceti1->tf().getRotation().getX();</div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  m.pose.orientation.y = ceti1->tf().getRotation().getY();</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  m.pose.orientation.z = ceti1->tf().getRotation().getZ();</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  m.pose.orientation.w = ceti1->tf().getRotation().getW();</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  ma.markers.push_back(m);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < ceti1->observers().size(); j++){</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRviz__panel.html">Rviz_panel</a>*<span class="keyword">></span>(ceti1->observers()[j].get());</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  ma.markers.push_back(wrd->marker());</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>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  ma.markers.clear();</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>  <span class="keywordflow">if</span> (<a class="code" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">check_collision</a>(r1)) {</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">approximation</a>(ceti1);</div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordflow">continue</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>  <span class="comment">//timer.sleep();</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  }</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  }</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  ceti1->reset();</div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  m.action = visualization_msgs::Marker::DELETEALL;</div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  }</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"><a class="line" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8"> 218</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">Base_calculation_mediator::approximation</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* robot){</div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keyword">auto</span> ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classCeti__robot.html">Ceti_robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[1].get());</div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordtype">int</span> r1 = 1;</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>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i <= 7; i++){</div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  std::bitset<3> <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>(i);</div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">build_wings</a>(<a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>, r1);</div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  visualization_msgs::Marker m;</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  m.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  m.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  m.ns = ceti1->name();</div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  m.id = 1;</div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  m.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  m.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  m.pose.position.x = ceti1->tf().getOrigin().getX();</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  m.pose.position.y = ceti1->tf().getOrigin().getY();</div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  m.pose.position.z = ceti1->tf().getOrigin().getZ();</div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  m.pose.orientation.x = ceti1->tf().getRotation().getX();</div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  m.pose.orientation.y = ceti1->tf().getRotation().getY();</div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  m.pose.orientation.z = ceti1->tf().getRotation().getZ();</div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  m.pose.orientation.w = ceti1->tf().getRotation().getW();</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  m.scale.x = ceti1->size().getX();</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  m.scale.y = ceti1->size().getY();</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  m.scale.z = ceti1->tf().getOrigin().getZ()*2;</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  m.color.r = 1.0;</div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  m.color.g = 1.0;</div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  m.color.b = 1.0;</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  m.color.a = 1.0;</div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ; i < robot-><a class="code" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">access_fields</a>().size(); i++) {</div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  ceti1->set_tf(robot-><a class="code" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">access_fields</a>()[i]->world_tf());</div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">//ROS_INFO("field size %i", robot->access_fields().size());</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">for</span> ( <span class="keywordtype">float</span> p = 0; p < 2*M_PI; p += M_PI/2){</div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  ceti1->rotate(M_PI/2);</div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  ceti1->notify();</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>  m.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  m.pose.position.x = ceti1->tf().getOrigin().getX();</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  m.pose.position.y = ceti1->tf().getOrigin().getY();</div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  m.pose.position.z = ceti1->tf().getOrigin().getZ();</div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  m.pose.orientation.x = ceti1->tf().getRotation().getX();</div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  m.pose.orientation.y = ceti1->tf().getRotation().getY();</div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  m.pose.orientation.z = ceti1->tf().getRotation().getZ();</div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  m.pose.orientation.w = ceti1->tf().getRotation().getW();</div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < ceti1->observers().size(); j++){</div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRviz__panel.html">Rviz_panel</a>*<span class="keyword">></span>(ceti1->observers()[j].get());</div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  ma.markers.push_back(wrd->marker());</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>  </div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">if</span> (robot-><a class="code" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">in_collision</a>(ceti1)) <span class="keywordflow">continue</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>  <span class="keywordflow">if</span> (<a class="code" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">check_collision</a>(r1)) {</div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  ROS_INFO(<span class="stringliteral">"penis"</span>);</div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <a class="code" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">write_file</a>(robot, ceti1);</div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  }</div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</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>  <span class="comment">//relative_ground.push_back(pcl::PointXYZ(fields->world_tf().getOrigin().getX(), fields->world_tf().getOrigin().getY(), fields->world_tf().getOrigin().getZ()));</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>  ceti1->reset();</div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  m.action = visualization_msgs::Marker::DELETEALL;</div>
+<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  }</div>
+<div class="line"><a name="l00296"></a><span class="lineno"> 296</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>  </div>
+<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660"> 299</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">Base_calculation_mediator::write_file</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* A, <a class="code" href="classCeti__robot.html">Ceti_robot</a>* B){</div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</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="l00301"></a><span class="lineno"> 301</span>  <span class="keywordtype">double</span> r,p,y;</div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  tf2::Matrix3x3 m(A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation());</div>
+<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  m.getRPY(r,p,y);</div>
+<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  </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>  <span class="keywordtype">float</span> size_x = A-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getX();</div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordtype">float</span> size_y = A-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getY();</div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordtype">float</span> size_z = A-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getZ();</div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  </div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordtype">float</span> pos_x = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordtype">float</span> pos_y = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">float</span> pos_z = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getZ() *2 ;</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordtype">float</span> rot_x = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordtype">float</span> rot_y = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordtype">float</span> rot_z = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">float</span> rot_w = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  </div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  </div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  </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>  </div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  ss << <span class="stringliteral">"{ 'objects' : [ \n"</span>;</div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00325"></a><span class="lineno"> 325</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00326"></a><span class="lineno"> 326</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00327"></a><span class="lineno"> 327</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00328"></a><span class="lineno"> 328</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00329"></a><span class="lineno"> 329</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00330"></a><span class="lineno"> 330</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00331"></a><span class="lineno"> 331</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00332"></a><span class="lineno"> 332</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00333"></a><span class="lineno"> 333</span>  </div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  m.setRotation(B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation());</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  m.getRPY(r,p,y);</div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  </div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  size_x = B-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getX();</div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  size_y = B-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getY();</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  size_z = B-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getZ();</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>  pos_x = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  pos_y = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  pos_z = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getZ() *2 ;</div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  rot_x = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  rot_y = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  rot_z = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  rot_w = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  </div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00350"></a><span class="lineno"> 350</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00351"></a><span class="lineno"> 351</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00352"></a><span class="lineno"> 352</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00353"></a><span class="lineno"> 353</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00354"></a><span class="lineno"> 354</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00355"></a><span class="lineno"> 355</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00356"></a><span class="lineno"> 356</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00357"></a><span class="lineno"> 357</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00358"></a><span class="lineno"> 358</span>  </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>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>().size(); i++){</div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keywordtype">float</span> x = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getOrigin().getX();</div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="keywordtype">float</span> y = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getOrigin().getY();</div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordtype">float</span> z = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getOrigin().getZ();</div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordtype">float</span> qx = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getX();</div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <span class="keywordtype">float</span> qy = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getY();</div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordtype">float</span> qz = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getZ();</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordtype">float</span> qw = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getW();</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>  <span class="keywordtype">float</span> length = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->size().getX();</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordtype">float</span> width = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->size().getY();</div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordtype">float</span> height = A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->size().getZ();</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>  ss << <span class="stringliteral">"{ 'id': '"</span> << A-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[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="l00374"></a><span class="lineno"> 374</span>  }</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>  </div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>().size(); i++){</div>
+<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keywordtype">float</span> x = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getOrigin().getX();</div>
+<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordtype">float</span> y = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getOrigin().getY();</div>
+<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordtype">float</span> z = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getOrigin().getZ();</div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordtype">float</span> qx = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getX();</div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordtype">float</span> qy = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getY();</div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="keywordtype">float</span> qz = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getZ();</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordtype">float</span> qw = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf().getRotation().getW();</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="keywordtype">float</span> length = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->size().getX();</div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordtype">float</span> width = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->size().getY();</div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordtype">float</span> height = B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->size().getZ();</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>  </div>
+<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  ss << <span class="stringliteral">"{ 'id': '"</span> << B-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[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="l00392"></a><span class="lineno"> 392</span>  }</div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  tf2::Transform tf_arm = A-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>() * A-><a class="code" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">root_tf</a>();</div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordtype">float</span> arm_x = tf_arm.getOrigin().getX();</div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordtype">float</span> arm_y = tf_arm.getOrigin().getY();</div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordtype">float</span> arm_z = tf_arm.getOrigin().getZ();</div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordtype">float</span> arm_qx = tf_arm.getRotation().getX();</div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordtype">float</span> arm_qy = tf_arm.getRotation().getY();</div>
+<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordtype">float</span> arm_qz = tf_arm.getRotation().getZ();</div>
+<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="keywordtype">float</span> arm_qw = tf_arm.getRotation().getW();</div>
+<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  </div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  ss << <span class="stringliteral">"{ 'id': 'arm"</span> << A-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00403"></a><span class="lineno"> 403</span>  </div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  tf_arm = B-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>() * B-><a class="code" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">root_tf</a>();</div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  arm_x = tf_arm.getOrigin().getX();</div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  arm_y = tf_arm.getOrigin().getY();</div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  arm_z = tf_arm.getOrigin().getZ();</div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  arm_qx = tf_arm.getRotation().getX();</div>
+<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  arm_qy = tf_arm.getRotation().getY();</div>
+<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  arm_qz = tf_arm.getRotation().getZ();</div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  arm_qw = tf_arm.getRotation().getW();</div>
+<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  </div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  ss << <span class="stringliteral">"{ 'id': 'arm"</span> << B-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>().back() << <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="l00414"></a><span class="lineno"> 414</span>  </div>
+<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  ss << <span class="stringliteral">"]}"</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>  o << ss.str();</div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  o.close();</div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  </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>  </div>
+<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38"> 422</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator::build_wings</a>(std::bitset<3>& wing, <span class="keywordtype">int</span>& robot){</div>
+<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keyword">auto</span> ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classCeti__robot.html">Ceti_robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot].get());</div>
+<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  std::bitset<3> result = ceti-><a class="code" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">observer_mask</a>() & wing;</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">for</span> (std::size_t i = 0; i < result.size(); i++){</div>
+<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <span class="keywordflow">if</span> (result[i]){</div>
+<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  ceti->register_observers(std::move(<a class="code" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">wings_</a>[robot][i]));</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>  </div>
+<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ceti->observers().size(); i++){</div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRviz__panel.html">Rviz_panel</a>*<span class="keyword">></span>(ceti->observers()[i].get());</div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  wrd-><a class="code" href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">marker</a>().action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  ma.markers.push_back(wrd->marker());</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>  <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>->publish(ma);</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"><a class="line" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba"> 441</a></span> <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">Base_calculation_mediator::publish</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* ar){</div>
+<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  marker.ns = ar-><a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>();</div>
+<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  marker.id = 1;</div>
+<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  marker.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  marker.pose.position.x = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  marker.pose.position.y = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  marker.pose.position.z = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  marker.pose.orientation.x = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  marker.pose.orientation.y = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  marker.pose.orientation.z = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  marker.pose.orientation.w = ar-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  marker.scale.x = ar-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getX();</div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  marker.scale.y = ar-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getY();</div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  marker.scale.z = ar-><a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>().getZ();</div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  marker.color.r = 1.0;</div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  marker.color.b = 1.0;</div>
+<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  marker.color.a = 1.0;</div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ar-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>().size(); i++){</div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRviz__panel.html">Rviz_panel</a>*<span class="keyword">></span>(ar-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i].get());</div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  ma.markers.push_back(wrd->marker());</div>
+<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  }</div>
+<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  </div>
+<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="comment">//pub_->publish(ma);</span></div>
+<div class="line"><a name="l00470"></a><span class="lineno"> 470</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a1e710053c31cd1f4da64b45a11c7b660"><div class="ttname"><a href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">Base_calculation_mediator::write_file</a></div><div class="ttdeci">void write_file(Ceti_robot *A, Ceti_robot *B)</div><div class="ttdoc">Writes result file.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00299">base_calculation_mediator.cpp:299</a></div></div>
+<div class="ttc" id="aclassWing__reader_html"><div class="ttname"><a href="classWing__reader.html">Wing_reader</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="aclassBase__calculation__mediator_html_a5419d9798ac36cd945706721aa542278"><div class="ttname"><a href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">Base_calculation_mediator::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#l00024">base_calculation_mediator.h:24</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html"><div class="ttname"><a href="classRviz__panel.html">Rviz_panel</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="aclassCeti__robot_html_a60528a5a7c83e0b15d9fee091b00e5b3"><div class="ttname"><a href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">Ceti_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00043">ceti_robot.h:43</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_aafdcb4ce7d655b291170818c43162aa7"><div class="ttname"><a href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">Ceti_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00044">ceti_robot.h:44</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a4ad187750675fbe7ba8ded55f2c0e3b7"><div class="ttname"><a href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">Ceti_robot::access_fields</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > & access_fields()</div><div class="ttdoc">Get access fields.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00059">ceti_robot.h:59</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="aclassCeti__robot_html_af0e5f7417926e50ccb607c6612170687"><div class="ttname"><a href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot::in_collision</a></div><div class="ttdeci">bool in_collision(Ceti_robot *R)</div><div class="ttdoc">Collsion calculation.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00118">ceti_robot.cpp:118</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a3fc38aa682c47686159c0c67b7685fd7"><div class="ttname"><a href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator::set_panel</a></div><div class="ttdeci">void set_panel()</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00028">base_calculation_mediator.cpp:28</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a25e0b0dc5a154ad28d68f58500234d56"><div class="ttname"><a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">Abstract_mediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< Ts_reader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00036">mediator/abstract_mediator.h:36</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_aff019cc13f25228abaf99b4a3fe72c38"><div class="ttname"><a href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator::build_wings</a></div><div class="ttdeci">void build_wings(std::bitset< 3 > &wings, int &robot) override</div><div class="ttdoc">Resets wings of a robot.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00422">base_calculation_mediator.cpp:422</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ad4565f4b98c689289ddda9e7507736ae"><div class="ttname"><a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">Abstract_mediator::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="impl_2abstract__mediator_8h_source.html#l00041">impl/abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_af175bafdf327cc397ce1c9f42913c83a"><div class="ttname"><a href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator::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#l00099">base_calculation_mediator.cpp:99</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a8274031d01b4648815a25e9e545178c5"><div class="ttname"><a href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">Base_calculation_mediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< std::unique_ptr< Abstract_robot_element > > > wings_</div><div class="ttdoc">Possible panels per robot.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00030">base_calculation_mediator.h:30</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html_ac2665ca36d02e328703514b188a07cfc"><div class="ttname"><a href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">Rviz_panel::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="aclassBase__calculation__mediator_html_a6804ea3a11a66faf3bcf0429fd016d06"><div class="ttname"><a href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(std::unique_ptr< Abstract_robot_decorator > robot) override</div><div class="ttdoc">Robot Connector implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00022">base_calculation_mediator.cpp:22</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a6c5b26e596ed3c7fb4d226fa10183c51"><div class="ttname"><a href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">Base_calculation_mediator::generate_grounds</a></div><div class="ttdeci">std::vector< pcl::PointXYZ > generate_grounds(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#l00009">base_calculation_mediator.cpp:9</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a62cee1d422407a72223fcee53dbba5ba"><div class="ttname"><a href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">Base_calculation_mediator::publish</a></div><div class="ttdeci">void publish(Ceti_robot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00441">base_calculation_mediator.cpp:441</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a948403a8fba6220b86d2cda6cb74a326"><div class="ttname"><a href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > & 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>
+<div class="ttc" id="aclassBase__calculation__mediator_html_aa03bb145649933b2b362dfc8966f63c8"><div class="ttname"><a href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">Base_calculation_mediator::approximation</a></div><div class="ttdeci">void approximation(Ceti_robot *robot)</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#l00218">base_calculation_mediator.cpp:218</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a2f29ef22d330020bf276cb709c8c8238"><div class="ttname"><a href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator::check_collision</a></div><div class="ttdeci">bool check_collision(const int &robot) override</div><div class="ttdoc">check_collision</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00045">base_calculation_mediator.cpp:45</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a008b22e99593f2fcbff3c6e26ae5ddbe"><div class="ttname"><a href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">Base_calculation_mediator::grounds_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > grounds_</div><div class="ttdoc">Possible ground positions per robots.</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="aclassAbstract__mediator_html_a78a9e79c0a97238c7d76ec1a3cc7349c"><div class="ttname"><a href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">Abstract_mediator::objects_</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > objects_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00036">impl/abstract_mediator.h:36</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html"><div class="ttname"><a href="classCeti__robot.html">Ceti_robot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00022">ceti_robot.h:22</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_afeb11427714da34b8203de2d094dd536"><div class="ttname"><a href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">Ceti_robot::observer_mask</a></div><div class="ttdeci">std::bitset< 3 > observer_mask()</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00117">ceti_robot.h:117</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_acf5ce9f5f854708b8b2a7008d75d0330"><div class="ttname"><a href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator::Base_calculation_mediator</a></div><div class="ttdeci">Base_calculation_mediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Base_calculation_mediator 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="aclassBase__calculation__mediator_html_a55975e58dfc863db246224217367c645"><div class="ttname"><a href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">Base_calculation_mediator::calculate</a></div><div class="ttdeci">void calculate(std::vector< tf2::Transform > &ground_per_robot)</div><div class="ttdoc">Ground position calculator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00140">base_calculation_mediator.cpp:140</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a66416f41c207636fcf0b5223c2f70061"><div class="ttname"><a href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00035">impl/abstract_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ac5776cb1039f39138f46c3a13799ee3b"><div class="ttname"><a href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">Ceti_robot::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00042">ceti_robot.h:42</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a4c9612f7a87974aa64622fd4acd8123e"><div class="ttname"><a href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">Ceti_robot::root_tf</a></div><div class="ttdeci">tf2::Transform & root_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00045">ceti_robot.h:45</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00014">impl/abstract_robot.h:14</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html"><div class="ttname"><a href="classRobot__reader.html">Robot_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: base_calculation_mediator.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
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+});
+/* @license-end */</script>
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+<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="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">base_calculation_mediator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include "<a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="ceti__robot_8h_source.html">robot/ceti_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="rviz__panel_8h_source.html">robot_element/observers/rviz_panel.h</a>"</code><br />
+<code>#include "<a class="el" href="log__decorator_8h_source.html">robot_element/decorators/log_decorator.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="robot__reader_8h_source.html">reader/robot_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for base_calculation_mediator.h:</div>
+<div class="dyncontent">
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+</div>
+<p><a href="base__calculation__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="classBase__calculation__mediator.html">Base_calculation_mediator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Concrete <a class="el" href="classMediator.html">Mediator</a>. <a href="classBase__calculation__mediator.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<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">base_calculation_mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="base__calculation__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 BASE_CALCULATION_MEDIATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define BASE_CALCULATION_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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <fstream></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"> 9</span> <span class="preprocessor">#include "<a class="code" href="mediator_2abstract__mediator_8h.html">mediator/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="ceti__robot_8h.html">robot/ceti_robot.h</a>"</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="rviz__panel_8h.html">robot_element/observers/rviz_panel.h</a>"</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="log__decorator_8h.html">robot_element/decorators/log_decorator.h</a>"</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"> 15</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="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html"> 22</a></span> <span class="keyword">class </span><a class="code" href="classBase__calculation__mediator.html">Base_calculation_mediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>{</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278"> 24</a></span>  std::unique_ptr<ros::Publisher> <a class="code" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a>; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0"> 25</a></span>  std::unique_ptr<Wing_reader> <a class="code" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">wing_reader_</a>; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000"> 26</a></span>  std::unique_ptr<Robot_reader> <a class="code" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">robot_reader_</a>; </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"><a class="line" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe"> 29</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">grounds_</a>; </div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5"> 30</a></span>  std::vector<std::vector<std::unique_ptr<Abstract_robot_element>>> <a class="code" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">wings_</a>; </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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  std::vector<pcl::PointXYZ> <a class="code" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">generate_grounds</a>(<span class="keyword">const</span> tf2::Vector3 origin, <span class="keyword">const</span> <span class="keywordtype">float</span> diameter, <span class="keywordtype">float</span> resolution);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5"> 54</a></span>  <span class="keyword">inline</span> <a class="code" href="classWing__reader.html">Wing_reader</a>* <a class="code" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">wing_reader</a>() {<span class="keywordflow">return</span> <a class="code" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">wing_reader_</a>.get();}</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356"> 60</a></span>  <span class="keyword">inline</span> <a class="code" href="classRobot__reader.html">Robot_reader</a>* <a class="code" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">robot_reader</a>() {<span class="keywordflow">return</span> <a class="code" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">robot_reader_</a>.get();}</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">approximation</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* robot);</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="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">write_file</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* A, <a class="code" href="classCeti__robot.html">Ceti_robot</a>* B);</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">publish</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* r);</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>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">setup_rviz</a>();</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">calculate</a>(std::vector<tf2::Transform>& ground_per_robot);</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">set_panel</a>();</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="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">bool</span> <a class="code" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">check_collision</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>& robot) <span class="keyword">override</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="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">mediate</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">build_wings</a>(std::bitset<3>& <a class="code" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>, <span class="keywordtype">int</span>& robot) <span class="keyword">override</span>;</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>  </div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">connect_robots</a>(std::unique_ptr<Abstract_robot_decorator> robot) <span class="keyword">override</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"> 125</span> };</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassBase__calculation__mediator_html_a1e5a579ea6a516ec8537b4b3d506e4ae"><div class="ttname"><a href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">Base_calculation_mediator::setup_rviz</a></div><div class="ttdeci">void setup_rviz()</div><div class="ttdoc">Rviz setup methode.</div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a3a04eb51e61a15179088786b9555e000"><div class="ttname"><a href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">Base_calculation_mediator::robot_reader_</a></div><div class="ttdeci">std::unique_ptr< Robot_reader > robot_reader_</div><div class="ttdoc">Robot_reader which collects robot poses.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00026">base_calculation_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a1e710053c31cd1f4da64b45a11c7b660"><div class="ttname"><a href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">Base_calculation_mediator::write_file</a></div><div class="ttdeci">void write_file(Ceti_robot *A, Ceti_robot *B)</div><div class="ttdoc">Writes result file.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00299">base_calculation_mediator.cpp:299</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a7d366c17687d6e3e4d3bc27c888ee5f5"><div class="ttname"><a href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">Base_calculation_mediator::wing_reader</a></div><div class="ttdeci">Wing_reader * wing_reader()</div><div class="ttdoc">Get Wing_reader.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00054">base_calculation_mediator.h:54</a></div></div>
+<div class="ttc" id="aclassWing__reader_html"><div class="ttname"><a href="classWing__reader.html">Wing_reader</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="alog__decorator_8h_html"><div class="ttname"><a href="log__decorator_8h.html">log_decorator.h</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a5419d9798ac36cd945706721aa542278"><div class="ttname"><a href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">Base_calculation_mediator::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#l00024">base_calculation_mediator.h:24</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_ae1c0060fbd229bb5c7c8229e82200fc0"><div class="ttname"><a href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">Base_calculation_mediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< Wing_reader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</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="aceti__robot_8h_html"><div class="ttname"><a href="ceti__robot_8h.html">ceti_robot.h</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html"><div class="ttname"><a href="classBase__calculation__mediator.html">Base_calculation_mediator</a></div><div class="ttdoc">Concrete Mediator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00022">base_calculation_mediator.h:22</a></div></div>
+<div class="ttc" id="amediator_2abstract__mediator_8h_html"><div class="ttname"><a href="mediator_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a3fc38aa682c47686159c0c67b7685fd7"><div class="ttname"><a href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator::set_panel</a></div><div class="ttdeci">void set_panel()</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00028">base_calculation_mediator.cpp:28</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_aff019cc13f25228abaf99b4a3fe72c38"><div class="ttname"><a href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator::build_wings</a></div><div class="ttdeci">void build_wings(std::bitset< 3 > &wings, int &robot) override</div><div class="ttdoc">Resets wings of a robot.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00422">base_calculation_mediator.cpp:422</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_af175bafdf327cc397ce1c9f42913c83a"><div class="ttname"><a href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator::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#l00099">base_calculation_mediator.cpp:99</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="aclassBase__calculation__mediator_html_a8274031d01b4648815a25e9e545178c5"><div class="ttname"><a href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">Base_calculation_mediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< std::unique_ptr< Abstract_robot_element > > > wings_</div><div class="ttdoc">Possible panels per robot.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00030">base_calculation_mediator.h:30</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a6804ea3a11a66faf3bcf0429fd016d06"><div class="ttname"><a href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(std::unique_ptr< Abstract_robot_decorator > robot) override</div><div class="ttdoc">Robot Connector implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00022">base_calculation_mediator.cpp:22</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a6c5b26e596ed3c7fb4d226fa10183c51"><div class="ttname"><a href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">Base_calculation_mediator::generate_grounds</a></div><div class="ttdeci">std::vector< pcl::PointXYZ > generate_grounds(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#l00009">base_calculation_mediator.cpp:9</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a62cee1d422407a72223fcee53dbba5ba"><div class="ttname"><a href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">Base_calculation_mediator::publish</a></div><div class="ttdeci">void publish(Ceti_robot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00441">base_calculation_mediator.cpp:441</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_aa03bb145649933b2b362dfc8966f63c8"><div class="ttname"><a href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">Base_calculation_mediator::approximation</a></div><div class="ttdeci">void approximation(Ceti_robot *robot)</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#l00218">base_calculation_mediator.cpp:218</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a2f29ef22d330020bf276cb709c8c8238"><div class="ttname"><a href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator::check_collision</a></div><div class="ttdeci">bool check_collision(const int &robot) override</div><div class="ttdoc">check_collision</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00045">base_calculation_mediator.cpp:45</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9838c41eeb97aef668cd7213f0e2e9a6"><div class="ttname"><a href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">Abstract_mediator::wings</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00052">impl/abstract_mediator.h:52</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="aclassBase__calculation__mediator_html_a008b22e99593f2fcbff3c6e26ae5ddbe"><div class="ttname"><a href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">Base_calculation_mediator::grounds_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > grounds_</div><div class="ttdoc">Possible ground positions per robots.</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="aclassCeti__robot_html"><div class="ttname"><a href="classCeti__robot.html">Ceti_robot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00022">ceti_robot.h:22</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_acf5ce9f5f854708b8b2a7008d75d0330"><div class="ttname"><a href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator::Base_calculation_mediator</a></div><div class="ttdeci">Base_calculation_mediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Base_calculation_mediator 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="aclassBase__calculation__mediator_html_a55975e58dfc863db246224217367c645"><div class="ttname"><a href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">Base_calculation_mediator::calculate</a></div><div class="ttdeci">void calculate(std::vector< tf2::Transform > &ground_per_robot)</div><div class="ttdoc">Ground position calculator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00140">base_calculation_mediator.cpp:140</a></div></div>
+<div class="ttc" id="aclassBase__calculation__mediator_html_a00167697941fa249b15bc322e9ecb356"><div class="ttname"><a href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">Base_calculation_mediator::robot_reader</a></div><div class="ttdeci">Robot_reader * robot_reader()</div><div class="ttdoc">Get Robot_reader.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00060">base_calculation_mediator.h:60</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html"><div class="ttname"><a href="classRobot__reader.html">Robot_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: base_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>
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+ 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">base_routine.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="abstract__map__loader_8h_source.html">impl/abstract_map_loader.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__strategy_8h_source.html">impl/abstract_strategy.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="mediator_8h_source.html">impl/mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__rviz__decorator_8h_source.html">impl/wing_rviz_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="field__rviz__decorator_8h_source.html">impl/field_rviz_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing_8h_source.html">impl/wing.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2field_8h_source.html">impl/field.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_8h_source.html">impl/robot.h</a>"</code><br />
+<code>#include "<a class="el" href="map__loader_8h_source.html">impl/map_loader.h</a>"</code><br />
+<code>#include "<a class="el" href="base__by__rotation_8h_source.html">impl/base_by_rotation.h</a>"</code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <filesystem></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 <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 base_routine.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="base__routine_8cpp__incl.png" border="0" usemap="#base__routine_8cpp" alt=""/></div>
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+<p><a href="base__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:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="base__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr>
+<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><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="base__routine_8cpp_source.html#l00030">30</a> of file <a class="el" href="base__routine_8cpp_source.html">base_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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul>
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+ <div class="headertitle">
+<div class="title">base_routine.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="base__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__map__loader_8h.html">impl/abstract_map_loader.h</a>"</span></div>
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+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a>"</span></div>
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+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">impl/robot.h</a>"</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="map__loader_8h.html">impl/map_loader.h</a>"</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="base__by__rotation_8h.html">impl/base_by_rotation.h</a>"</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <filesystem></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</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="l00018"></a><span class="lineno"> 18</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="l00019"></a><span class="lineno"> 19</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="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_generator.h></span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_data.h></span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_filter.h></span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <moveit_grasps/grasp_planner.h></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>  </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"><a class="line" href="base__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 30</a></span> <span class="keywordtype">int</span> <a class="code" href="base__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  ROS_INFO(<span class="stringliteral">"penis"</span>);</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  ros::init(argc, argv, <span class="stringliteral">"base_routine"</span>);</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  std::shared_ptr<ros::NodeHandle> n(<span class="keyword">new</span> ros::NodeHandle);</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>  XmlRpc::XmlRpcValue map, task, resources;</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>  n->getParam(<span class="stringliteral">"/data"</span>,map);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  n->getParam(<span class="stringliteral">"/objects"</span>,resources);</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  n->getParam(<span class="stringliteral">"/task/groups"</span>,task);</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>  std::string filename;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  n->getParam(<span class="stringliteral">"/resource_name"</span>, filename);</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">if</span>(std::filesystem::exists(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + filename)) std::filesystem::remove_all(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + filename);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  std::filesystem::create_directory(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + filename);</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>  <a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* map_loader = <span class="keyword">new</span> <a class="code" href="classMap__loader.html">Map_loader</a>(map, task);</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classAbstract__strategy.html">Abstract_strategy</a>* strategy = <span class="keyword">new</span> <a class="code" href="classBase__by__rotation.html">Base_by_rotation</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"> 50</span>  map_loader-><a class="code" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">set_strategy</a>(strategy);</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  std::vector<std::vector<pcl::PointXYZ>> results = map_loader-><a class="code" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">base_calculation</a>();</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="classAbstract__mediator.html">Abstract_mediator</a>* mediator = <span class="keyword">new</span> <a class="code" href="classMediator.html">Mediator</a>(map_loader-><a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>(), <span class="keyword">new</span> ros::Publisher(n->advertise< visualization_msgs::MarkerArray >(<span class="stringliteral">"visualization_marker_array"</span>, 1)));</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  mediator-><a class="code" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(results);</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  mediator-><a class="code" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(filename);</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>  </div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  std::unique_ptr<Robot_reader> robot_reader(<span class="keyword">new</span> <a class="code" href="classRobot__reader.html">Robot_reader</a>(n));</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">auto</span> rd = robot_reader->robot_data();</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < rd.size() ;i++) mediator-><a class="code" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a>(<span class="keyword">new</span> <a class="code" href="classRobot.html">Robot</a>(rd[i].name_, rd[i].pose_, rd[i].size_));</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> std::unique_ptr<Wing_reader> wing_reader(new Wing_reader(n));</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> auto wd = wing_reader->wing_data();</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> for (int i = 0; i < mediator->robots().size(); i++){</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> for(object_data& w : wd[i].first){</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> w.pose_ = mediator->robots()[i]->tf().inverse() * w.pose_;</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> mediator->robots()[i]->set_observer_mask(static_cast<wing_config>(wd[i].second));</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> mediator->set_wings(wd);</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> */</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>  mediator-><a class="code" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a>();</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="l00079"></a><span class="lineno"> 79</span>  </div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">//map_loader->write_task(robo);</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">//free(rviz_right);</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">//free(rviz_mid);</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">//free(rviz_left);</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>  free(map_loader);</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  free(strategy);</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">//free(robo);</span></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>  <span class="comment">//free(robo2);</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">return</span> 0;</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aabstract__map__loader_8h_html"><div class="ttname"><a href="abstract__map__loader_8h.html">abstract_map_loader.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a64323b190e965287422f7b840bc1b95f"><div class="ttname"><a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator::set_dirname</a></div><div class="ttdeci">void set_dirname(std::string &dirn)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00057">impl/abstract_mediator.h:57</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="aclassMediator_html"><div class="ttname"><a href="classMediator.html">Mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="mediator_8h_source.html#l00012">mediator.h:12</a></div></div>
+<div class="ttc" id="aimpl_2field_8h_html"><div class="ttname"><a href="impl_2field_8h.html">field.h</a></div></div>
+<div class="ttc" id="amediator_8h_html"><div class="ttname"><a href="mediator_8h.html">mediator.h</a></div></div>
+<div class="ttc" id="abase__routine_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="base__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="base__routine_8cpp_source.html#l00030">base_routine.cpp:30</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a9fdca9d4a86d66a712194e409d799eff"><div class="ttname"><a href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">Abstract_map_loader::base_calculation</a></div><div class="ttdeci">virtual std::vector< std::vector< pcl::PointXYZ > > base_calculation()=0</div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_aa9772fe2bd594967b8f7b980db442ca5"><div class="ttname"><a href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader::task_grasps</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > & task_grasps()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00046">abstract_map_loader.h:46</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a3508478d51dcdf86ed8418006a4dd0d9"><div class="ttname"><a href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">Abstract_map_loader::set_strategy</a></div><div class="ttdeci">void set_strategy(Abstract_strategy *some_stratergy)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00038">abstract_map_loader.h:38</a></div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="amap__loader_8h_html"><div class="ttname"><a href="map__loader_8h.html">map_loader.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__strategy_html"><div class="ttname"><a href="classAbstract__strategy.html">Abstract_strategy</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__strategy_8h_source.html#l00008">abstract_strategy.h:8</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_adcd1ada33f056dadda3dc17a6299b731"><div class="ttname"><a href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator::mediate</a></div><div class="ttdeci">virtual void mediate()=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a0c102b5e272139492ab04ce0d4e43234"><div class="ttname"><a href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator::connect_robots</a></div><div class="ttdeci">virtual void connect_robots(Abstract_robot *robot)=0</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="aclassMap__loader_html"><div class="ttname"><a href="classMap__loader.html">Map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8h_source.html#l00010">map_loader.h:10</a></div></div>
+<div class="ttc" id="awing__rviz__decorator_8h_html"><div class="ttname"><a href="wing__rviz__decorator_8h.html">wing_rviz_decorator.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a45f051cc8b3816677c638f805e805838"><div class="ttname"><a href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">Abstract_mediator::set_result_vector</a></div><div class="ttdeci">void set_result_vector(std::vector< std::vector< pcl::PointXYZ >> &res)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00051">impl/abstract_mediator.h:51</a></div></div>
+<div class="ttc" id="abase__by__rotation_8h_html"><div class="ttname"><a href="base__by__rotation_8h.html">base_by_rotation.h</a></div></div>
+<div class="ttc" id="afield__rviz__decorator_8h_html"><div class="ttname"><a href="field__rviz__decorator_8h.html">field_rviz_decorator.h</a></div></div>
+<div class="ttc" id="awing_8h_html"><div class="ttname"><a href="wing_8h.html">wing.h</a></div></div>
+<div class="ttc" id="aclassBase__by__rotation_html"><div class="ttname"><a href="classBase__by__rotation.html">Base_by_rotation</a></div><div class="ttdef"><b>Definition:</b> <a href="base__by__rotation_8h_source.html#l00009">base_by_rotation.h:9</a></div></div>
+<div class="ttc" id="aabstract__strategy_8h_html"><div class="ttname"><a href="abstract__strategy_8h.html">abstract_strategy.h</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html"><div class="ttname"><a href="classRobot__reader.html">Robot_reader</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="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: 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>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
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+<div id="nav-path" class="navpath">
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+<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">cell_routine.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__map__loader_8h_source.html">impl/abstract_map_loader.h</a>"</code><br />
+<code>#include "<a class="el" href="map__loader_8h_source.html">impl/map_loader.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="moveit__mediator_8h_source.html">impl/moveit_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__moveit__decorator_8h_source.html">impl/wing_moveit_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing_8h_source.html">impl/wing.h</a>"</code><br />
+<code>#include "<a class="el" href="moveit__robot_8h_source.html">impl/moveit_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="collision__helper_8h_source.html">impl/collision_helper.h</a>"</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 cell_routine.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="cell__routine_8cpp__incl.png" border="0" usemap="#cell__routine_8cpp" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="cell__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:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr>
+<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><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="cell__routine_8cpp_source.html#l00025">25</a> of file <a class="el" href="cell__routine_8cpp_source.html">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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<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>
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+});
+/* @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">cell_routine.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="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 "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="abstract__map__loader_8h.html">impl/abstract_map_loader.h</a>"</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "<a class="code" href="map__loader_8h.html">impl/map_loader.h</a>"</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="moveit__mediator_8h.html">impl/moveit_mediator.h</a>"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="wing__moveit__decorator_8h.html">impl/wing_moveit_decorator.h</a>"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="wing_8h.html">impl/wing.h</a>"</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="moveit__robot_8h.html">impl/moveit_robot.h</a>"</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="collision__helper_8h.html">impl/collision_helper.h</a>"</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</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="l00014"></a><span class="lineno"> 14</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="l00015"></a><span class="lineno"> 15</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="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</span>  </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_generator.h></span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_data.h></span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_filter.h></span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <moveit_grasps/grasp_planner.h></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"> 24</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 25</a></span> <span class="keywordtype">int</span> <a class="code" href="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="l00026"></a><span class="lineno"> 26</span>  ros::init(argc, argv, <span class="stringliteral">"cell_routine"</span>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::shared_ptr<ros::NodeHandle> nh = std::make_shared<ros::NodeHandle>();</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ros::AsyncSpinner spinner(1);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  spinner.start();</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>  XmlRpc::XmlRpcValue map, task;</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>  nh->getParam(<span class="stringliteral">"/data"</span>,map);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  nh->getParam(<span class="stringliteral">"/task/groups"</span>,task);</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="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* map_loader = <span class="keyword">new</span> <a class="code" href="classMap__loader.html">Map_loader</a>(map, task);</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>  ros::Publisher* pub = <span class="keyword">new</span> ros::Publisher(nh->advertise< visualization_msgs::MarkerArray >(<span class="stringliteral">"visualization_marker_array"</span>, 1)); <span class="comment">//refractor</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="classAbstract__mediator.html">Abstract_mediator</a>* mediator = <span class="keyword">new</span> <a class="code" href="classMoveit__mediator.html">Moveit_mediator</a>(map_loader-><a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>(), pub, nh);</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classMoveit__mediator.html">Moveit_mediator</a>* moveit_mediator = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__mediator.html">Moveit_mediator</a>*<span class="keyword">></span>(mediator);</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>  std::unique_ptr<Robot_reader> robot_reader = std::make_unique<Robot_reader>(nh);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">auto</span> rd = robot_reader->robot_data();</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < rd.size() ;i++) mediator-><a class="code" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a>(<span class="keyword">new</span> <a class="code" href="classMoveit__robot.html">Moveit_robot</a>(rd[i].name_, rd[i].pose_, rd[i].size_));</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>  std::unique_ptr<Wing_reader> wing_reader(<span class="keyword">new</span> <a class="code" href="classWing__reader.html">Wing_reader</a>(nh));</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">auto</span> wd = <span class="keyword">static_cast<</span><a class="code" href="classWing__reader.html">Wing_reader</a>*<span class="keyword">></span>(wing_reader.get())->wing_data();</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>  std::unique_ptr<Cuboid_reader> cuboid_reader = std::make_unique<Cuboid_reader>(nh);</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">auto</span> cbd = cuboid_reader->cuboid_bin();</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">auto</span> cod = cuboid_reader->cuboid_obstacle();</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> for (int i = 0; i < mediator->robots().size(); i++){</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> for(object_data& w : wd[i].first){</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> w.pose_ = mediator->robots()[i]->tf().inverse() * w.pose_;</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> mediator->robots()[i]->set_observer_mask(static_cast<wing_config>(wd[i].second));</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> moveit_mediator->set_wings(wd);</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> */</span></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>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(mediator-><a class="code" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()[0]);</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* ceti2 = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(mediator-><a class="code" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()[1]);</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>  </div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> for (int i = 0; i < mediator->robots().size(); i++){</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> std::bitset<3> bs = wd[i].second;</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> moveit_mediator->build_wings(bs, i);</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> */</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="l00079"></a><span class="lineno"> 79</span>  <span class="comment">//moveit::planning_interface::PlanningSceneInterface::applyCollisionObject()</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  ceti1-><a class="code" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>();</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  ceti2-><a class="code" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>();</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  moveit_mediator-><a class="code" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">mediate</a>();</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>  <span class="keywordflow">while</span> (ros::ok()){</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  ros::spinOnce();</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> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="amoveit__robot_8h_html"><div class="ttname"><a href="moveit__robot_8h.html">moveit_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a24f9a262c71f04f66550da4f61746e62"><div class="ttname"><a href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">Abstract_mediator::robots</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00054">impl/abstract_mediator.h:54</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</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="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#l00025">cell_routine.cpp:25</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassWing__reader_html"><div class="ttname"><a href="classWing__reader.html">Wing_reader</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="aabstract__map__loader_8h_html"><div class="ttname"><a href="abstract__map__loader_8h.html">abstract_map_loader.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab95c43650b9596fc2e9bc374abeeadf6"><div class="ttname"><a href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00125">robot.cpp:125</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="aclassAbstract__map__loader_html_aa9772fe2bd594967b8f7b980db442ca5"><div class="ttname"><a href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader::task_grasps</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > & task_grasps()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00046">abstract_map_loader.h:46</a></div></div>
+<div class="ttc" id="awing__moveit__decorator_8h_html"><div class="ttname"><a href="wing__moveit__decorator_8h.html">wing_moveit_decorator.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="amap__loader_8h_html"><div class="ttname"><a href="map__loader_8h.html">map_loader.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a0c102b5e272139492ab04ce0d4e43234"><div class="ttname"><a href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator::connect_robots</a></div><div class="ttdeci">virtual void connect_robots(Abstract_robot *robot)=0</div></div>
+<div class="ttc" id="acollision__helper_8h_html"><div class="ttname"><a href="collision__helper_8h.html">collision_helper.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="aclassMap__loader_html"><div class="ttname"><a href="classMap__loader.html">Map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8h_source.html#l00010">map_loader.h:10</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html"><div class="ttname"><a href="classMoveit__robot.html">Moveit_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00012">moveit_robot.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab864f0b277826dafff1944d9f884acff"><div class="ttname"><a href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00067">moveit_mediator.cpp:67</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html"><div class="ttname"><a href="classMoveit__mediator.html">Moveit_mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00054">moveit_mediator.h:54</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="awing_8h_html"><div class="ttname"><a href="wing_8h.html">wing.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/ceti__robot_8cpp.html b/doc/html/ceti__robot_8cpp.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: ceti_robot.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>
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+});
+/* @license-end */</script>
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+<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_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ceti_robot.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="ceti__robot_8h_source.html">robot/ceti_robot.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for ceti_robot.cpp:</div>
+<div class="dyncontent">
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+</div>
+</div>
+<p><a href="ceti__robot_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li> </ul>
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+<div class="title">ceti_robot.cpp</div> </div>
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+<div class="contents">
+<a href="ceti__robot_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="ceti__robot_8h.html">robot/ceti_robot.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="classCeti__robot.html#ade0920ab43886af89a431f7808207efd"> 3</a></span> <a class="code" href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot::Ceti_robot</a>(std::string& name, tf2::Transform tf, tf2::Vector3 size) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> : <a class="code" href="classAbstract__robot.html">Abstract_robot</a>(name, tf, size)</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> , observer_mask_(std::bitset<3>(0))</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>  <a class="code" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">generate_access_fields</a>();</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"> 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"><a class="line" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d"> 12</a></span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">Ceti_robot::generate_access_fields</a>(){</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i <= 2; i++){</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j <= 2; j++){</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordflow">if</span>(i == 0 && j == 0) {<span class="keywordflow">continue</span>;}</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">if</span>(i == 2 && j == 2) {<span class="keywordflow">continue</span>;}</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keywordflow">if</span>(i == 0) {</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getY()*j,0))));</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getY()*j,0))));</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == 0){</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getX()*i,0,0))));</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getX()*i,0,0))));</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>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getX()*i,<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getY()*j,0))));</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getX()*i,<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getY()*j,0))));</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getX()*i,-<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getY()*j,0))));</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getX()*i,-<a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>.getY()*j,0))));</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>  };</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>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1.305f,0,0))));</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-1.305f,0,0))));</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,1.305f,0))));</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-1.305f,0)))); </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>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9"> 38</a></span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot::workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj){</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>.size(); i++){</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  tf2::Transform A = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[0];</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  tf2::Transform B = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[1];</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  tf2::Transform C = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[2];</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tf2::Transform D = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[3];</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="keywordtype">float</span> full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,B,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,obj,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,obj,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,obj,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(obj, B, 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"> 48</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) { </div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  count_vector[i]++; <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">continue</span>;</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"> 55</span>  tf2::Transform A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[0];</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  tf2::Transform B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[1];</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  tf2::Transform C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[2];</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  tf2::Transform D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,B,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,obj,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,obj,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,obj,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) count_vector.back()++; <span class="keywordflow">return</span>;</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>  </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384"> 65</a></span> <span class="keywordtype">bool</span> <a class="code" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot::check_single_object_collision</a>(tf2::Transform& obj, std::string& 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>  tf2::Transform A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[0];</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  tf2::Transform B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[1];</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  tf2::Transform C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[2];</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  tf2::Transform D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[3];</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">float</span> full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,B,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,obj,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,obj,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,obj,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) {<span class="keywordflow">return</span> <span class="keyword">false</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>  std::stringstream ss;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  ss << <span class="stringliteral">"base_"</span> << <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>.back();</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[0];</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[1];</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[2];</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[3];</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,B,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,obj,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,obj,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,obj,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area){</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  str = ss.str();</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  </div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>.size(); i++){</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  tf2::Transform A = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[0];</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  tf2::Transform B = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[1];</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  tf2::Transform C = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[2];</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  tf2::Transform D = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[3];</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>  full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,B,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,obj,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,obj,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,obj,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) {</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  str = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->name();</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</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>  <span class="keywordflow">return</span> <span class="keyword">false</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"> 105</span>  </div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54"> 106</a></span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">Ceti_robot::reset</a>(){</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>.clear();</div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.clear();</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">generate_access_fields</a>();</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0, <a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>().getOrigin().getZ()));</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</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"><a class="line" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390"> 113</a></span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot::notify</a>(){ </div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>.size(); i++) <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->update(<a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>); </div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>.size(); i++) <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>[i]->update(<a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>);</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="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687"> 118</a></span> <span class="keywordtype">bool</span> <a class="code" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot::in_collision</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* rob){</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  tf2::Transform A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[0];</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  tf2::Transform B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[1];</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  tf2::Transform C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[2];</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  tf2::Transform D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,B,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,rob-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>(),D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,rob-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>(),C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,rob-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>(),B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(rob-><a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>(), B, A);</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</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>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>().<a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>(); i++) {</div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  tf2::Transform WA = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf() * rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->bounds()[0];</div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  tf2::Transform WB = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf() * rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->bounds()[1];</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  tf2::Transform WC = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf() * rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->bounds()[2];</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  tf2::Transform WD = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->world_tf() * rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[i]->bounds()[3];</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,WA,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,WA,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,WA,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,WB,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,WB,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,WB,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WB, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,WC,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,WC,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,WC,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WC, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(A,WD,D) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(D,WD,C) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(C,WD,B) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WD, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</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>  </div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>.size(); i++){</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  tf2::Transform WA = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[0];</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  tf2::Transform WB = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[1];</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  tf2::Transform WC = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[2];</div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  tf2::Transform WD = <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[i]->bounds()[3];</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>  full_area = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA,WB,WC) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA,WD,WC);</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 < rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>().<a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>(); j++) {</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  tf2::Transform WA2 = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[j]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[j]->bounds()[0];</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  tf2::Transform WB2 = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[j]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[j]->bounds()[1];</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  tf2::Transform WC2 = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[j]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[j]->bounds()[2];</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  tf2::Transform WD2 = rob-><a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()[j]->world_tf() * <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>[j]->bounds()[3];</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA,WA2,WD) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WD,WA2,WC) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WC,WA2,WB) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA,WB2,WD) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WD,WB2,WC) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WC,WB2,WB) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WB2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA,WC2,WD) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WD,WC2,WC) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WC,WC2,WB) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WC2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  sum = <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WA,WD2,WD) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WD,WD2,WC) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WC,WD2,WB) + <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(WD2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</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"> 157</span>  <span class="keywordflow">return</span> <span class="keyword">false</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>  </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>  </div>
+<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77"> 162</a></span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">Ceti_robot::register_observers</a>(std::unique_ptr<Abstract_robot_element> wd){</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment"> auto deco = dynamic_cast<Abstract_robot_element_decorator*>(wd.get());</span></div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="comment"> bool found = false;</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> <span class="comment"> int index = 0;</span></div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"> if (deco->wing()->relative_tf().getOrigin().getY()>0){</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> for(long unsigned int i = 0; i < access_fields_.size(); i++){</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> if ((access_fields_[i]->relative_tf().getOrigin().getY() > 0) && (access_fields_[i]->relative_tf().getOrigin().getX() == 0)){</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> found = true;</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> index = i;</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment"> break;</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="comment"> if(found) {access_fields_.erase(access_fields_.begin() + index); return;}</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment"> } else if (deco->wing()->relative_tf().getOrigin().getY()<0) {</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"> for(long unsigned int i = 0; i < access_fields_.size(); i++){</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"> if ((access_fields_[i]->relative_tf().getOrigin().getY() < 0) && (access_fields_[i]->relative_tf().getOrigin().getX() == 0)){</span></div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> found = true;</span></div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"> index = i;</span></div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> break;</span></div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment"> if(found) {access_fields_.erase(access_fields_.begin() + index); return;}</span></div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment"> } else {</span></div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"> for(long unsigned int i = 0; i < access_fields_.size(); i++){</span></div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> if (access_fields_[i]->relative_tf().getOrigin().getX() > 0){</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"> found = true;</span></div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> index = i;</span></div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> break;</span></div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"> if(found) {access_fields_.erase(access_fields_.begin() + index); return;}</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"> observers_.push_back(std::move(wd));</span></div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> };</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassCeti__robot_html_a50602f1990429a31148ec90369c8b390"><div class="ttname"><a href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdoc">Observer pattern.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00113">ceti_robot.cpp:113</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ace21ef0128109d49de07e1fe675b595d"><div class="ttname"><a href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">Ceti_robot::generate_access_fields</a></div><div class="ttdeci">void generate_access_fields()</div><div class="ttdoc">Generate access fields as surrounding poses for possible robots.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00012">ceti_robot.cpp:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a598a8379918fbdaf44358be840f146b7"><div class="ttname"><a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot::root_tf_</a></div><div class="ttdeci">tf2::Transform root_tf_</div><div class="ttdoc">Robot root on table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00030">impl/abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a1402d06f3393679d585376716cc2a534"><div class="ttname"><a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">Abstract_robot::area_calculation</a></div><div class="ttdeci">float area_calculation(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</div><div class="ttdoc">Triangle area calculator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8cpp_source.html#l00022">abstract_robot.cpp:22</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a60528a5a7c83e0b15d9fee091b00e5b3"><div class="ttname"><a href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">Ceti_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00043">ceti_robot.h:43</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ac28cfaf3ea80e2d3271c0c8ca634dc77"><div class="ttname"><a href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">Ceti_robot::register_observers</a></div><div class="ttdeci">void register_observers(std::unique_ptr< Abstract_robot_element > wd)</div><div class="ttdoc">Register observers in vector.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00162">ceti_robot.cpp:162</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="aclassCeti__robot_html_aafdcb4ce7d655b291170818c43162aa7"><div class="ttname"><a href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">Ceti_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00044">ceti_robot.h:44</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ae788dd0c96ea0112e46c0c817eb40466"><div class="ttname"><a href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">Ceti_robot::access_fields_</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > access_fields_</div><div class="ttdoc">Serrounding Fields shared pointers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00025">ceti_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a28c13c43328a26f12659ff086d77394e"><div class="ttname"><a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdoc">Bounds of table top surface.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00031">impl/abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_af0e5f7417926e50ccb607c6612170687"><div class="ttname"><a href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot::in_collision</a></div><div class="ttdeci">bool in_collision(Ceti_robot *R)</div><div class="ttdoc">Collsion calculation.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00118">ceti_robot.cpp:118</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a854a3c8c740dcb60e0ee347fcd5447f6"><div class="ttname"><a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdoc">Pose of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00029">impl/abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a948403a8fba6220b86d2cda6cb74a326"><div class="ttname"><a href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > & 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>
+<div class="ttc" id="aclassCeti__robot_html_a9db994a08373f0c75bd69226855f2b54"><div class="ttname"><a href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">Ceti_robot::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Resset all robot properties.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00106">ceti_robot.cpp:106</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html"><div class="ttname"><a href="classCeti__robot.html">Ceti_robot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00022">ceti_robot.h:22</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_af8c6391807befcfd2d431ad180a3beaf"><div class="ttname"><a href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">Ceti_robot::observers_</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > observers_</div><div class="ttdoc">Wing shared pointers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00024">ceti_robot.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><div class="ttname"><a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">Name of robot.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00027">impl/abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af92f5538f28fbe61687d70f15e84fb82"><div class="ttname"><a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">Abstract_robot::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdoc">Size of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00028">impl/abstract_robot.h:28</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a128b5891d5519855c387dd0fd3b04384"><div class="ttname"><a href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot::check_single_object_collision</a></div><div class="ttdeci">bool check_single_object_collision(tf2::Transform &obj, std::string &str) override</div><div class="ttdoc">Collsion calculation for single objects.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00065">ceti_robot.cpp:65</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a8bfe48e6325263ae5607a5621dedebe9"><div class="ttname"><a href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot::workload_checker</a></div><div class="ttdeci">void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj) override</div><div class="ttdoc">Object counter.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00038">ceti_robot.cpp:38</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a6d8ed98b1820134733f8d1a42eaa00c4"><div class="ttname"><a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot::robot_root_bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > robot_root_bounds_</div><div class="ttdoc">Bounds of robot arm as sub-region of table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00032">impl/abstract_robot.h:32</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ade0920ab43886af89a431f7808207efd"><div class="ttname"><a href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot::Ceti_robot</a></div><div class="ttdeci">Ceti_robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdoc">Ceti robot constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00003">ceti_robot.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/ceti__robot_8h.html b/doc/html/ceti__robot_8h.html
new file mode 100644
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+++ b/doc/html/ceti__robot_8h.html
@@ -0,0 +1,95 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: ceti_robot.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">ceti_robot.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="panel_8h_source.html">robot_element/observers/panel.h</a>"</code><br />
+<code>#include "<a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>"</code><br />
+<code>#include <moveit/planning_scene_interface/planning_scene_interface.h></code><br />
+<code>#include <moveit/move_group_interface/move_group_interface.h></code><br />
+<code>#include <moveit_msgs/ApplyPlanningScene.h></code><br />
+<code>#include <moveit/robot_model_loader/robot_model_loader.h></code><br />
+<code>#include <moveit/planning_scene/planning_scene.h></code><br />
+<code>#include <moveit/kinematic_constraints/utils.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for ceti_robot.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="ceti__robot_8h__incl.png" border="0" usemap="#ceti__robot_8h" alt=""/></div>
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+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="ceti__robot_8h__dep__incl.png" border="0" usemap="#ceti__robot_8hdep" alt=""/></div>
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+</div>
+</div>
+<p><a href="ceti__robot_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="classCeti__robot.html">Ceti_robot</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Concrete Ceti-Robot. <a href="classCeti__robot.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: ceti_robot.h 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 -->
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+ 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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ceti_robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ceti__robot_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 CETI_ROBOT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define CETI_ROBOT_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot_2abstract__robot_8h.html">robot/abstract_robot.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__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">robot_element/decorators/abstract_robot_element_decorator.h</a>"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="panel_8h.html">robot_element/observers/panel.h</a>"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2observers_2field_8h.html">robot_element/observers/field.h</a>"</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"> 11</span> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <moveit/robot_model_loader/robot_model_loader.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <moveit/kinematic_constraints/utils.h></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classCeti__robot.html"> 22</a></span> <span class="keyword">class </span><a class="code" href="classCeti__robot.html">Ceti_robot</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot.html">Abstract_robot</a>{</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf"> 24</a></span>  std::vector<std::unique_ptr<Abstract_robot_element>> <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466"> 25</a></span>  std::vector<std::unique_ptr<Abstract_robot_element>> <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b"> 26</a></span>  std::vector<std::shared_ptr<moveit_msgs::CollisionObject>> <a class="code" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">coll_markers_</a>; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9"> 27</a></span>  std::bitset<3> <a class="code" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">observer_mask_</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="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot</a>(std::string& <a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>, tf2::Transform <a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>, tf2::Vector3 <a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>);</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>  </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b"> 42</a></span>  std::string& <a class="code" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>;}</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3"> 43</a></span>  tf2::Transform& <a class="code" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>;}</div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7"> 44</a></span>  tf2::Vector3& <a class="code" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>;}</div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e"> 45</a></span>  tf2::Transform& <a class="code" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">root_tf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a>;}</div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df"> 46</a></span>  std::vector<tf2::Transform>& <a class="code" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>;}</div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec"> 47</a></span>  std::vector<tf2::Transform>& <a class="code" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">robot_root_bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>;}</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326"> 53</a></span>  <span class="keyword">inline</span> std::vector<std::unique_ptr<Abstract_robot_element>>& <a class="code" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>() { <span class="keywordflow">return</span> <a class="code" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a>;}</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7"> 59</a></span>  <span class="keyword">inline</span> std::vector<std::unique_ptr<Abstract_robot_element>>& <a class="code" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">access_fields</a>() { <span class="keywordflow">return</span> <a class="code" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a>;}</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c"> 65</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">add_coll_markers</a>(std::shared_ptr<moveit_msgs::CollisionObject> marker) {<a class="code" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">coll_markers_</a>.push_back(marker);}</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="l00071"></a><span class="lineno"><a class="line" href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb"> 71</a></span>  <span class="keyword">inline</span> std::vector<std::shared_ptr<moveit_msgs::CollisionObject>> <a class="code" href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">coll_markers</a>(){ <span class="keywordflow">return</span> <a class="code" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">coll_markers_</a>;}</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="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">register_observers</a>(std::unique_ptr<Abstract_robot_element> wd);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">reset</a>();</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">generate_access_fields</a>();</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">bool</span> <a class="code" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">in_collision</a>(<a class="code" href="classCeti__robot.html">Ceti_robot</a>* R);</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">bool</span> <a class="code" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">check_single_object_collision</a>(tf2::Transform& obj, std::string& str) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">notify</a>() <span class="keyword">override</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"><a class="line" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536"> 117</a></span>  <span class="keyword">inline</span> std::bitset<3> <a class="code" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">observer_mask</a>() {<span class="keywordflow">return</span> <a class="code" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">observer_mask_</a>;}</div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16"> 118</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">set_observer_mask</a>(<span class="keywordtype">int</span> i) {<a class="code" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">observer_mask_</a> = std::bitset<3>(i);}</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"> 122</span> };</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"> 125</span>  </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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a50602f1990429a31148ec90369c8b390"><div class="ttname"><a href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdoc">Observer pattern.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00113">ceti_robot.cpp:113</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ace21ef0128109d49de07e1fe675b595d"><div class="ttname"><a href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">Ceti_robot::generate_access_fields</a></div><div class="ttdeci">void generate_access_fields()</div><div class="ttdoc">Generate access fields as surrounding poses for possible robots.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00012">ceti_robot.cpp:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a598a8379918fbdaf44358be840f146b7"><div class="ttname"><a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot::root_tf_</a></div><div class="ttdeci">tf2::Transform root_tf_</div><div class="ttdoc">Robot root on table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00030">impl/abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a86d9f27c0ebcbc7b7ce79a3ebfe60a16"><div class="ttname"><a href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">Ceti_robot::set_observer_mask</a></div><div class="ttdeci">void set_observer_mask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00118">ceti_robot.h:118</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a60528a5a7c83e0b15d9fee091b00e5b3"><div class="ttname"><a href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">Ceti_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00043">ceti_robot.h:43</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ac28cfaf3ea80e2d3271c0c8ca634dc77"><div class="ttname"><a href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">Ceti_robot::register_observers</a></div><div class="ttdeci">void register_observers(std::unique_ptr< Abstract_robot_element > wd)</div><div class="ttdoc">Register observers in vector.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00162">ceti_robot.cpp:162</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_aafdcb4ce7d655b291170818c43162aa7"><div class="ttname"><a href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">Ceti_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00044">ceti_robot.h:44</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a96c4c46c18217a5f55bbb9e8d57d0b9b"><div class="ttname"><a href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">Ceti_robot::coll_markers_</a></div><div class="ttdeci">std::vector< std::shared_ptr< moveit_msgs::CollisionObject > > coll_markers_</div><div class="ttdoc">to be checked</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00026">ceti_robot.h:26</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a4ad187750675fbe7ba8ded55f2c0e3b7"><div class="ttname"><a href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">Ceti_robot::access_fields</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > & access_fields()</div><div class="ttdoc">Get access fields.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00059">ceti_robot.h:59</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ae788dd0c96ea0112e46c0c817eb40466"><div class="ttname"><a href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">Ceti_robot::access_fields_</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > access_fields_</div><div class="ttdoc">Serrounding Fields shared pointers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00025">ceti_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a28c13c43328a26f12659ff086d77394e"><div class="ttname"><a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdoc">Bounds of table top surface.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00031">impl/abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_af0e5f7417926e50ccb607c6612170687"><div class="ttname"><a href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot::in_collision</a></div><div class="ttdeci">bool in_collision(Ceti_robot *R)</div><div class="ttdoc">Collsion calculation.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00118">ceti_robot.cpp:118</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a854a3c8c740dcb60e0ee347fcd5447f6"><div class="ttname"><a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdoc">Pose of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00029">impl/abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_adfdaf371d8c0ba26fe6ea193539cd2f9"><div class="ttname"><a href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">Ceti_robot::observer_mask_</a></div><div class="ttdeci">std::bitset< 3 > observer_mask_</div><div class="ttdoc">Bitmap to set observers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00027">ceti_robot.h:27</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a2bca93f0ea688ce45a50b06edae104df"><div class="ttname"><a href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">Ceti_robot::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00046">ceti_robot.h:46</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a948403a8fba6220b86d2cda6cb74a326"><div class="ttname"><a href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > & 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>
+<div class="ttc" id="aclassCeti__robot_html_a9db994a08373f0c75bd69226855f2b54"><div class="ttname"><a href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">Ceti_robot::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Resset all robot properties.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00106">ceti_robot.cpp:106</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a85afa4e99b4d31282a0b1e7cba45176c"><div class="ttname"><a href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">Ceti_robot::add_coll_markers</a></div><div class="ttdeci">void add_coll_markers(std::shared_ptr< moveit_msgs::CollisionObject > marker)</div><div class="ttdoc">Adds marker to array.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00065">ceti_robot.h:65</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html"><div class="ttname"><a href="classCeti__robot.html">Ceti_robot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00022">ceti_robot.h:22</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_af8c6391807befcfd2d431ad180a3beaf"><div class="ttname"><a href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">Ceti_robot::observers_</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_element > > observers_</div><div class="ttdoc">Wing shared pointers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00024">ceti_robot.h:24</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_afeb11427714da34b8203de2d094dd536"><div class="ttname"><a href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">Ceti_robot::observer_mask</a></div><div class="ttdeci">std::bitset< 3 > observer_mask()</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00117">ceti_robot.h:117</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><div class="ttname"><a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">Name of robot.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00027">impl/abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af92f5538f28fbe61687d70f15e84fb82"><div class="ttname"><a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">Abstract_robot::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdoc">Size of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00028">impl/abstract_robot.h:28</a></div></div>
+<div class="ttc" id="arobot__element_2observers_2field_8h_html"><div class="ttname"><a href="robot__element_2observers_2field_8h.html">field.h</a></div></div>
+<div class="ttc" id="arobot__element_2decorators_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ac5776cb1039f39138f46c3a13799ee3b"><div class="ttname"><a href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">Ceti_robot::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00042">ceti_robot.h:42</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a128b5891d5519855c387dd0fd3b04384"><div class="ttname"><a href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot::check_single_object_collision</a></div><div class="ttdeci">bool check_single_object_collision(tf2::Transform &obj, std::string &str) override</div><div class="ttdoc">Collsion calculation for single objects.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00065">ceti_robot.cpp:65</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a4c9612f7a87974aa64622fd4acd8123e"><div class="ttname"><a href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">Ceti_robot::root_tf</a></div><div class="ttdeci">tf2::Transform & root_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00045">ceti_robot.h:45</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a31ba978529d6f3039ff7223f90d864ec"><div class="ttname"><a href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">Ceti_robot::robot_root_bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & robot_root_bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00047">ceti_robot.h:47</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a8bfe48e6325263ae5607a5621dedebe9"><div class="ttname"><a href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot::workload_checker</a></div><div class="ttdeci">void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj) override</div><div class="ttdoc">Object counter.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00038">ceti_robot.cpp:38</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a6d8ed98b1820134733f8d1a42eaa00c4"><div class="ttname"><a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot::robot_root_bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > robot_root_bounds_</div><div class="ttdoc">Bounds of robot arm as sub-region of table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00032">impl/abstract_robot.h:32</a></div></div>
+<div class="ttc" id="apanel_8h_html"><div class="ttname"><a href="panel_8h.html">panel.h</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_ade0920ab43886af89a431f7808207efd"><div class="ttname"><a href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot::Ceti_robot</a></div><div class="ttdeci">Ceti_robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdoc">Ceti robot constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00003">ceti_robot.cpp:3</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_aa12e1de6f139604143bb19b34abbfaeb"><div class="ttname"><a href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">Ceti_robot::coll_markers</a></div><div class="ttdeci">std::vector< std::shared_ptr< moveit_msgs::CollisionObject > > coll_markers()</div><div class="ttdoc">Get collision markers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00071">ceti_robot.h:71</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__base-members.html b/doc/html/classAbstract__base-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..878b4877f46f8713f51f337a9569399d0cfd37ad
--- /dev/null
+++ b/doc/html/classAbstract__base-members.html
@@ -0,0 +1,56 @@
+<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">Abstract_base Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__base.html">Abstract_base</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">base_calculation</a>()=0</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">create_pcl_box</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">implementation</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">inv_map</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">map</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">nh_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">set_implementation</a>(std::shared_ptr< Abstract_base_implementation > some_implememntation)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">set_inv_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">set_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">set_target_cloud</a>(std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">set_task_space</a>(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">target_cloud</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">task_space</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">write_task</a>(Abstract_robot *robot)=0</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">pure virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__base.html b/doc/html/classAbstract__base.html
new file mode 100644
index 0000000000000000000000000000000000000000..862810398493c836849e7b9c3a43dc367485a147
--- /dev/null
+++ b/doc/html/classAbstract__base.html
@@ -0,0 +1,749 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_base 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="#pub-static-methods">Static Public Member Functions</a> |
+<a href="#pro-attribs">Protected Attributes</a> |
+<a href="classAbstract__base-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_base Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstract base class.
+ <a href="classAbstract__base.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_base:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__base__inherit__graph.png" border="0" usemap="#Abstract__base_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__base_inherit__map" id="Abstract__base_inherit__map">
+<area shape="rect" title="Abstract base class." alt="" coords="5,5,120,32"/>
+<area shape="rect" href="classSimple__base.html" title="refiend base abstraction" alt="" coords="10,80,115,107"/>
+</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:a68300edaeff45edafe777bc4f7be2433"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a68300edaeff45edafe777bc4f7be2433"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base constructor. <a href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">More...</a><br /></td></tr>
+<tr class="separator:a68300edaeff45edafe777bc4f7be2433"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a205a26b0fb0e75b2ea3a442cdc0926b2"><td class="memItemLeft" align="right" valign="top">virtual std::map< const std::string, std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">base_calculation</a> ()=0</td></tr>
+<tr class="memdesc:a205a26b0fb0e75b2ea3a442cdc0926b2"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual template methode <a href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">More...</a><br /></td></tr>
+<tr class="separator:a205a26b0fb0e75b2ea3a442cdc0926b2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9fe29f317aeb7337c2eaeaefdc1d1ba9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">implementation</a> ()</td></tr>
+<tr class="memdesc:a9fe29f317aeb7337c2eaeaefdc1d1ba9"><td class="mdescLeft"> </td><td class="mdescRight">Get used implementation. <a href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">More...</a><br /></td></tr>
+<tr class="separator:a9fe29f317aeb7337c2eaeaefdc1d1ba9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aebb83168a14d660a024240bfaad70a80"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">inv_map</a> ()</td></tr>
+<tr class="memdesc:aebb83168a14d660a024240bfaad70a80"><td class="mdescLeft"> </td><td class="mdescRight">Get inverse map structure. <a href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">More...</a><br /></td></tr>
+<tr class="separator:aebb83168a14d660a024240bfaad70a80"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0a16c06aa3591c4daa7872dd0a1510d8"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">map</a> ()</td></tr>
+<tr class="memdesc:a0a16c06aa3591c4daa7872dd0a1510d8"><td class="mdescLeft"> </td><td class="mdescRight">Get map structure. <a href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">More...</a><br /></td></tr>
+<tr class="separator:a0a16c06aa3591c4daa7872dd0a1510d8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae41eb0b9891cdcfca4ae7df8234a9113"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">set_implementation</a> (std::shared_ptr< <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> > some_implememntation)</td></tr>
+<tr class="memdesc:ae41eb0b9891cdcfca4ae7df8234a9113"><td class="mdescLeft"> </td><td class="mdescRight">Set used implementation. <a href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">More...</a><br /></td></tr>
+<tr class="separator:ae41eb0b9891cdcfca4ae7df8234a9113"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12b49689227a6dd6d0aa55fe273dfae2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">set_inv_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="memdesc:a12b49689227a6dd6d0aa55fe273dfae2"><td class="mdescLeft"> </td><td class="mdescRight">Set inverse map structure. <a href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">More...</a><br /></td></tr>
+<tr class="separator:a12b49689227a6dd6d0aa55fe273dfae2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac83e7d3257c5cadc3285a90801f7a479"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">set_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="memdesc:ac83e7d3257c5cadc3285a90801f7a479"><td class="mdescLeft"> </td><td class="mdescRight">Set map structure. <a href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">More...</a><br /></td></tr>
+<tr class="separator:ac83e7d3257c5cadc3285a90801f7a479"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a65784b6507975934712e2509e237680a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">set_target_cloud</a> (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td></tr>
+<tr class="memdesc:a65784b6507975934712e2509e237680a"><td class="mdescLeft"> </td><td class="mdescRight">Set task cloud. <a href="classAbstract__base.html#a65784b6507975934712e2509e237680a">More...</a><br /></td></tr>
+<tr class="separator:a65784b6507975934712e2509e237680a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae2031dc21ac6416978f9fe854449287e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">set_task_space</a> (std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> &s_trans)</td></tr>
+<tr class="memdesc:ae2031dc21ac6416978f9fe854449287e"><td class="mdescLeft"> </td><td class="mdescRight">Set task space. <a href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">More...</a><br /></td></tr>
+<tr class="separator:ae2031dc21ac6416978f9fe854449287e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab7c57b1ac4fb42ab400c0fc08e9aff61"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">target_cloud</a> ()</td></tr>
+<tr class="memdesc:ab7c57b1ac4fb42ab400c0fc08e9aff61"><td class="mdescLeft"> </td><td class="mdescRight">Get task cloud. <a href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">More...</a><br /></td></tr>
+<tr class="separator:ab7c57b1ac4fb42ab400c0fc08e9aff61"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad4b63750f9b890cf99f9187624cc97be"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion > > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">task_space</a> ()</td></tr>
+<tr class="memdesc:ad4b63750f9b890cf99f9187624cc97be"><td class="mdescLeft"> </td><td class="mdescRight">Get task space. <a href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">More...</a><br /></td></tr>
+<tr class="separator:ad4b63750f9b890cf99f9187624cc97be"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3fa949c8f9fd12d96add87d38810ceef"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">write_task</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot)=0</td></tr>
+<tr class="memdesc:a3fa949c8f9fd12d96add87d38810ceef"><td class="mdescLeft"> </td><td class="mdescRight">write trask <a href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">More...</a><br /></td></tr>
+<tr class="separator:a3fa949c8f9fd12d96add87d38810ceef"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4f721d18ef125fe286eeb7978fc499ba"><td class="memItemLeft" align="right" valign="top">static std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">create_pcl_box</a> ()</td></tr>
+<tr class="memdesc:a4f721d18ef125fe286eeb7978fc499ba"><td class="mdescLeft"> </td><td class="mdescRight">box discretization <a href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">More...</a><br /></td></tr>
+<tr class="separator:a4f721d18ef125fe286eeb7978fc499ba"><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:ab73fdbf60e0d79d8ba4eeca3a894e39e"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a></td></tr>
+<tr class="memdesc:ab73fdbf60e0d79d8ba4eeca3a894e39e"><td class="mdescLeft"> </td><td class="mdescRight">refined implementation <a href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">More...</a><br /></td></tr>
+<tr class="separator:ab73fdbf60e0d79d8ba4eeca3a894e39e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b80b83e10a75f0421594e46c9b49381"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a></td></tr>
+<tr class="memdesc:a9b80b83e10a75f0421594e46c9b49381"><td class="mdescLeft"> </td><td class="mdescRight">Inversion of reachability map structure. <a href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">More...</a><br /></td></tr>
+<tr class="separator:a9b80b83e10a75f0421594e46c9b49381"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a589f01126eab356919d97480e30b17ab"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a></td></tr>
+<tr class="memdesc:a589f01126eab356919d97480e30b17ab"><td class="mdescLeft"> </td><td class="mdescRight">Reachability map structure of a robot. <a href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">More...</a><br /></td></tr>
+<tr class="separator:a589f01126eab356919d97480e30b17ab"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a54d21fd6fe1217c1b065c5b500e3e8d0"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">nh_</a></td></tr>
+<tr class="memdesc:a54d21fd6fe1217c1b065c5b500e3e8d0"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">More...</a><br /></td></tr>
+<tr class="separator:a54d21fd6fe1217c1b065c5b500e3e8d0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a20a272f916415c6d30d6c3af3eb75f33"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</a></td></tr>
+<tr class="memdesc:a20a272f916415c6d30d6c3af3eb75f33"><td class="mdescLeft"> </td><td class="mdescRight">Pointcloud structure, mapped to robot. <a href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">More...</a><br /></td></tr>
+<tr class="separator:a20a272f916415c6d30d6c3af3eb75f33"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8c32441b38f2cb24388e8d98fd8fe2bc"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion > > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a></td></tr>
+<tr class="memdesc:a8c32441b38f2cb24388e8d98fd8fe2bc"><td class="mdescLeft"> </td><td class="mdescRight">Drop-off locations with their grasp orientations, mapped to a robot. <a href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">More...</a><br /></td></tr>
+<tr class="separator:a8c32441b38f2cb24388e8d98fd8fe2bc"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Abstract base class. </p>
+<p>Class which represents the template class abstraction, which calls methodes from an abstract implementation </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00029">29</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a68300edaeff45edafe777bc4f7be2433"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68300edaeff45edafe777bc4f7be2433">◆ </a></span>Abstract_base()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_base::Abstract_base </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>Abstract base constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ros::NodeHandle to interact with paramserver </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00045">45</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a205a26b0fb0e75b2ea3a442cdc0926b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a205a26b0fb0e75b2ea3a442cdc0926b2">◆ </a></span>base_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::map<const std::string, std::vector<pcl::PointXYZ> > Abstract_base::base_calculation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual template methode </p>
+<p>bridge template methode, in which implementation is called to calculate base positions </p><dl class="section return"><dt>Returns</dt><dd>base positions as pcl::PointXYZ vector mapped to robot </dd></dl>
+
+<p>Implemented in <a class="el" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base</a>.</p>
+
+</div>
+</div>
+<a id="a4f721d18ef125fe286eeb7978fc499ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f721d18ef125fe286eeb7978fc499ba">◆ </a></span>create_pcl_box()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">static std::vector<pcl::PointXYZ> Abstract_base::create_pcl_box </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>box discretization </p>
+<p>box shaped representation of space, centered at origin (0,0,0) </p><dl class="section return"><dt>Returns</dt><dd>vector of pcl::PointXYZ data </dd></dl>
+
+</div>
+</div>
+<a id="a9fe29f317aeb7337c2eaeaefdc1d1ba9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fe29f317aeb7337c2eaeaefdc1d1ba9">◆ </a></span>implementation()</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="classAbstract__base__implementation.html">Abstract_base_implementation</a>* Abstract_base::implementation </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 used implementation. </p>
+<dl class="section return"><dt>Returns</dt><dd>implementation </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00051">51</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="aebb83168a14d660a024240bfaad70a80"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aebb83168a14d660a024240bfaad70a80">◆ </a></span>inv_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_base::inv_map </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 inverse map structure. </p>
+<dl class="section return"><dt>Returns</dt><dd>inverse map structure </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00063">63</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a0a16c06aa3591c4daa7872dd0a1510d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a16c06aa3591c4daa7872dd0a1510d8">◆ </a></span>map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_base::map </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 map structure. </p>
+<dl class="section return"><dt>Returns</dt><dd>map structure </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00075">75</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="ae41eb0b9891cdcfca4ae7df8234a9113"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41eb0b9891cdcfca4ae7df8234a9113">◆ </a></span>set_implementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_base::set_implementation </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> > </td>
+ <td class="paramname"><em>some_implememntation</em></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>Set used implementation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">some_implememntation</td><td>specific implementation for bridge pattern </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00057">57</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a12b49689227a6dd6d0aa55fe273dfae2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12b49689227a6dd6d0aa55fe273dfae2">◆ </a></span>set_inv_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_base::set_inv_map </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>list</em></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>Set inverse map structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">list</td><td>inverse map structure </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00069">69</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="ac83e7d3257c5cadc3285a90801f7a479"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac83e7d3257c5cadc3285a90801f7a479">◆ </a></span>set_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_base::set_map </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>list</em></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>Set map structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">list</td><td>map structure </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00081">81</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a65784b6507975934712e2509e237680a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a65784b6507975934712e2509e237680a">◆ </a></span>set_target_cloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_base::set_target_cloud </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> & </td>
+ <td class="paramname"><em>cloud</em></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>Set task cloud. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">cloud</td><td>cloud map </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00106">106</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="ae2031dc21ac6416978f9fe854449287e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae2031dc21ac6416978f9fe854449287e">◆ </a></span>set_task_space()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_base::set_task_space </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> & </td>
+ <td class="paramname"><em>s_trans</em></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>Set task space. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">s_trans</td><td>task space </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00093">93</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="ab7c57b1ac4fb42ab400c0fc08e9aff61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7c57b1ac4fb42ab400c0fc08e9aff61">◆ </a></span>target_cloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> >& Abstract_base::target_cloud </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 task cloud. </p>
+<dl class="section return"><dt>Returns</dt><dd>task cloud map </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00100">100</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="ad4b63750f9b890cf99f9187624cc97be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4b63750f9b890cf99f9187624cc97be">◆ </a></span>task_space()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<std::pair<<a class="el" href="structobject__data.html">object_data</a>,std::vector<tf2::Quaternion> > > >& Abstract_base::task_space </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 task space. </p>
+<dl class="section return"><dt>Returns</dt><dd>task space </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00087">87</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a3fa949c8f9fd12d96add87d38810ceef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fa949c8f9fd12d96add87d38810ceef">◆ </a></span>write_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_base::write_task </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>write trask </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">Simple_base</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab73fdbf60e0d79d8ba4eeca3a894e39e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab73fdbf60e0d79d8ba4eeca3a894e39e">◆ </a></span>implementation_</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<<a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a>> Abstract_base::implementation_</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>refined implementation </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00038">38</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a9b80b83e10a75f0421594e46c9b49381"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b80b83e10a75f0421594e46c9b49381">◆ </a></span>inv_map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Abstract_base::inv_map_</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>Inversion of reachability map structure. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00034">34</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a589f01126eab356919d97480e30b17ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a589f01126eab356919d97480e30b17ab">◆ </a></span>map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Abstract_base::map_</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>Reachability map structure of a robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00033">33</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a54d21fd6fe1217c1b065c5b500e3e8d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54d21fd6fe1217c1b065c5b500e3e8d0">◆ </a></span>nh_</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<ros::NodeHandle> Abstract_base::nh_</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>Ros nodehandle object. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00031">31</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a20a272f916415c6d30d6c3af3eb75f33"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20a272f916415c6d30d6c3af3eb75f33">◆ </a></span>target_cloud_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> > Abstract_base::target_cloud_</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>Pointcloud structure, mapped to robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00036">36</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a8c32441b38f2cb24388e8d98fd8fe2bc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8c32441b38f2cb24388e8d98fd8fe2bc">◆ </a></span>task_space_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<std::pair<<a class="el" href="structobject__data.html">object_data</a>,std::vector<tf2::Quaternion> > > > Abstract_base::task_space_</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>Drop-off locations with their grasp orientations, mapped to a robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00035">35</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="abstract__base_8h_source.html">abstract_base.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__base__implementation-members.html b/doc/html/classAbstract__base__implementation-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..b6d750a38e1bc487eb7998dc774b20d6a3a3f03d
--- /dev/null
+++ b/doc/html/classAbstract__base__implementation-members.html
@@ -0,0 +1,40 @@
+<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">Abstract_base_implementation Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>()=default</td><td class="entry"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">inv_map_creation</a>(std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space)=0</td><td class="entry"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">set_grasp_orientations</a>(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var)=0</td><td class="entry"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">~Abstract_base_implementation</a>()=default</td><td class="entry"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__base__implementation.html b/doc/html/classAbstract__base__implementation.html
new file mode 100644
index 0000000000000000000000000000000000000000..192863d043089002db94c612dfc53ef6a48762a6
--- /dev/null
+++ b/doc/html/classAbstract__base__implementation.html
@@ -0,0 +1,220 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_base_implementation 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="classAbstract__base__implementation-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_base_implementation Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>abstract base implementation
+ <a href="classAbstract__base__implementation.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__base__implementation_8h_source.html">abstract_base_implementation.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_base_implementation:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__base__implementation__inherit__graph.png" border="0" usemap="#Abstract__base__implementation_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__base__implementation_inherit__map" id="Abstract__base__implementation_inherit__map">
+<area shape="rect" title="abstract base implementation" alt="" coords="5,5,231,32"/>
+<area shape="rect" href="classSimple__base__implementation.html" title="refined base implementation" alt="" coords="10,80,226,107"/>
+</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:aefda2aa1684b1d8f5db48e999db2e05b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a> ()=default</td></tr>
+<tr class="memdesc:aefda2aa1684b1d8f5db48e999db2e05b"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base implementation default constructor. <a href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">More...</a><br /></td></tr>
+<tr class="separator:aefda2aa1684b1d8f5db48e999db2e05b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a33d38400729ffe7b9e60cca9c3ddc12f"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">inv_map_creation</a> (std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> &task_space)=0</td></tr>
+<tr class="memdesc:a33d38400729ffe7b9e60cca9c3ddc12f"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual methode to create inverse map <a href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">More...</a><br /></td></tr>
+<tr class="separator:a33d38400729ffe7b9e60cca9c3ddc12f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c2ee065ff500f9d588ab967d55d3677"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">set_grasp_orientations</a> (std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> &var)=0</td></tr>
+<tr class="memdesc:a4c2ee065ff500f9d588ab967d55d3677"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual methode to set grasp orientations <a href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">More...</a><br /></td></tr>
+<tr class="separator:a4c2ee065ff500f9d588ab967d55d3677"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7e51334938ee2afa88fe37b6e9b75690"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">~Abstract_base_implementation</a> ()=default</td></tr>
+<tr class="memdesc:a7e51334938ee2afa88fe37b6e9b75690"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base implementation default destructor. <a href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">More...</a><br /></td></tr>
+<tr class="separator:a7e51334938ee2afa88fe37b6e9b75690"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>abstract base implementation </p>
+<p>abstract implementation for base calculation, including all necessary hook methods that can be called from a template method </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base__implementation_8h_source.html#l00011">11</a> of file <a class="el" href="abstract__base__implementation_8h_source.html">abstract_base_implementation.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aefda2aa1684b1d8f5db48e999db2e05b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aefda2aa1684b1d8f5db48e999db2e05b">◆ </a></span>Abstract_base_implementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_base_implementation::Abstract_base_implementation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Abstract base implementation default constructor. </p>
+
+</div>
+</div>
+<a id="a7e51334938ee2afa88fe37b6e9b75690"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e51334938ee2afa88fe37b6e9b75690">◆ </a></span>~Abstract_base_implementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_base_implementation::~Abstract_base_implementation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Abstract base implementation default destructor. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a33d38400729ffe7b9e60cca9c3ddc12f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a33d38400729ffe7b9e60cca9c3ddc12f">◆ </a></span>inv_map_creation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_base_implementation::inv_map_creation </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>map</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>inv_map</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> & </td>
+ <td class="paramname"><em>task_space</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual methode to create inverse map </p>
+<p>Manipulates the inv_map vector </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">map</td><td>reference to manipulate member </td></tr>
+ <tr><td class="paramname">inv_map</td><td>reference to manipulate member </td></tr>
+ <tr><td class="paramname">task_space</td><td>reference to manipulate member </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">Simple_base_implementation</a>.</p>
+
+</div>
+</div>
+<a id="a4c2ee065ff500f9d588ab967d55d3677"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c2ee065ff500f9d588ab967d55d3677">◆ </a></span>set_grasp_orientations()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_base_implementation::set_grasp_orientations </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> & </td>
+ <td class="paramname"><em>var</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual methode to set grasp orientations </p>
+<p>Manipulates the map of grasp orientations of a graspable object, mapped to a robot </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">var</td><td>caller reference to manipulate member </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">Simple_base_implementation</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="abstract__base__implementation_8h_source.html">abstract_base_implementation.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/classAbstract__map__loader-members.html
@@ -0,0 +1,59 @@
+<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">Abstract_map_loader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>()=default</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">base_calculation</a>()=0</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">create_pcl_box</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">set_inv_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">set_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">set_strategy</a>(Abstract_strategy *some_stratergy)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">set_target_cloud</a>(std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">set_target_rot</a>(std::vector< std::vector< std::vector< tf2::Quaternion >>> &rots)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">set_task_grasps</a>(std::vector< std::vector< tf2::Transform >> &lists_in_list)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">strategy</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">target_cloud</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">write_task</a>(Abstract_robot *robot)=0</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">~Abstract_map_loader</a>()=default</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__map__loader.html b/doc/html/classAbstract__map__loader.html
new file mode 100644
index 0000000000000000000000000000000000000000..8da63c730c55c09c8d517360da7bc439e36ba011
--- /dev/null
+++ b/doc/html/classAbstract__map__loader.html
@@ -0,0 +1,721 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_map_loader 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="#pub-static-methods">Static Public Member Functions</a> |
+<a href="#pro-attribs">Protected Attributes</a> |
+<a href="classAbstract__map__loader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_map_loader Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_map_loader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__map__loader__inherit__graph.png" border="0" usemap="#Abstract__map__loader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__map__loader_inherit__map" id="Abstract__map__loader_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,5,165,32"/>
+<area shape="rect" href="classMap__loader.html" title=" " alt="" coords="36,80,135,107"/>
+</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:a408d265bc42bdbb25b2db44b9533e668"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a> ()=default</td></tr>
+<tr class="separator:a408d265bc42bdbb25b2db44b9533e668"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9fdca9d4a86d66a712194e409d799eff"><td class="memItemLeft" align="right" valign="top">virtual std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">base_calculation</a> ()=0</td></tr>
+<tr class="separator:a9fdca9d4a86d66a712194e409d799eff"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af4f75fbdda254f2a506770969cc46d8e"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a> ()</td></tr>
+<tr class="separator:af4f75fbdda254f2a506770969cc46d8e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13fb2cd6ac1a353192161e053426d7c8"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a> ()</td></tr>
+<tr class="separator:a13fb2cd6ac1a353192161e053426d7c8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a297e8f8fa66f70678d19d321033eea4d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">set_inv_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="separator:a297e8f8fa66f70678d19d321033eea4d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1edc00738184b6aa4b245727c8ed52ec"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">set_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="separator:a1edc00738184b6aa4b245727c8ed52ec"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3508478d51dcdf86ed8418006a4dd0d9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">set_strategy</a> (<a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> *some_stratergy)</td></tr>
+<tr class="separator:a3508478d51dcdf86ed8418006a4dd0d9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2945aff76228233abb3a89477c013d8a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">set_target_cloud</a> (std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td></tr>
+<tr class="separator:a2945aff76228233abb3a89477c013d8a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2adcb4394435282441360fb2310c231b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">set_target_rot</a> (std::vector< std::vector< std::vector< tf2::Quaternion >>> &rots)</td></tr>
+<tr class="separator:a2adcb4394435282441360fb2310c231b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab738d6d84071f7b931e2373a7fefc498"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">set_task_grasps</a> (std::vector< std::vector< tf2::Transform >> &lists_in_list)</td></tr>
+<tr class="separator:ab738d6d84071f7b931e2373a7fefc498"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afd6b5c362ad38cfe32600ff9f1398bc7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">strategy</a> ()</td></tr>
+<tr class="separator:afd6b5c362ad38cfe32600ff9f1398bc7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abb73acebcfbfb3a5acb790eb2d96fbd6"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">target_cloud</a> ()</td></tr>
+<tr class="separator:abb73acebcfbfb3a5acb790eb2d96fbd6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abdd0484ea0507910d37b0eae257b6476"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Quaternion > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a> ()</td></tr>
+<tr class="separator:abdd0484ea0507910d37b0eae257b6476"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa9772fe2bd594967b8f7b980db442ca5"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a> ()</td></tr>
+<tr class="separator:aa9772fe2bd594967b8f7b980db442ca5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acb51b1dd09b8689778de1a0b593d3a1f"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">write_task</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot)=0</td></tr>
+<tr class="separator:acb51b1dd09b8689778de1a0b593d3a1f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3b3675673d54d23b1678bd47df4b2273"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">~Abstract_map_loader</a> ()=default</td></tr>
+<tr class="separator:a3b3675673d54d23b1678bd47df4b2273"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a797587fa281f28fde814a052396d90bf"><td class="memItemLeft" align="right" valign="top">static std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">create_pcl_box</a> ()</td></tr>
+<tr class="separator:a797587fa281f28fde814a052396d90bf"><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:ad43b3e44a4908e0352c3a7c7b26c8347"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a></td></tr>
+<tr class="separator:ad43b3e44a4908e0352c3a7c7b26c8347"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a460481a298b27e411bafcdc584f1f35a"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a></td></tr>
+<tr class="separator:a460481a298b27e411bafcdc584f1f35a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a18cb3dcb65ee0af86bff355c24814dc3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a></td></tr>
+<tr class="separator:a18cb3dcb65ee0af86bff355c24814dc3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aab0898959888bc50f37690808f9571a8"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a></td></tr>
+<tr class="separator:aab0898959888bc50f37690808f9571a8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af012c7a4a222097864cbcda7ed58212f"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Quaternion > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a></td></tr>
+<tr class="separator:af012c7a4a222097864cbcda7ed58212f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8c4bd31f9c778a3a5ef7a21ab16f6127"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a></td></tr>
+<tr class="separator:a8c4bd31f9c778a3a5ef7a21ab16f6127"><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="abstract__map__loader_8h_source.html#l00024">24</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a408d265bc42bdbb25b2db44b9533e668"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a408d265bc42bdbb25b2db44b9533e668">◆ </a></span>Abstract_map_loader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_map_loader::Abstract_map_loader </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3b3675673d54d23b1678bd47df4b2273"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b3675673d54d23b1678bd47df4b2273">◆ </a></span>~Abstract_map_loader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_map_loader::~Abstract_map_loader </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9fdca9d4a86d66a712194e409d799eff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fdca9d4a86d66a712194e409d799eff">◆ </a></span>base_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::vector<std::vector<pcl::PointXYZ> > Abstract_map_loader::base_calculation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader</a>.</p>
+
+</div>
+</div>
+<a id="a797587fa281f28fde814a052396d90bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a797587fa281f28fde814a052396d90bf">◆ </a></span>create_pcl_box()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector< pcl::PointXYZ > Abstract_map_loader::create_pcl_box </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="map__loader_8cpp_source.html#l00116">116</a> of file <a class="el" href="map__loader_8cpp_source.html">map_loader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af4f75fbdda254f2a506770969cc46d8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4f75fbdda254f2a506770969cc46d8e">◆ </a></span>inv_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_map_loader::inv_map </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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00041">41</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a13fb2cd6ac1a353192161e053426d7c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13fb2cd6ac1a353192161e053426d7c8">◆ </a></span>map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_map_loader::map </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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00042">42</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a297e8f8fa66f70678d19d321033eea4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a297e8f8fa66f70678d19d321033eea4d">◆ </a></span>set_inv_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_map_loader::set_inv_map </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>list</em></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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00043">43</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a1edc00738184b6aa4b245727c8ed52ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1edc00738184b6aa4b245727c8ed52ec">◆ </a></span>set_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_map_loader::set_map </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>list</em></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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00044">44</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a3508478d51dcdf86ed8418006a4dd0d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3508478d51dcdf86ed8418006a4dd0d9">◆ </a></span>set_strategy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_map_loader::set_strategy </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> * </td>
+ <td class="paramname"><em>some_stratergy</em></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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00038">38</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a2945aff76228233abb3a89477c013d8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2945aff76228233abb3a89477c013d8a">◆ </a></span>set_target_cloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_map_loader::set_target_cloud </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> & </td>
+ <td class="paramname"><em>cloud</em></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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00049">49</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a2adcb4394435282441360fb2310c231b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2adcb4394435282441360fb2310c231b">◆ </a></span>set_target_rot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_map_loader::set_target_rot </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< std::vector< tf2::Quaternion >>> & </td>
+ <td class="paramname"><em>rots</em></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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00048">48</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="ab738d6d84071f7b931e2373a7fefc498"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab738d6d84071f7b931e2373a7fefc498">◆ </a></span>set_task_grasps()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_map_loader::set_task_grasps </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< tf2::Transform >> & </td>
+ <td class="paramname"><em>lists_in_list</em></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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00045">45</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="afd6b5c362ad38cfe32600ff9f1398bc7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd6b5c362ad38cfe32600ff9f1398bc7">◆ </a></span>strategy()</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="classAbstract__strategy.html">Abstract_strategy</a>* Abstract_map_loader::strategy </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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00039">39</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="abb73acebcfbfb3a5acb790eb2d96fbd6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb73acebcfbfb3a5acb790eb2d96fbd6">◆ </a></span>target_cloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> >& Abstract_map_loader::target_cloud </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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="abdd0484ea0507910d37b0eae257b6476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abdd0484ea0507910d37b0eae257b6476">◆ </a></span>target_rot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<std::vector<tf2::Quaternion> > >& Abstract_map_loader::target_rot </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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00047">47</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="aa9772fe2bd594967b8f7b980db442ca5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9772fe2bd594967b8f7b980db442ca5">◆ </a></span>task_grasps()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<tf2::Transform> >& Abstract_map_loader::task_grasps </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 class="definition">Definition at line <a class="el" href="abstract__map__loader_8h_source.html#l00046">46</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="acb51b1dd09b8689778de1a0b593d3a1f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb51b1dd09b8689778de1a0b593d3a1f">◆ </a></span>write_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_map_loader::write_task </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">Map_loader</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad43b3e44a4908e0352c3a7c7b26c8347"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad43b3e44a4908e0352c3a7c7b26c8347">◆ </a></span>inv_map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Abstract_map_loader::inv_map_</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="abstract__map__loader_8h_source.html#l00026">26</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a460481a298b27e411bafcdc584f1f35a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a460481a298b27e411bafcdc584f1f35a">◆ </a></span>map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Abstract_map_loader::map_</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="abstract__map__loader_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a18cb3dcb65ee0af86bff355c24814dc3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18cb3dcb65ee0af86bff355c24814dc3">◆ </a></span>strategy_</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="classAbstract__strategy.html">Abstract_strategy</a>* Abstract_map_loader::strategy_</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="abstract__map__loader_8h_source.html#l00032">32</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="aab0898959888bc50f37690808f9571a8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab0898959888bc50f37690808f9571a8">◆ </a></span>target_cloud_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> > Abstract_map_loader::target_cloud_</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="abstract__map__loader_8h_source.html#l00030">30</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="af012c7a4a222097864cbcda7ed58212f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af012c7a4a222097864cbcda7ed58212f">◆ </a></span>target_rot_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<std::vector<tf2::Quaternion> > > Abstract_map_loader::target_rot_</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="abstract__map__loader_8h_source.html#l00029">29</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<a id="a8c4bd31f9c778a3a5ef7a21ab16f6127"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8c4bd31f9c778a3a5ef7a21ab16f6127">◆ </a></span>task_grasps_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<tf2::Transform> > Abstract_map_loader::task_grasps_</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="abstract__map__loader_8h_source.html#l00028">28</a> of file <a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="abstract__map__loader_8h_source.html">abstract_map_loader.h</a></li>
+<li><a class="el" href="map__loader_8cpp_source.html">map_loader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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new file mode 100644
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+f9f35fa5b3705caf9e5c29bded557185
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..bccf944dcde68bb32aa6c79b3d0475d92b28a163
--- /dev/null
+++ b/doc/html/classAbstract__mediator-members.html
@@ -0,0 +1,74 @@
+<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">Abstract_mediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">build_wings</a>(std::bitset< 3 > &wing, int &robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">build_wings</a>(std::bitset< 3 > &wing, int &robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">check_collision</a>(const int &robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">check_collision</a>(const int &robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a>(Abstract_robot *robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">connect_robots</a>(std::unique_ptr< Abstract_robot_decorator > robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a>()=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a>()=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(std::vector< std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">set_wings</a>(std::vector< std::pair< std::vector< object_data >, int >> &wbp)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__mediator.html b/doc/html/classAbstract__mediator.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_mediator Class Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+<a href="#pub-methods">Public Member Functions</a> |
+<a href="#pro-attribs">Protected Attributes</a> |
+<a href="classAbstract__mediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_mediator Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstract mediator.
+ <a href="classAbstract__mediator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="impl_2abstract__mediator_8h_source.html">abstract_mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_mediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__mediator__inherit__graph.png" border="0" usemap="#Abstract__mediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__mediator_inherit__map" id="Abstract__mediator_inherit__map">
+<area shape="rect" title="Abstract mediator." alt="" coords="196,5,339,32"/>
+<area shape="rect" href="classBase__calculation__mediator.html" title="Concrete Mediator." alt="" coords="5,80,204,107"/>
+<area shape="rect" href="classMediator.html" title=" " alt="" coords="227,80,307,107"/>
+<area shape="rect" href="classMoveit__mediator.html" title=" " alt="" coords="331,80,465,107"/>
+<area shape="rect" href="classMoveit__grasp__mediator.html" title=" " alt="" coords="310,155,486,181"/>
+</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:a724fb5c020cca45732464f0227c854b6"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a724fb5c020cca45732464f0227c854b6"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator constructor. <a href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">More...</a><br /></td></tr>
+<tr class="separator:a724fb5c020cca45732464f0227c854b6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42b339e1ffa0b206129cc11fa300b217"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td></tr>
+<tr class="separator:a42b339e1ffa0b206129cc11fa300b217"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aafb2967bb33e9cc4ba0dcf54f29be144"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">build_wings</a> (std::bitset< 3 > &wing, int &robot)=0</td></tr>
+<tr class="separator:aafb2967bb33e9cc4ba0dcf54f29be144"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aafb2967bb33e9cc4ba0dcf54f29be144"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">build_wings</a> (std::bitset< 3 > &wing, int &robot)=0</td></tr>
+<tr class="memdesc:aafb2967bb33e9cc4ba0dcf54f29be144"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual methode to build specific wings <a href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">More...</a><br /></td></tr>
+<tr class="separator:aafb2967bb33e9cc4ba0dcf54f29be144"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7dbd0e2d480c9a496aa2fb77a14ab592"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">check_collision</a> (const int &robot)=0</td></tr>
+<tr class="separator:a7dbd0e2d480c9a496aa2fb77a14ab592"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7dbd0e2d480c9a496aa2fb77a14ab592"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">check_collision</a> (const int &robot)=0</td></tr>
+<tr class="memdesc:a7dbd0e2d480c9a496aa2fb77a14ab592"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot collision checker <a href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">More...</a><br /></td></tr>
+<tr class="separator:a7dbd0e2d480c9a496aa2fb77a14ab592"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0c102b5e272139492ab04ce0d4e43234"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot)=0</td></tr>
+<tr class="separator:a0c102b5e272139492ab04ce0d4e43234"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aec722e2a7493b29b04b613b800883cf9"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">connect_robots</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > robot)=0</td></tr>
+<tr class="memdesc:aec722e2a7493b29b04b613b800883cf9"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">More...</a><br /></td></tr>
+<tr class="separator:aec722e2a7493b29b04b613b800883cf9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="memdesc:ad651113a7bd5059643177c7b5fc08b8d"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">More...</a><br /></td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0127bf58ba90cd82b39b0dfe4dfbe88a"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="separator:a0127bf58ba90cd82b39b0dfe4dfbe88a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcd1ada33f056dadda3dc17a6299b731"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a> ()=0</td></tr>
+<tr class="separator:adcd1ada33f056dadda3dc17a6299b731"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcd1ada33f056dadda3dc17a6299b731"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a> ()=0</td></tr>
+<tr class="memdesc:adcd1ada33f056dadda3dc17a6299b731"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual mediate methode <a href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">More...</a><br /></td></tr>
+<tr class="separator:adcd1ada33f056dadda3dc17a6299b731"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a4028042141d35f7429f92db32599c2"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a> ()</td></tr>
+<tr class="separator:a9a4028042141d35f7429f92db32599c2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada2fc1c6243fcb68ec2daf7bf52e17a4"><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="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a> ()</td></tr>
+<tr class="memdesc:ada2fc1c6243fcb68ec2daf7bf52e17a4"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">More...</a><br /></td></tr>
+<tr class="separator:ada2fc1c6243fcb68ec2daf7bf52e17a4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a24f9a262c71f04f66550da4f61746e62"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a> ()</td></tr>
+<tr class="separator:a24f9a262c71f04f66550da4f61746e62"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac905db346790f6bac814cdb7cd1f268d"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a> ()</td></tr>
+<tr class="memdesc:ac905db346790f6bac814cdb7cd1f268d"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">More...</a><br /></td></tr>
+<tr class="separator:ac905db346790f6bac814cdb7cd1f268d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a64323b190e965287422f7b840bc1b95f"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">More...</a><br /></td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa12e37e26ac0e75fadb103bc50285408"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:aa12e37e26ac0e75fadb103bc50285408"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">More...</a><br /></td></tr>
+<tr class="separator:aa12e37e26ac0e75fadb103bc50285408"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a45f051cc8b3816677c638f805e805838"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a> (std::vector< std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="separator:a45f051cc8b3816677c638f805e805838"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92b5d1cb508826454ae3ea0e5cbf5f2"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">set_wings</a> (std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &wbp)=0</td></tr>
+<tr class="separator:af92b5d1cb508826454ae3ea0e5cbf5f2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:a26d47b6d6d64a8eb4b096fcb5f78b389"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">More...</a><br /></td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9838c41eeb97aef668cd7213f0e2e9a6"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a> ()</td></tr>
+<tr class="separator:a9838c41eeb97aef668cd7213f0e2e9a6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a525894d2f6a888163c9de63093b2bd6c"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a> ()</td></tr>
+<tr class="memdesc:a525894d2f6a888163c9de63093b2bd6c"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">More...</a><br /></td></tr>
+<tr class="separator:a525894d2f6a888163c9de63093b2bd6c"><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:ad4565f4b98c689289ddda9e7507736ae"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td></tr>
+<tr class="memdesc:ad4565f4b98c689289ddda9e7507736ae"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">More...</a><br /></td></tr>
+<tr class="separator:ad4565f4b98c689289ddda9e7507736ae"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a47ae440332d8744b368f6f95a84daf2a"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td></tr>
+<tr class="memdesc:a47ae440332d8744b368f6f95a84daf2a"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">More...</a><br /></td></tr>
+<tr class="separator:a47ae440332d8744b368f6f95a84daf2a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a78a9e79c0a97238c7d76ec1a3cc7349c"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td></tr>
+<tr class="separator:a78a9e79c0a97238c7d76ec1a3cc7349c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77682034ad695305a6781b53af93d05e"><td class="memItemLeft" align="right" valign="top">ros::Publisher * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td></tr>
+<tr class="separator:a77682034ad695305a6781b53af93d05e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4580d0c30a62cc91203b950694f98e98"><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="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td></tr>
+<tr class="memdesc:a4580d0c30a62cc91203b950694f98e98"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">More...</a><br /></td></tr>
+<tr class="separator:a4580d0c30a62cc91203b950694f98e98"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a48fc344129cd16dc0f20be2d9368ab"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td></tr>
+<tr class="separator:a9a48fc344129cd16dc0f20be2d9368ab"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4458d27f8d22f7ff58dc8191e1019e5a"><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="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td></tr>
+<tr class="memdesc:a4458d27f8d22f7ff58dc8191e1019e5a"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">More...</a><br /></td></tr>
+<tr class="separator:a4458d27f8d22f7ff58dc8191e1019e5a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66416f41c207636fcf0b5223c2f70061"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td></tr>
+<tr class="separator:a66416f41c207636fcf0b5223c2f70061"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a69df414af025faf785c9034633240282"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td></tr>
+<tr class="memdesc:a69df414af025faf785c9034633240282"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">More...</a><br /></td></tr>
+<tr class="separator:a69df414af025faf785c9034633240282"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a25e0b0dc5a154ad28d68f58500234d56"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTs__reader.html">Ts_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td></tr>
+<tr class="memdesc:a25e0b0dc5a154ad28d68f58500234d56"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">More...</a><br /></td></tr>
+<tr class="separator:a25e0b0dc5a154ad28d68f58500234d56"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7e91c3c5ac234ee1d1bd2d7d6128bc8"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td></tr>
+<tr class="separator:ae7e91c3c5ac234ee1d1bd2d7d6128bc8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a85b75b44d1f17f2d52c5e6171c13456b"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td></tr>
+<tr class="separator:a85b75b44d1f17f2d52c5e6171c13456b"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Abstract mediator. </p>
+<p><a class="el" href="classMediator.html">Mediator</a> abstraction which takes care of robot abstractions </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00033">33</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a42b339e1ffa0b206129cc11fa300b217"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42b339e1ffa0b206129cc11fa300b217">◆ </a></span>Abstract_mediator() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_mediator::Abstract_mediator </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< tf2::Transform >> </td>
+ <td class="paramname"><em>objects</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">ros::Publisher * </td>
+ <td class="paramname"><em>pub</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00048">48</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a724fb5c020cca45732464f0227c854b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a724fb5c020cca45732464f0227c854b6">◆ </a></span>Abstract_mediator() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_mediator::Abstract_mediator </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Abstract mediator constructor. </p>
+<p>initializes task_space reader </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>Ros nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8cpp_source.html#l00003">3</a> of file <a class="el" href="mediator_2abstract__mediator_8cpp_source.html">mediator/abstract_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aafb2967bb33e9cc4ba0dcf54f29be144"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafb2967bb33e9cc4ba0dcf54f29be144">◆ </a></span>build_wings() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::build_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>wing</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int & </td>
+ <td class="paramname"><em>robot</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator</a>, <a class="el" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator</a>, and <a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator</a>.</p>
+
+</div>
+</div>
+<a id="aafb2967bb33e9cc4ba0dcf54f29be144"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafb2967bb33e9cc4ba0dcf54f29be144">◆ </a></span>build_wings() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::build_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>wing</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int & </td>
+ <td class="paramname"><em>robot</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual methode to build specific wings </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">wing</td><td>bitmap showing which wing should be build </td></tr>
+ <tr><td class="paramname">robot</td><td><a class="el" href="classRobot.html">Robot</a> index </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator</a>, <a class="el" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator</a>, and <a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator</a>.</p>
+
+</div>
+</div>
+<a id="a7dbd0e2d480c9a496aa2fb77a14ab592"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dbd0e2d480c9a496aa2fb77a14ab592">◆ </a></span>check_collision() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual bool Abstract_mediator::check_collision </td>
+ <td>(</td>
+ <td class="paramtype">const int & </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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator</a>, <a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator</a>, and <a class="el" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator</a>.</p>
+
+</div>
+</div>
+<a id="a7dbd0e2d480c9a496aa2fb77a14ab592"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dbd0e2d480c9a496aa2fb77a14ab592">◆ </a></span>check_collision() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual bool Abstract_mediator::check_collision </td>
+ <td>(</td>
+ <td class="paramtype">const int & </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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual robot collision checker </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td><a class="el" href="classRobot.html">Robot</a> index </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator</a>, <a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator</a>, and <a class="el" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator</a>.</p>
+
+</div>
+</div>
+<a id="a0c102b5e272139492ab04ce0d4e43234"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c102b5e272139492ab04ce0d4e43234">◆ </a></span>connect_robots() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::connect_robots </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">Moveit_mediator</a>, <a class="el" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">Moveit_grasp_mediator</a>, and <a class="el" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">Mediator</a>.</p>
+
+</div>
+</div>
+<a id="aec722e2a7493b29b04b613b800883cf9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec722e2a7493b29b04b613b800883cf9">◆ </a></span>connect_robots() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::connect_robots </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</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">pure 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>Implemented in <a class="el" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator</a>.</p>
+
+</div>
+</div>
+<a id="ad651113a7bd5059643177c7b5fc08b8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad651113a7bd5059643177c7b5fc08b8d">◆ </a></span>dirname() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Abstract_mediator::dirname </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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00058">58</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad651113a7bd5059643177c7b5fc08b8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad651113a7bd5059643177c7b5fc08b8d">◆ </a></span>dirname() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Abstract_mediator::dirname </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 dirname. </p>
+<dl class="section return"><dt>Returns</dt><dd>dirname </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00086">86</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a0127bf58ba90cd82b39b0dfe4dfbe88a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0127bf58ba90cd82b39b0dfe4dfbe88a">◆ </a></span>generate_Ground()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector< pcl::PointXYZ > Abstract_mediator::generate_Ground </td>
+ <td>(</td>
+ <td class="paramtype">const tf2::Vector3 </td>
+ <td class="paramname"><em>origin</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const float </td>
+ <td class="paramname"><em>diameter</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">float </td>
+ <td class="paramname"><em>resolution</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="impl_2abstract__mediator_8cpp_source.html#l00004">4</a> of file <a class="el" href="impl_2abstract__mediator_8cpp_source.html">impl/abstract_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="adcd1ada33f056dadda3dc17a6299b731"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcd1ada33f056dadda3dc17a6299b731">◆ </a></span>mediate() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator</a>, <a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator</a>, <a class="el" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator</a>, and <a class="el" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator</a>.</p>
+
+</div>
+</div>
+<a id="adcd1ada33f056dadda3dc17a6299b731"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcd1ada33f056dadda3dc17a6299b731">◆ </a></span>mediate() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::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">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual mediate methode </p>
+
+<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator</a>, <a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator</a>, <a class="el" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator</a>, and <a class="el" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator</a>.</p>
+
+</div>
+</div>
+<a id="a9a4028042141d35f7429f92db32599c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a4028042141d35f7429f92db32599c2">◆ </a></span>result_vector() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<pcl::PointXYZ> >& Abstract_mediator::result_vector </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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00053">53</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ada2fc1c6243fcb68ec2daf7bf52e17a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada2fc1c6243fcb68ec2daf7bf52e17a4">◆ </a></span>result_vector() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<pcl::PointXYZ> >& Abstract_mediator::result_vector </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 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="mediator_2abstract__mediator_8h_source.html#l00068">68</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a24f9a262c71f04f66550da4f61746e62"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a24f9a262c71f04f66550da4f61746e62">◆ </a></span>robots() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="classAbstract__robot.html">Abstract_robot</a>*> Abstract_mediator::robots </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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00054">54</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac905db346790f6bac814cdb7cd1f268d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac905db346790f6bac814cdb7cd1f268d">◆ </a></span>robots() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a>> >& Abstract_mediator::robots </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 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="mediator_2abstract__mediator_8h_source.html#l00074">74</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a64323b190e965287422f7b840bc1b95f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64323b190e965287422f7b840bc1b95f">◆ </a></span>set_dirname() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_mediator::set_dirname </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>dirn</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00057">57</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a64323b190e965287422f7b840bc1b95f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64323b190e965287422f7b840bc1b95f">◆ </a></span>set_dirname() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_mediator::set_dirname </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>dirn</em></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>Set dirname. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">dirn</td><td>new dirname </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00080">80</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="aa12e37e26ac0e75fadb103bc50285408"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa12e37e26ac0e75fadb103bc50285408">◆ </a></span>set_result_vector() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_mediator::set_result_vector </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< pcl::PointXYZ >> & </td>
+ <td class="paramname"><em>res</em></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>Set result vector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">res</td><td>result vector </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00056">56</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a45f051cc8b3816677c638f805e805838"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45f051cc8b3816677c638f805e805838">◆ </a></span>set_result_vector() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_mediator::set_result_vector </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< pcl::PointXYZ >> & </td>
+ <td class="paramname"><em>res</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00051">51</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="af92b5d1cb508826454ae3ea0e5cbf5f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af92b5d1cb508826454ae3ea0e5cbf5f2">◆ </a></span>set_wings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_mediator::set_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> & </td>
+ <td class="paramname"><em>wbp</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">Moveit_mediator</a>, and <a class="el" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">Mediator</a>.</p>
+
+</div>
+</div>
+<a id="a26d47b6d6d64a8eb4b096fcb5f78b389"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26d47b6d6d64a8eb4b096fcb5f78b389">◆ </a></span>vector_to_cloud() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< pcl::PointXYZ > & </td>
+ <td class="paramname"><em>vector</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8cpp_source.html#l00016">16</a> of file <a class="el" href="impl_2abstract__mediator_8cpp_source.html">impl/abstract_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a26d47b6d6d64a8eb4b096fcb5f78b389"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26d47b6d6d64a8eb4b096fcb5f78b389">◆ </a></span>vector_to_cloud() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< pcl::PointXYZ > & </td>
+ <td class="paramname"><em>vector</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Cloud converter. </p>
+<p>Converts vector of pcl::PointXYZ to a pcl::Pointcloud </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">vector</td><td>Vector of XYZPoints </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Pointcloud </dd></dl>
+
+</div>
+</div>
+<a id="a9838c41eeb97aef668cd7213f0e2e9a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9838c41eeb97aef668cd7213f0e2e9a6">◆ </a></span>wings() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>*> > Abstract_mediator::wings </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 class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00052">52</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a525894d2f6a888163c9de63093b2bd6c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a525894d2f6a888163c9de63093b2bd6c">◆ </a></span>wings() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> > >& Abstract_mediator::wings </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 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="mediator_2abstract__mediator_8h_source.html#l00062">62</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad4565f4b98c689289ddda9e7507736ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4565f4b98c689289ddda9e7507736ae">◆ </a></span>dirname_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string Abstract_mediator::dirname_</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>Dirname of the reference protobuff. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00041">41</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a47ae440332d8744b368f6f95a84daf2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a47ae440332d8744b368f6f95a84daf2a">◆ </a></span>nh_</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<ros::NodeHandle> Abstract_mediator::nh_</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>Ros nodehandle object. </p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00035">35</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a78a9e79c0a97238c7d76ec1a3cc7349c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78a9e79c0a97238c7d76ec1a3cc7349c">◆ </a></span>objects_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<tf2::Transform> > Abstract_mediator::objects_</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="impl_2abstract__mediator_8h_source.html#l00036">36</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a77682034ad695305a6781b53af93d05e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77682034ad695305a6781b53af93d05e">◆ </a></span>pub_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">ros::Publisher* Abstract_mediator::pub_</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="impl_2abstract__mediator_8h_source.html#l00038">38</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a4580d0c30a62cc91203b950694f98e98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4580d0c30a62cc91203b950694f98e98">◆ </a></span>relative_bounds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector< std::vector< std::vector< tf2::Transform > > > Abstract_mediator::relative_bounds_</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>total bound a workspace </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00037">37</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9a48fc344129cd16dc0f20be2d9368ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a48fc344129cd16dc0f20be2d9368ab">◆ </a></span>result_vector_ <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<pcl::PointXYZ> > Abstract_mediator::result_vector_</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="impl_2abstract__mediator_8h_source.html#l00039">39</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a4458d27f8d22f7ff58dc8191e1019e5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4458d27f8d22f7ff58dc8191e1019e5a">◆ </a></span>result_vector_ <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<pcl::PointXYZ> > Abstract_mediator::result_vector_</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>Result_vector of base positions linked to robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00040">40</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a66416f41c207636fcf0b5223c2f70061"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66416f41c207636fcf0b5223c2f70061">◆ </a></span>robots_ <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="classAbstract__robot.html">Abstract_robot</a>*> Abstract_mediator::robots_</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="impl_2abstract__mediator_8h_source.html#l00035">35</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a69df414af025faf785c9034633240282"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69df414af025faf785c9034633240282">◆ </a></span>robots_ <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a>> > Abstract_mediator::robots_</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>Robots agents. </p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00037">37</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a25e0b0dc5a154ad28d68f58500234d56"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25e0b0dc5a154ad28d68f58500234d56">◆ </a></span>task_space_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="classTs__reader.html">Ts_reader</a>> Abstract_mediator::task_space_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>Task_space reader which provides drop off positions. </p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_2abstract__mediator_8h_source.html#l00036">36</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae7e91c3c5ac234ee1d1bd2d7d6128bc8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">◆ </a></span>wings_ <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>*> > Abstract_mediator::wings_</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="impl_2abstract__mediator_8h_source.html#l00040">40</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a85b75b44d1f17f2d52c5e6171c13456b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85b75b44d1f17f2d52c5e6171c13456b">◆ </a></span>wings_ <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> > > Abstract_mediator::wings_</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="mediator_2abstract__mediator_8h_source.html#l00041">41</a> of file <a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a></li>
+<li><a class="el" href="impl_2abstract__mediator_8cpp_source.html">impl/abstract_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<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">Abstract_param_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">read</a>()=0</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">pure virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_param_reader 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);'>
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+ 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="classAbstract__param__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_param_reader Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstract ROS-Param reader class.
+ <a href="classAbstract__param__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_param_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__param__reader__inherit__graph.png" border="0" usemap="#Abstract__param__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__param__reader_inherit__map" id="Abstract__param__reader_inherit__map">
+<area shape="rect" title="Abstract ROS-Param reader class." alt="" coords="5,157,180,184"/>
+<area shape="rect" href="classCuboid__reader.html" title="Cuboid reader." alt="" coords="243,5,359,32"/>
+<area shape="rect" href="classJob__reader.html" title="Job reader." alt="" coords="255,56,346,83"/>
+<area shape="rect" href="classMap__reader.html" title="Map reader." alt="" coords="251,107,350,133"/>
+<area shape="rect" href="classRobot__reader.html" title="Robot reader." alt="" coords="246,157,355,184"/>
+<area shape="rect" href="classTask__space__reader.html" title="Task space reader." alt="" coords="228,208,373,235"/>
+<area shape="rect" href="classTs__reader.html" title="TS reader." alt="" coords="259,259,343,285"/>
+<area shape="rect" href="classWing__reader.html" title="Wing reader." alt="" coords="249,309,353,336"/>
+</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:a734c0833347f6d686f280031b3219de0"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a441ed47eee393cc772f19d4be923e34d"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">read</a> ()=0</td></tr>
+<tr class="memdesc:a441ed47eee393cc772f19d4be923e34d"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual read methode <a href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">More...</a><br /></td></tr>
+<tr class="separator:a441ed47eee393cc772f19d4be923e34d"><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:ac68dac5298b2c065773ba8412a134949"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Abstract ROS-Param reader class. </p>
+<p>Class concerned with reading information from ROS-Param server. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a734c0833347f6d686f280031b3219de0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a734c0833347f6d686f280031b3219de0">◆ </a></span>Abstract_param_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_param_reader::Abstract_param_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>Abstract param reader constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS Nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00036">36</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a107d1be3e232087e003820c9a924b2dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a107d1be3e232087e003820c9a924b2dd">◆ </a></span>float_of()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">float Abstract_param_reader::float_of </td>
+ <td>(</td>
+ <td class="paramtype">XmlRpc::XmlRpcValue & </td>
+ <td class="paramname"><em>val</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Xmlrpc parser. </p>
+<p>converts param to float value </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">val</td><td>XmlRPCValue reference from Nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8cpp_source.html#l00003">3</a> of file <a class="el" href="abstract__param__reader_8cpp_source.html">abstract_param_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a441ed47eee393cc772f19d4be923e34d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a441ed47eee393cc772f19d4be923e34d">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_param_reader::read </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual read methode </p>
+
+<p>Implemented in <a class="el" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">Cuboid_reader</a>, <a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">Job_reader</a>, <a class="el" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">Map_reader</a>, <a class="el" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">Robot_reader</a>, <a class="el" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">Ts_reader</a>, <a class="el" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">Wing_reader</a>, and <a class="el" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">Task_space_reader</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ac68dac5298b2c065773ba8412a134949"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac68dac5298b2c065773ba8412a134949">◆ </a></span>nh_</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<ros::NodeHandle> Abstract_param_reader::nh_</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>ROS Nodehandle. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00029">29</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a></li>
+<li><a class="el" href="abstract__param__reader_8cpp_source.html">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<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 -->
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+ 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">Abstract_robot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__robot.html">Abstract_robot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">check_single_object_collision</a>(tf2::Transform &obj, std::string &b)=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">check_single_object_collision</a>(tf2::Transform &obj, std::string &b)=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">notify</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">notify</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">robot_root_bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">root_tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a>(int i)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">size</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj)=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj)=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot.html b/doc/html/classAbstract__robot.html
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+++ b/doc/html/classAbstract__robot.html
@@ -0,0 +1,1268 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_robot 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 -->
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+<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="classAbstract__robot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_robot Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="impl_2abstract__robot_8h_source.html">abstract_robot.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_robot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__robot__inherit__graph.png" border="0" usemap="#Abstract__robot_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__robot_inherit__map" id="Abstract__robot_inherit__map">
+<area shape="rect" title=" " alt="" coords="203,5,320,32"/>
+<area shape="rect" href="classAbstract__robot__decorator.html" title=" " alt="" coords="5,80,192,107"/>
+<area shape="rect" href="classCeti__robot.html" title="Concrete Ceti-Robot." alt="" coords="217,80,306,107"/>
+<area shape="rect" href="classRobot.html" title=" " alt="" coords="330,80,390,107"/>
+<area shape="rect" href="classPanda__decorator.html" title=" " alt="" coords="33,155,164,181"/>
+<area shape="rect" href="classMoveit__robot.html" title=" " alt="" coords="306,155,414,181"/>
+</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:a704bd9522c6fdaff61cc7584ef20850c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a704bd9522c6fdaff61cc7584ef20850c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac94e9d3520fdbcd027682226f4b0be8f"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a> (std::string <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ac94e9d3520fdbcd027682226f4b0be8f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1402d06f3393679d585376716cc2a534"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a1402d06f3393679d585376716cc2a534"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">More...</a><br /></td></tr>
+<tr class="separator:a1402d06f3393679d585376716cc2a534"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64ae098f7cadad8237e663658f038663"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a> ()</td></tr>
+<tr class="separator:a64ae098f7cadad8237e663658f038663"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a52c63e180b0a31cd9b97b824eb1b5c22"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">bounds</a> ()=0</td></tr>
+<tr class="separator:a52c63e180b0a31cd9b97b824eb1b5c22"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeb08dc2fa1ecdad08544fb77ff60d78e"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">check_single_object_collision</a> (tf2::Transform &obj, std::string &b)=0</td></tr>
+<tr class="separator:aeb08dc2fa1ecdad08544fb77ff60d78e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeb08dc2fa1ecdad08544fb77ff60d78e"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">check_single_object_collision</a> (tf2::Transform &obj, std::string &b)=0</td></tr>
+<tr class="separator:aeb08dc2fa1ecdad08544fb77ff60d78e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad7080256737d26f2d4499d848e8c854a"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a> ()</td></tr>
+<tr class="separator:ad7080256737d26f2d4499d848e8c854a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1a5d8cd75f0aa634022f09d88066d313"><td class="memItemLeft" align="right" valign="top">virtual std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">name</a> ()=0</td></tr>
+<tr class="separator:a1a5d8cd75f0aa634022f09d88066d313"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acfcaa13dd3824464426f0557ec2e360d"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">notify</a> ()=0</td></tr>
+<tr class="separator:acfcaa13dd3824464426f0557ec2e360d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acfcaa13dd3824464426f0557ec2e360d"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">notify</a> ()=0</td></tr>
+<tr class="separator:acfcaa13dd3824464426f0557ec2e360d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7befa194e7b39c8b9d60f1844f9d1a8b"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a> ()</td></tr>
+<tr class="separator:a7befa194e7b39c8b9d60f1844f9d1a8b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef7449039e62cf8608dbd22222120289"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a> ()</td></tr>
+<tr class="separator:aef7449039e62cf8608dbd22222120289"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a62093041e9154e06ed573a42a76cc778"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">robot_root_bounds</a> ()=0</td></tr>
+<tr class="separator:a62093041e9154e06ed573a42a76cc778"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af29a9894b43fc8124de65712414168f4"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a> ()</td></tr>
+<tr class="separator:af29a9894b43fc8124de65712414168f4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af7a230da2f4551f707557a4f5fa447ac"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">root_tf</a> ()=0</td></tr>
+<tr class="separator:af7a230da2f4551f707557a4f5fa447ac"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f30d6f41a3f7cbdb9839c75b957b366"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a7f30d6f41a3f7cbdb9839c75b957b366"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa3bfc2c32585c42ca88f5fc1e663eb93"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a> ()</td></tr>
+<tr class="separator:aa3bfc2c32585c42ca88f5fc1e663eb93"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13949665d4f8ac53aadc357883b301da"><td class="memItemLeft" align="right" valign="top">virtual tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">size</a> ()=0</td></tr>
+<tr class="separator:a13949665d4f8ac53aadc357883b301da"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d636b2de764243b145577db70637d63"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a> ()</td></tr>
+<tr class="separator:a4d636b2de764243b145577db70637d63"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae3e4f92f97f4a55fe9cb7196024fe30a"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">tf</a> ()=0</td></tr>
+<tr class="separator:ae3e4f92f97f4a55fe9cb7196024fe30a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ade9a130588307d054c1d68e861a01717"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj)=0</td></tr>
+<tr class="separator:ade9a130588307d054c1d68e861a01717"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ade9a130588307d054c1d68e861a01717"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj)=0</td></tr>
+<tr class="separator:ade9a130588307d054c1d68e861a01717"><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:a28c13c43328a26f12659ff086d77394e"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td></tr>
+<tr class="memdesc:a28c13c43328a26f12659ff086d77394e"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">More...</a><br /></td></tr>
+<tr class="separator:a28c13c43328a26f12659ff086d77394e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td></tr>
+<tr class="memdesc:a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">More...</a><br /></td></tr>
+<tr class="separator:a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae8fb853afa438433797b9cc5008f1f2"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td></tr>
+<tr class="separator:aae8fb853afa438433797b9cc5008f1f2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8ed98b1820134733f8d1a42eaa00c4"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a6d8ed98b1820134733f8d1a42eaa00c4"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">More...</a><br /></td></tr>
+<tr class="separator:a6d8ed98b1820134733f8d1a42eaa00c4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a598a8379918fbdaf44358be840f146b7"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td></tr>
+<tr class="memdesc:a598a8379918fbdaf44358be840f146b7"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> root on table top. <a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">More...</a><br /></td></tr>
+<tr class="separator:a598a8379918fbdaf44358be840f146b7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92f5538f28fbe61687d70f15e84fb82"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td></tr>
+<tr class="memdesc:af92f5538f28fbe61687d70f15e84fb82"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">More...</a><br /></td></tr>
+<tr class="separator:af92f5538f28fbe61687d70f15e84fb82"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a854a3c8c740dcb60e0ee347fcd5447f6"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td></tr>
+<tr class="memdesc:a854a3c8c740dcb60e0ee347fcd5447f6"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">More...</a><br /></td></tr>
+<tr class="separator:a854a3c8c740dcb60e0ee347fcd5447f6"><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="impl_2abstract__robot_8h_source.html#l00025">25</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a704bd9522c6fdaff61cc7584ef20850c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a704bd9522c6fdaff61cc7584ef20850c">◆ </a></span>Abstract_robot() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot::Abstract_robot </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00038">38</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ac94e9d3520fdbcd027682226f4b0be8f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac94e9d3520fdbcd027682226f4b0be8f">◆ </a></span>Abstract_robot() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot::Abstract_robot </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</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="abstract__robot_8cpp_source.html#l00004">4</a> of file <a class="el" href="abstract__robot_8cpp_source.html">abstract_robot.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1402d06f3393679d585376716cc2a534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1402d06f3393679d585376716cc2a534">◆ </a></span>area_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">float Abstract_robot::area_calculation </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>A</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>B</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>C</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Triangle area calculator. </p>
+<p>Calculates triangle with 3 vertices </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">A</td><td>pose of triagnel vertice </td></tr>
+ <tr><td class="paramname">B</td><td>pose of triagnel vertice </td></tr>
+ <tr><td class="paramname">C</td><td>pose of triagnel vertice </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>float triangle area </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot_8cpp_source.html#l00022">22</a> of file <a class="el" href="abstract__robot_8cpp_source.html">abstract_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a64ae098f7cadad8237e663658f038663"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64ae098f7cadad8237e663658f038663">◆ </a></span>bounds() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_robot::bounds </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00061">61</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a52c63e180b0a31cd9b97b824eb1b5c22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52c63e180b0a31cd9b97b824eb1b5c22">◆ </a></span>bounds() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::vector<tf2::Transform>& Abstract_robot::bounds </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">Ceti_robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="aeb08dc2fa1ecdad08544fb77ff60d78e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb08dc2fa1ecdad08544fb77ff60d78e">◆ </a></span>check_single_object_collision() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual bool Abstract_robot::check_single_object_collision </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>b</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot</a>, <a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="aeb08dc2fa1ecdad08544fb77ff60d78e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb08dc2fa1ecdad08544fb77ff60d78e">◆ </a></span>check_single_object_collision() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual bool Abstract_robot::check_single_object_collision </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>b</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot</a>, <a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="ad7080256737d26f2d4499d848e8c854a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7080256737d26f2d4499d848e8c854a">◆ </a></span>name() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Abstract_robot::name </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00057">57</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a1a5d8cd75f0aa634022f09d88066d313"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a5d8cd75f0aa634022f09d88066d313">◆ </a></span>name() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::string& Abstract_robot::name </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">Ceti_robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="acfcaa13dd3824464426f0557ec2e360d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfcaa13dd3824464426f0557ec2e360d">◆ </a></span>notify() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot::notify </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot</a>, <a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="acfcaa13dd3824464426f0557ec2e360d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfcaa13dd3824464426f0557ec2e360d">◆ </a></span>notify() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot::notify </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot</a>, <a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="a7befa194e7b39c8b9d60f1844f9d1a8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7befa194e7b39c8b9d60f1844f9d1a8b">◆ </a></span>observer_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::bitset<3> Abstract_robot::observer_mask </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00067">67</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aef7449039e62cf8608dbd22222120289"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef7449039e62cf8608dbd22222120289">◆ </a></span>robot_root_bounds() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_robot::robot_root_bounds </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00064">64</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a62093041e9154e06ed573a42a76cc778"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62093041e9154e06ed573a42a76cc778">◆ </a></span>robot_root_bounds() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::vector<tf2::Transform>& Abstract_robot::robot_root_bounds </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">Ceti_robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="af29a9894b43fc8124de65712414168f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af29a9894b43fc8124de65712414168f4">◆ </a></span>root_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot::root_tf </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00060">60</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="af7a230da2f4551f707557a4f5fa447ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af7a230da2f4551f707557a4f5fa447ac">◆ </a></span>root_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual tf2::Transform& Abstract_robot::root_tf </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">Ceti_robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="a72694508ca6d5ada16236775402dd385"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72694508ca6d5ada16236775402dd385">◆ </a></span>rotate() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::rotate </td>
+ <td>(</td>
+ <td class="paramtype">float </td>
+ <td class="paramname"><em>deg</em></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 class="definition">Definition at line <a class="el" href="robot_2abstract__robot_8h_source.html#l00041">41</a> of file <a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a72694508ca6d5ada16236775402dd385"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72694508ca6d5ada16236775402dd385">◆ </a></span>rotate() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::rotate </td>
+ <td>(</td>
+ <td class="paramtype">float </td>
+ <td class="paramname"><em>deg</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00065">65</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a7f30d6f41a3f7cbdb9839c75b957b366"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f30d6f41a3f7cbdb9839c75b957b366">◆ </a></span>set_observer_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::set_observer_mask </td>
+ <td>(</td>
+ <td class="paramtype">int </td>
+ <td class="paramname"><em>i</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00068">68</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab27017c6039446502704b443df934a2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab27017c6039446502704b443df934a2d">◆ </a></span>set_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::set_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>t</em></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 class="definition">Definition at line <a class="el" href="robot_2abstract__robot_8h_source.html#l00040">40</a> of file <a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab27017c6039446502704b443df934a2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab27017c6039446502704b443df934a2d">◆ </a></span>set_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::set_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>t</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00063">63</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aa3bfc2c32585c42ca88f5fc1e663eb93"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3bfc2c32585c42ca88f5fc1e663eb93">◆ </a></span>size() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Abstract_robot::size </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00059">59</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a13949665d4f8ac53aadc357883b301da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13949665d4f8ac53aadc357883b301da">◆ </a></span>size() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual tf2::Vector3& Abstract_robot::size </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">Ceti_robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="abd68b299ae1d193e2c4d5ce89a7a2c61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd68b299ae1d193e2c4d5ce89a7a2c61">◆ </a></span>size() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::size </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>s</em></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 class="definition">Definition at line <a class="el" href="robot_2abstract__robot_8h_source.html#l00039">39</a> of file <a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="abd68b299ae1d193e2c4d5ce89a7a2c61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd68b299ae1d193e2c4d5ce89a7a2c61">◆ </a></span>size() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::size </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>s</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00062">62</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a4d636b2de764243b145577db70637d63"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d636b2de764243b145577db70637d63">◆ </a></span>tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot::tf </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00058">58</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ae3e4f92f97f4a55fe9cb7196024fe30a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3e4f92f97f4a55fe9cb7196024fe30a">◆ </a></span>tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual tf2::Transform& Abstract_robot::tf </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">Ceti_robot</a>, and <a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">Abstract_robot_decorator</a>.</p>
+
+</div>
+</div>
+<a id="a126e52a7696cf030f5697dd93439775f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a126e52a7696cf030f5697dd93439775f">◆ </a></span>translate() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::translate </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>t</em></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 class="definition">Definition at line <a class="el" href="robot_2abstract__robot_8h_source.html#l00042">42</a> of file <a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a126e52a7696cf030f5697dd93439775f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a126e52a7696cf030f5697dd93439775f">◆ </a></span>translate() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot::translate </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>t</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00066">66</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ade9a130588307d054c1d68e861a01717"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade9a130588307d054c1d68e861a01717">◆ </a></span>workload_checker() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot::workload_checker </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< int > & </td>
+ <td class="paramname"><em>count_vector</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot</a>, <a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">Abstract_robot_decorator</a>, and <a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot</a>.</p>
+
+</div>
+</div>
+<a id="ade9a130588307d054c1d68e861a01717"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade9a130588307d054c1d68e861a01717">◆ </a></span>workload_checker() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot::workload_checker </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< int > & </td>
+ <td class="paramname"><em>count_vector</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot</a>, <a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">Abstract_robot_decorator</a>, and <a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a28c13c43328a26f12659ff086d77394e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28c13c43328a26f12659ff086d77394e">◆ </a></span>bounds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector< tf2::Transform > Abstract_robot::bounds_</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>Bounds of table top surface. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00031">31</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a3dc156f9e7813fa5dfa0d9c8c7e7a36f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">◆ </a></span>name_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string Abstract_robot::name_</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>Name of robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00027">27</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aae8fb853afa438433797b9cc5008f1f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae8fb853afa438433797b9cc5008f1f2">◆ </a></span>observer_mask_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::bitset<3> Abstract_robot::observer_mask_</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="impl_2abstract__robot_8h_source.html#l00033">33</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a6d8ed98b1820134733f8d1a42eaa00c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d8ed98b1820134733f8d1a42eaa00c4">◆ </a></span>robot_root_bounds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector< tf2::Transform > Abstract_robot::robot_root_bounds_</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>Bounds of robot arm as sub-region of table top. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00032">32</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a598a8379918fbdaf44358be840f146b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a598a8379918fbdaf44358be840f146b7">◆ </a></span>root_tf_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform Abstract_robot::root_tf_</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><a class="el" href="classRobot.html">Robot</a> root on table top. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00030">30</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="af92f5538f28fbe61687d70f15e84fb82"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af92f5538f28fbe61687d70f15e84fb82">◆ </a></span>size_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3 Abstract_robot::size_</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>Size of table. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00028">28</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a854a3c8c740dcb60e0ee347fcd5447f6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a854a3c8c740dcb60e0ee347fcd5447f6">◆ </a></span>tf_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform Abstract_robot::tf_</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>Pose of table. </p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00029">29</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a></li>
+<li><a class="el" href="abstract__robot_8cpp_source.html">abstract_robot.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot__decorator-members.html b/doc/html/classAbstract__robot__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..ce017ad8dc5684b7ba666e8b0c581a1fde9098b4
--- /dev/null
+++ b/doc/html/classAbstract__robot__decorator-members.html
@@ -0,0 +1,73 @@
+<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">Abstract_robot_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>(std::unique_ptr< Abstract_robot > next)</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">check_single_object_collision</a>(tf2::Transform &obj, std::string &b) override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">mgi_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">notify</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">robot_root_bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">root_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a>(int i)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">Abstract_robot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">spezifie_robot_groups</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">spezifie_root_bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj) override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot__decorator.html b/doc/html/classAbstract__robot__decorator.html
new file mode 100644
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+++ b/doc/html/classAbstract__robot__decorator.html
@@ -0,0 +1,674 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_robot_decorator 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="classAbstract__robot__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_robot_decorator Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_robot_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__robot__decorator__inherit__graph.png" border="0" usemap="#Abstract__robot__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__robot__decorator_inherit__map" id="Abstract__robot__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,192,107"/>
+<area shape="rect" href="classPanda__decorator.html" title=" " alt="" coords="33,155,164,181"/>
+<area shape="rect" href="classAbstract__robot.html" title=" " alt="" coords="40,5,157,32"/>
+</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:a9049f28e67b6457114a2b575587de4d4"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > <a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>)</td></tr>
+<tr class="separator:a9049f28e67b6457114a2b575587de4d4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a889edd0d57abce0f6c2a6bc14bcbee6e"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">bounds</a> () override</td></tr>
+<tr class="separator:a889edd0d57abce0f6c2a6bc14bcbee6e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad0c58aab1a4758916e8b448f83b1eec7"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">check_single_object_collision</a> (tf2::Transform &obj, std::string &b) override</td></tr>
+<tr class="separator:ad0c58aab1a4758916e8b448f83b1eec7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a93929b117f84e353f322d353ad762d61"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">name</a> () override</td></tr>
+<tr class="separator:a93929b117f84e353f322d353ad762d61"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aea8ffc58bc7a4187d8d28440e4395174"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot.html">Abstract_robot</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a> ()</td></tr>
+<tr class="separator:aea8ffc58bc7a4187d8d28440e4395174"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a1d6aa0f1bdeeabe95517b0408e0cf8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">notify</a> () override</td></tr>
+<tr class="separator:a9a1d6aa0f1bdeeabe95517b0408e0cf8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7c7ebc6cbf26f5e99649ffaabf7e419"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">robot_root_bounds</a> () override</td></tr>
+<tr class="separator:ae7c7ebc6cbf26f5e99649ffaabf7e419"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7fdba4f8a000b15b7a367066b0d79910"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">root_tf</a> () override</td></tr>
+<tr class="separator:a7fdba4f8a000b15b7a367066b0d79910"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a70a76cf36cdbe1179340b533b238151b"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">size</a> () override</td></tr>
+<tr class="separator:a70a76cf36cdbe1179340b533b238151b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac4f20979cd3cdb659a380511ef509b90"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">spezifie_robot_groups</a> ()=0</td></tr>
+<tr class="separator:ac4f20979cd3cdb659a380511ef509b90"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2a2ac64bad39febde6685135822c2597"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">spezifie_root_bounds</a> ()=0</td></tr>
+<tr class="separator:a2a2ac64bad39febde6685135822c2597"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5a2e4b619b74d083b4497af183948950"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">tf</a> () override</td></tr>
+<tr class="separator:a5a2e4b619b74d083b4497af183948950"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad725d88bfcce39d8e90c45b38b85e144"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj) override</td></tr>
+<tr class="separator:ad725d88bfcce39d8e90c45b38b85e144"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a> (std::string <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">More...</a><br /></td></tr>
+<tr class="separator:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a> ()</td></tr>
+<tr class="separator:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a> ()</td></tr>
+<tr class="separator:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a> ()</td></tr>
+<tr class="separator:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a> ()</td></tr>
+<tr class="separator:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a> ()</td></tr>
+<tr class="separator:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a> ()</td></tr>
+<tr class="separator:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a> ()</td></tr>
+<tr class="separator:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><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:a625e198b41f5965ac3fca6673d4039a7"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">grasp_map_generator_</a></td></tr>
+<tr class="separator:a625e198b41f5965ac3fca6673d4039a7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a86429ab626717a96cd34de271bb75c5c"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a></td></tr>
+<tr class="separator:a86429ab626717a96cd34de271bb75c5c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a586e264c1add89b1becf4e5d18964160"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">mgi_</a></td></tr>
+<tr class="separator:a586e264c1add89b1becf4e5d18964160"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9bdb9eee650e25e17647b8626ae74c27"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a></td></tr>
+<tr class="separator:a9bdb9eee650e25e17647b8626ae74c27"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41ecd95589c9236d7fc82921276339c7"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a></td></tr>
+<tr class="separator:a41ecd95589c9236d7fc82921276339c7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td></tr>
+<tr class="memdesc:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">More...</a><br /></td></tr>
+<tr class="separator:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td></tr>
+<tr class="memdesc:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">More...</a><br /></td></tr>
+<tr class="separator:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td></tr>
+<tr class="separator:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">More...</a><br /></td></tr>
+<tr class="separator:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td></tr>
+<tr class="memdesc:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> root on table top. <a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">More...</a><br /></td></tr>
+<tr class="separator:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td></tr>
+<tr class="memdesc:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">More...</a><br /></td></tr>
+<tr class="separator:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td></tr>
+<tr class="memdesc:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">More...</a><br /></td></tr>
+<tr class="separator:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><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="abstract__robot__decorator_8h_source.html#l00018">18</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a9049f28e67b6457114a2b575587de4d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9049f28e67b6457114a2b575587de4d4">◆ </a></span>Abstract_robot_decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot_decorator::Abstract_robot_decorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > </td>
+ <td class="paramname"><em>next</em></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 class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00029">29</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a889edd0d57abce0f6c2a6bc14bcbee6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a889edd0d57abce0f6c2a6bc14bcbee6e">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_robot_decorator::bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00039">39</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad0c58aab1a4758916e8b448f83b1eec7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0c58aab1a4758916e8b448f83b1eec7">◆ </a></span>check_single_object_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Abstract_robot_decorator::check_single_object_collision </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>b</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00042">42</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a93929b117f84e353f322d353ad762d61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93929b117f84e353f322d353ad762d61">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Abstract_robot_decorator::name </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00035">35</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="aea8ffc58bc7a4187d8d28440e4395174"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea8ffc58bc7a4187d8d28440e4395174">◆ </a></span>next()</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="classAbstract__robot.html">Abstract_robot</a>* Abstract_robot_decorator::next </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 class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00045">45</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9a1d6aa0f1bdeeabe95517b0408e0cf8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a1d6aa0f1bdeeabe95517b0408e0cf8">◆ </a></span>notify()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_decorator::notify </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00041">41</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae7c7ebc6cbf26f5e99649ffaabf7e419"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7c7ebc6cbf26f5e99649ffaabf7e419">◆ </a></span>robot_root_bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_robot_decorator::robot_root_bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00040">40</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a7fdba4f8a000b15b7a367066b0d79910"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fdba4f8a000b15b7a367066b0d79910">◆ </a></span>root_tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot_decorator::root_tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00038">38</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a70a76cf36cdbe1179340b533b238151b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70a76cf36cdbe1179340b533b238151b">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Abstract_robot_decorator::size </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00037">37</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac4f20979cd3cdb659a380511ef509b90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4f20979cd3cdb659a380511ef509b90">◆ </a></span>spezifie_robot_groups()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_decorator::spezifie_robot_groups </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">Panda_decorator</a>.</p>
+
+</div>
+</div>
+<a id="a2a2ac64bad39febde6685135822c2597"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a2ac64bad39febde6685135822c2597">◆ </a></span>spezifie_root_bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_decorator::spezifie_root_bounds </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">Panda_decorator</a>.</p>
+
+</div>
+</div>
+<a id="a5a2e4b619b74d083b4497af183948950"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a2e4b619b74d083b4497af183948950">◆ </a></span>tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot_decorator::tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00036">36</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad725d88bfcce39d8e90c45b38b85e144"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad725d88bfcce39d8e90c45b38b85e144">◆ </a></span>workload_checker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_decorator::workload_checker </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< int > & </td>
+ <td class="paramname"><em>count_vector</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00043">43</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a625e198b41f5965ac3fca6673d4039a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a625e198b41f5965ac3fca6673d4039a7">◆ </a></span>grasp_map_generator_</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<MapGenerator> Abstract_robot_decorator::grasp_map_generator_</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="abstract__robot__decorator_8h_source.html#l00025">25</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a86429ab626717a96cd34de271bb75c5c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86429ab626717a96cd34de271bb75c5c">◆ </a></span>map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<std::string, std::string> Abstract_robot_decorator::map_</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="abstract__robot__decorator_8h_source.html#l00024">24</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a586e264c1add89b1becf4e5d18964160"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a586e264c1add89b1becf4e5d18964160">◆ </a></span>mgi_</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::planning_interface::MoveGroupInterface> Abstract_robot_decorator::mgi_</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="abstract__robot__decorator_8h_source.html#l00021">21</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9bdb9eee650e25e17647b8626ae74c27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9bdb9eee650e25e17647b8626ae74c27">◆ </a></span>mgi_hand_</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::planning_interface::MoveGroupInterface> Abstract_robot_decorator::mgi_hand_</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="abstract__robot__decorator_8h_source.html#l00022">22</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a41ecd95589c9236d7fc82921276339c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41ecd95589c9236d7fc82921276339c7">◆ </a></span>next_</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="classAbstract__robot.html">Abstract_robot</a>> Abstract_robot_decorator::next_</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="abstract__robot__decorator_8h_source.html#l00020">20</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot__decorator__inherit__graph.map b/doc/html/classAbstract__robot__decorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..343c1df2cd449e7458e5c8e2f0c279e8ea5dece3
--- /dev/null
+++ b/doc/html/classAbstract__robot__decorator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Abstract_robot_decorator" name="Abstract_robot_decorator">
+<area shape="rect" id="node1" title=" " alt="" coords="5,80,192,107"/>
+<area shape="rect" id="node3" href="$classPanda__decorator.html" title=" " alt="" coords="33,155,164,181"/>
+<area shape="rect" id="node2" href="$classAbstract__robot.html" title=" " alt="" coords="40,5,157,32"/>
+</map>
diff --git a/doc/html/classAbstract__robot__decorator__inherit__graph.md5 b/doc/html/classAbstract__robot__decorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..ab84569c415147e1287b7605b93b35aa27f55206
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+++ b/doc/html/classAbstract__robot__decorator__inherit__graph.md5
@@ -0,0 +1 @@
+a51909da13d028534d719a6bde7f2162
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diff --git a/doc/html/classAbstract__robot__decorator__inherit__graph.png b/doc/html/classAbstract__robot__decorator__inherit__graph.png
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Binary files /dev/null and b/doc/html/classAbstract__robot__decorator__inherit__graph.png differ
diff --git a/doc/html/classAbstract__robot__element-members.html b/doc/html/classAbstract__robot__element-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..e635a903d2e619752eb41a52b141e7bc51957d5e
--- /dev/null
+++ b/doc/html/classAbstract__robot__element-members.html
@@ -0,0 +1,58 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Abstract_robot_element Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a>(tf2::Transform &tf)=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a>(tf2::Transform &tf)=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">world_tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot__element.html b/doc/html/classAbstract__robot__element.html
new file mode 100644
index 0000000000000000000000000000000000000000..b58c44cf1e6c157f2379ff80164abbcac62e8711
--- /dev/null
+++ b/doc/html/classAbstract__robot__element.html
@@ -0,0 +1,719 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_robot_element 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="classAbstract__robot__element-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_robot_element Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="impl_2abstract__robot__element_8h_source.html">abstract_robot_element.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_robot_element:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__robot__element__inherit__graph.png" border="0" usemap="#Abstract__robot__element_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__robot__element_inherit__map" id="Abstract__robot__element_inherit__map">
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+</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:a2c9540782c6450c15aaa20c20b677a9a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a402345bc67c9a2d09f903d910ee20405"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">bounds</a> ()=0</td></tr>
+<tr class="separator:a402345bc67c9a2d09f903d910ee20405"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a910a29582a54972c947fa57bbdc444ec"><td class="memItemLeft" align="right" valign="top">virtual std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a> ()=0</td></tr>
+<tr class="separator:a910a29582a54972c947fa57bbdc444ec"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2eb0ca7627bba7b58e85046532e68269"><td class="memItemLeft" align="right" valign="top">virtual tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a> ()=0</td></tr>
+<tr class="separator:a2eb0ca7627bba7b58e85046532e68269"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aecee1e1a5ca1f40473f325583b39dd9d"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a> (tf2::Transform &tf)=0</td></tr>
+<tr class="separator:aecee1e1a5ca1f40473f325583b39dd9d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aecee1e1a5ca1f40473f325583b39dd9d"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a> (tf2::Transform &tf)=0</td></tr>
+<tr class="separator:aecee1e1a5ca1f40473f325583b39dd9d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6886c5fcf4a701aaab12b93fef87e3a6"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">world_tf</a> ()=0</td></tr>
+<tr class="separator:a6886c5fcf4a701aaab12b93fef87e3a6"><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:a4d44edf1d412564ef916f16ee9035116"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d"><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="impl_2abstract__robot__element_8h_source.html#l00009">9</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a2c9540782c6450c15aaa20c20b677a9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c9540782c6450c15aaa20c20b677a9a">◆ </a></span>Abstract_robot_element() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot_element::Abstract_robot_element </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab63f250226570c92077ef4555d6f5890"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab63f250226570c92077ef4555d6f5890">◆ </a></span>Abstract_robot_element() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot_element::Abstract_robot_element </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="robot__element_2abstract__robot__element_8h_source.html#l00017">17</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a402345bc67c9a2d09f903d910ee20405"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a402345bc67c9a2d09f903d910ee20405">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::vector<tf2::Transform>& Abstract_robot_element::bounds </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">Abstract_robot_element_decorator</a>, <a class="el" href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">Field</a>, <a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">Panel</a>, and <a class="el" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">Wing</a>.</p>
+
+</div>
+</div>
+<a id="a19e094e1639e2c72ead481a3c6c9ec24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19e094e1639e2c72ead481a3c6c9ec24">◆ </a></span>calc_world_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element::calc_world_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element_8h_source.html#l00019">19</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a19e094e1639e2c72ead481a3c6c9ec24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19e094e1639e2c72ead481a3c6c9ec24">◆ </a></span>calc_world_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element::calc_world_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="robot__element_2abstract__robot__element_8h_source.html#l00027">27</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a910a29582a54972c947fa57bbdc444ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a910a29582a54972c947fa57bbdc444ec">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual std::string& Abstract_robot_element::name </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">Abstract_robot_element_decorator</a>, <a class="el" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">Field</a>, <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel</a>, and <a class="el" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">Wing</a>.</p>
+
+</div>
+</div>
+<a id="ad3ee9aff6d4fb1e4e90775e943e65861"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3ee9aff6d4fb1e4e90775e943e65861">◆ </a></span>relative_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot_element::relative_tf </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element_8h_source.html#l00018">18</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="ad3ee9aff6d4fb1e4e90775e943e65861"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3ee9aff6d4fb1e4e90775e943e65861">◆ </a></span>relative_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot_element::relative_tf </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 class="definition">Definition at line <a class="el" href="robot__element_2abstract__robot__element_8h_source.html#l00024">24</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a12e6954b51765e18a7f0c2d8c4eca0c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12e6954b51765e18a7f0c2d8c4eca0c6">◆ </a></span>set_relative_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element::set_relative_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element_8h_source.html#l00017">17</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a12e6954b51765e18a7f0c2d8c4eca0c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12e6954b51765e18a7f0c2d8c4eca0c6">◆ </a></span>set_relative_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element::set_relative_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="robot__element_2abstract__robot__element_8h_source.html#l00025">25</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="aa7ee89ce290dd2e6408a9d2118af93f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa7ee89ce290dd2e6408a9d2118af93f8">◆ </a></span>set_world_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element::set_world_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element_8h_source.html#l00020">20</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="aa7ee89ce290dd2e6408a9d2118af93f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa7ee89ce290dd2e6408a9d2118af93f8">◆ </a></span>set_world_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element::set_world_tf </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="robot__element_2abstract__robot__element_8h_source.html#l00028">28</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a2eb0ca7627bba7b58e85046532e68269"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2eb0ca7627bba7b58e85046532e68269">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual tf2::Vector3& Abstract_robot_element::size </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">Abstract_robot_element_decorator</a>, <a class="el" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">Field</a>, <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel</a>, and <a class="el" href="classWing.html#a166b6d0367d7218947e3b2321360c521">Wing</a>.</p>
+
+</div>
+</div>
+<a id="aecee1e1a5ca1f40473f325583b39dd9d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecee1e1a5ca1f40473f325583b39dd9d">◆ </a></span>update() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_element::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">Wing</a>, <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>, <a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator</a>, <a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator</a>, <a class="el" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel</a>, <a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator</a>, <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>, <a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel</a>, <a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field</a>, <a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel</a>, <a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator</a>, and <a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field</a>.</p>
+
+</div>
+</div>
+<a id="aecee1e1a5ca1f40473f325583b39dd9d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecee1e1a5ca1f40473f325583b39dd9d">◆ </a></span>update() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_element::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">Wing</a>, <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>, <a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator</a>, <a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator</a>, <a class="el" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel</a>, <a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator</a>, <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>, <a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel</a>, <a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field</a>, <a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel</a>, <a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator</a>, and <a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field</a>.</p>
+
+</div>
+</div>
+<a id="a99d0cb9e273cdfb373d4c974529b1ad6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a99d0cb9e273cdfb373d4c974529b1ad6">◆ </a></span>world_tf() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot_element::world_tf </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element_8h_source.html#l00021">21</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a6886c5fcf4a701aaab12b93fef87e3a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6886c5fcf4a701aaab12b93fef87e3a6">◆ </a></span>world_tf() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual tf2::Transform& Abstract_robot_element::world_tf </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">Abstract_robot_element_decorator</a>, <a class="el" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">Field</a>, and <a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">Panel</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4d44edf1d412564ef916f16ee9035116"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d44edf1d412564ef916f16ee9035116">◆ </a></span>bounds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Abstract_robot_element::bounds_</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="robot__element_2abstract__robot__element_8h_source.html#l00014">14</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="adcaadf1f399625d67747ce746a0cc928"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcaadf1f399625d67747ce746a0cc928">◆ </a></span>name_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string Abstract_robot_element::name_</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="robot__element_2abstract__robot__element_8h_source.html#l00009">9</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a83f046bb2fb1009832091cf8502af956"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a83f046bb2fb1009832091cf8502af956">◆ </a></span>relative_tf_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform Abstract_robot_element::relative_tf_</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="impl_2abstract__robot__element_8h_source.html#l00011">11</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a432662f8ece3c1e08739bd36a4c155d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a432662f8ece3c1e08739bd36a4c155d6">◆ </a></span>size_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3 Abstract_robot_element::size_</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="robot__element_2abstract__robot__element_8h_source.html#l00012">12</a> of file <a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="ad42d8ba185583e644e00af1c2298a38d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad42d8ba185583e644e00af1c2298a38d">◆ </a></span>world_tf_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform Abstract_robot_element::world_tf_</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="impl_2abstract__robot__element_8h_source.html#l00012">12</a> of file <a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot__element__decorator-members.html b/doc/html/classAbstract__robot__element__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..b8614876ef6faaa7d5fd4ee6f1c2a60f30e4132b
--- /dev/null
+++ b/doc/html/classAbstract__robot__element__decorator-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">Abstract_robot_element_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a>(std::unique_ptr< Abstract_robot_element > next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">input_filter</a>(tf2::Transform &tf)=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">output_filter</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">output_filter</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__robot__element__decorator.html b/doc/html/classAbstract__robot__element__decorator.html
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+++ b/doc/html/classAbstract__robot__element__decorator.html
@@ -0,0 +1,607 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_robot_element_decorator 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="classAbstract__robot__element__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_robot_element_decorator Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_robot_element_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__robot__element__decorator__inherit__graph.png" border="0" usemap="#Abstract__robot__element__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__robot__element__decorator_inherit__map" id="Abstract__robot__element__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="235,80,413,121"/>
+<area shape="rect" href="classField__rviz__decorator.html" title=" " alt="" coords="5,169,157,196"/>
+<area shape="rect" href="classLog__decorator.html" title=" " alt="" coords="181,169,296,196"/>
+<area shape="rect" href="classWing__moveit__decorator.html" title=" " alt="" coords="321,169,498,196"/>
+<area shape="rect" href="classWing__rviz__decorator.html" title=" " alt="" coords="523,169,677,196"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="235,5,413,32"/>
+</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:ae8e0dfe6a805942ddc5bd8d335b279a7"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:ae8e0dfe6a805942ddc5bd8d335b279a7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c76b8c0d4e487517e8c874e75613162"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:a2c76b8c0d4e487517e8c874e75613162"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac06ca3833192af0e719c22419c07ccbb"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a> () override</td></tr>
+<tr class="separator:ac06ca3833192af0e719c22419c07ccbb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae6a83bd61665cc4e3692143e84f091e8"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a> ()=0</td></tr>
+<tr class="separator:ae6a83bd61665cc4e3692143e84f091e8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa43d886a91e05c76c2cad7695d1662ff"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">input_filter</a> (tf2::Transform &tf)=0</td></tr>
+<tr class="separator:aa43d886a91e05c76c2cad7695d1662ff"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afa68bc27f679beb896722f0eebe6d719"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a> () override</td></tr>
+<tr class="separator:afa68bc27f679beb896722f0eebe6d719"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a87d8de36475ce19034a9728f545eb03e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a> ()</td></tr>
+<tr class="separator:a87d8de36475ce19034a9728f545eb03e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8042389be7d08be2d2792810078ac327"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">output_filter</a> ()=0</td></tr>
+<tr class="separator:a8042389be7d08be2d2792810078ac327"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8042389be7d08be2d2792810078ac327"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">output_filter</a> ()=0</td></tr>
+<tr class="separator:a8042389be7d08be2d2792810078ac327"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abe4aed220334766bd4ec903429006830"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a> () override</td></tr>
+<tr class="separator:abe4aed220334766bd4ec903429006830"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:addab3f179d202bea3da80887206c8048"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:addab3f179d202bea3da80887206c8048"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:addab3f179d202bea3da80887206c8048"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:addab3f179d202bea3da80887206c8048"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9138c650f2148d515802a89f079ace2f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> ()</td></tr>
+<tr class="separator:a9138c650f2148d515802a89f079ace2f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad077cbfa7a43d1212b78cd61bcbf37a6"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a> () override</td></tr>
+<tr class="separator:ad077cbfa7a43d1212b78cd61bcbf37a6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><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:ab7fe1d6234cc937bf72a2f951781329b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td></tr>
+<tr class="separator:ab7fe1d6234cc937bf72a2f951781329b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad46c4941160e802f67afa20b4a85d08e"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td></tr>
+<tr class="separator:ad46c4941160e802f67afa20b4a85d08e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3594b46365559d7304942f983bddab03"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td></tr>
+<tr class="separator:a3594b46365559d7304942f983bddab03"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="impl_2abstract__robot__element__decorator_8h_source.html#l00007">7</a> of file <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ae8e0dfe6a805942ddc5bd8d335b279a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8e0dfe6a805942ddc5bd8d335b279a7">◆ </a></span>Abstract_robot_element_decorator() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot_element_decorator::Abstract_robot_element_decorator </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td>
+ <td class="paramname"><em>next</em></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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html#l00013">13</a> of file <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a2c76b8c0d4e487517e8c874e75613162"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c76b8c0d4e487517e8c874e75613162">◆ </a></span>Abstract_robot_element_decorator() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_robot_element_decorator::Abstract_robot_element_decorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td>
+ <td class="paramname"><em>next</em></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 class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00014">14</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac06ca3833192af0e719c22419c07ccbb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac06ca3833192af0e719c22419c07ccbb">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Abstract_robot_element_decorator::bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00020">20</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae6a83bd61665cc4e3692143e84f091e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6a83bd61665cc4e3692143e84f091e8">◆ </a></span>input_filter() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_element_decorator::input_filter </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator</a>.</p>
+
+</div>
+</div>
+<a id="aa43d886a91e05c76c2cad7695d1662ff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa43d886a91e05c76c2cad7695d1662ff">◆ </a></span>input_filter() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_element_decorator::input_filter </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classWing__moveit__decorator.html#ac35f08c723f54f3d5d8946fb4e252ab2">Wing_moveit_decorator</a>, <a class="el" href="classField__rviz__decorator.html#a3b79225f014c0d1081080891d332187b">Field_rviz_decorator</a>, and <a class="el" href="classWing__rviz__decorator.html#a1a96d6aa2f86b5b187b7a55a8c604722">Wing_rviz_decorator</a>.</p>
+
+</div>
+</div>
+<a id="afa68bc27f679beb896722f0eebe6d719"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa68bc27f679beb896722f0eebe6d719">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Abstract_robot_element_decorator::name </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00022">22</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a87d8de36475ce19034a9728f545eb03e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a87d8de36475ce19034a9728f545eb03e">◆ </a></span>next()</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="classAbstract__robot__element.html">Abstract_robot_element</a>* Abstract_robot_element_decorator::next </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 class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">18</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a8042389be7d08be2d2792810078ac327"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8042389be7d08be2d2792810078ac327">◆ </a></span>output_filter() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_element_decorator::output_filter </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator</a>, <a class="el" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator</a>, <a class="el" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator</a>, and <a class="el" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator</a>.</p>
+
+</div>
+</div>
+<a id="a8042389be7d08be2d2792810078ac327"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8042389be7d08be2d2792810078ac327">◆ </a></span>output_filter() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_robot_element_decorator::output_filter </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator</a>, <a class="el" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator</a>, <a class="el" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator</a>, and <a class="el" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator</a>.</p>
+
+</div>
+</div>
+<a id="abe4aed220334766bd4ec903429006830"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe4aed220334766bd4ec903429006830">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Abstract_robot_element_decorator::size </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00023">23</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="addab3f179d202bea3da80887206c8048"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#addab3f179d202bea3da80887206c8048">◆ </a></span>update() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element_decorator::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator</a>, <a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator</a>, <a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator</a>, and <a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html#l00017">17</a> of file <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="addab3f179d202bea3da80887206c8048"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#addab3f179d202bea3da80887206c8048">◆ </a></span>update() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Abstract_robot_element_decorator::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00027">27</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9138c650f2148d515802a89f079ace2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9138c650f2148d515802a89f079ace2f">◆ </a></span>wing()</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="classAbstract__robot__element.html">Abstract_robot_element</a>* Abstract_robot_element_decorator::wing </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 class="definition">Definition at line <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html#l00015">15</a> of file <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad077cbfa7a43d1212b78cd61bcbf37a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad077cbfa7a43d1212b78cd61bcbf37a6">◆ </a></span>world_tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Abstract_robot_element_decorator::world_tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00021">21</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab7fe1d6234cc937bf72a2f951781329b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7fe1d6234cc937bf72a2f951781329b">◆ </a></span>next_ <span class="overload">[1/2]</span></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="classAbstract__robot__element.html">Abstract_robot_element</a>* Abstract_robot_element_decorator::next_</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="impl_2abstract__robot__element__decorator_8h_source.html#l00009">9</a> of file <a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad46c4941160e802f67afa20b4a85d08e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad46c4941160e802f67afa20b4a85d08e">◆ </a></span>next_ <span class="overload">[2/2]</span></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="classAbstract__robot__element.html">Abstract_robot_element</a>> Abstract_robot_element_decorator::next_</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="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00010">10</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a3594b46365559d7304942f983bddab03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3594b46365559d7304942f983bddab03">◆ </a></span>nh_</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<ros::NodeHandle> Abstract_robot_element_decorator::nh_</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="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00009">9</a> of file <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/classAbstract__strategy-members.html
@@ -0,0 +1,40 @@
+<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">Abstract_strategy Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstract__strategy.html">Abstract_strategy</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a>()=default</td><td class="entry"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">cloud_calculation</a>(Abstract_map_loader *var)=0</td><td class="entry"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">inv_map_creation</a>(Abstract_map_loader *var)=0</td><td class="entry"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">~Abstract_strategy</a>()=default</td><td class="entry"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstract__strategy.html b/doc/html/classAbstract__strategy.html
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--- /dev/null
+++ b/doc/html/classAbstract__strategy.html
@@ -0,0 +1,173 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Abstract_strategy 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="classAbstract__strategy-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Abstract_strategy Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="abstract__strategy_8h_source.html">abstract_strategy.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Abstract_strategy:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstract__strategy__inherit__graph.png" border="0" usemap="#Abstract__strategy_inherit__map" alt="Inheritance graph"/></div>
+<map name="Abstract__strategy_inherit__map" id="Abstract__strategy_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,5,143,32"/>
+<area shape="rect" href="classBase__by__rotation.html" title=" " alt="" coords="7,80,141,107"/>
+</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:accc89e872cb004dc89a51996b8038f5a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a> ()=default</td></tr>
+<tr class="separator:accc89e872cb004dc89a51996b8038f5a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acfa25fc51d61ef553f5b588732d67335"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">cloud_calculation</a> (<a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> *var)=0</td></tr>
+<tr class="separator:acfa25fc51d61ef553f5b588732d67335"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a20c07f343817632f5f946fdb7734159f"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">inv_map_creation</a> (<a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> *var)=0</td></tr>
+<tr class="separator:a20c07f343817632f5f946fdb7734159f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42ded383c401bd6cc047f5c6064f5e8d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">~Abstract_strategy</a> ()=default</td></tr>
+<tr class="separator:a42ded383c401bd6cc047f5c6064f5e8d"><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="abstract__strategy_8h_source.html#l00008">8</a> of file <a class="el" href="abstract__strategy_8h_source.html">abstract_strategy.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="accc89e872cb004dc89a51996b8038f5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#accc89e872cb004dc89a51996b8038f5a">◆ </a></span>Abstract_strategy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_strategy::Abstract_strategy </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a42ded383c401bd6cc047f5c6064f5e8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42ded383c401bd6cc047f5c6064f5e8d">◆ </a></span>~Abstract_strategy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Abstract_strategy::~Abstract_strategy </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="acfa25fc51d61ef553f5b588732d67335"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfa25fc51d61ef553f5b588732d67335">◆ </a></span>cloud_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_strategy::cloud_calculation </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> * </td>
+ <td class="paramname"><em>var</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">Base_by_rotation</a>.</p>
+
+</div>
+</div>
+<a id="a20c07f343817632f5f946fdb7734159f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20c07f343817632f5f946fdb7734159f">◆ </a></span>inv_map_creation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void Abstract_strategy::inv_map_creation </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> * </td>
+ <td class="paramname"><em>var</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">Base_by_rotation</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="abstract__strategy_8h_source.html">abstract_strategy.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/classBase__by__rotation-members.html
@@ -0,0 +1,42 @@
+<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">Base_by_rotation Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classBase__by__rotation.html">Base_by_rotation</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a>()=default</td><td class="entry"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__by__rotation.html#aaf73fbd91908d8b3681e0d6c595bb858">Base_by_rotation</a>()=default</td><td class="entry"><a class="el" href="classBase__by__rotation.html">Base_by_rotation</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">cloud_calculation</a>(Abstract_map_loader *var) override</td><td class="entry"><a class="el" href="classBase__by__rotation.html">Base_by_rotation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">inv_map_creation</a>(Abstract_map_loader *var) override</td><td class="entry"><a class="el" href="classBase__by__rotation.html">Base_by_rotation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">~Abstract_strategy</a>()=default</td><td class="entry"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__by__rotation.html#a63a6ed1a606880c99c0bc96f666d83ba">~Base_by_rotation</a>()=default</td><td class="entry"><a class="el" href="classBase__by__rotation.html">Base_by_rotation</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classBase__by__rotation.html b/doc/html/classBase__by__rotation.html
new file mode 100644
index 0000000000000000000000000000000000000000..ae41f49537bf566c081ad44dbcf1b63f4e809a96
--- /dev/null
+++ b/doc/html/classBase__by__rotation.html
@@ -0,0 +1,183 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Base_by_rotation 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="classBase__by__rotation-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Base_by_rotation Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="base__by__rotation_8h_source.html">base_by_rotation.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Base_by_rotation:</div>
+<div class="dyncontent">
+<div class="center"><img src="classBase__by__rotation__inherit__graph.png" border="0" usemap="#Base__by__rotation_inherit__map" alt="Inheritance graph"/></div>
+<map name="Base__by__rotation_inherit__map" id="Base__by__rotation_inherit__map">
+<area shape="rect" title=" " alt="" coords="7,80,141,107"/>
+<area shape="rect" href="classAbstract__strategy.html" title=" " alt="" coords="5,5,143,32"/>
+</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:aaf73fbd91908d8b3681e0d6c595bb858"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__by__rotation.html#aaf73fbd91908d8b3681e0d6c595bb858">Base_by_rotation</a> ()=default</td></tr>
+<tr class="separator:aaf73fbd91908d8b3681e0d6c595bb858"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a910ed8dac159764f4b045f07c7ac2372"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">cloud_calculation</a> (<a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> *var) override</td></tr>
+<tr class="separator:a910ed8dac159764f4b045f07c7ac2372"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3d528929f1ec7bd2ddeed2c68a9fbc4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">inv_map_creation</a> (<a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> *var) override</td></tr>
+<tr class="separator:ad3d528929f1ec7bd2ddeed2c68a9fbc4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a63a6ed1a606880c99c0bc96f666d83ba"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__by__rotation.html#a63a6ed1a606880c99c0bc96f666d83ba">~Base_by_rotation</a> ()=default</td></tr>
+<tr class="separator:a63a6ed1a606880c99c0bc96f666d83ba"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__strategy"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__strategy')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__strategy.html">Abstract_strategy</a></td></tr>
+<tr class="memitem:accc89e872cb004dc89a51996b8038f5a inherit pub_methods_classAbstract__strategy"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a> ()=default</td></tr>
+<tr class="separator:accc89e872cb004dc89a51996b8038f5a inherit pub_methods_classAbstract__strategy"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42ded383c401bd6cc047f5c6064f5e8d inherit pub_methods_classAbstract__strategy"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">~Abstract_strategy</a> ()=default</td></tr>
+<tr class="separator:a42ded383c401bd6cc047f5c6064f5e8d inherit pub_methods_classAbstract__strategy"><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="base__by__rotation_8h_source.html#l00009">9</a> of file <a class="el" href="base__by__rotation_8h_source.html">base_by_rotation.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aaf73fbd91908d8b3681e0d6c595bb858"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf73fbd91908d8b3681e0d6c595bb858">◆ </a></span>Base_by_rotation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Base_by_rotation::Base_by_rotation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a63a6ed1a606880c99c0bc96f666d83ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63a6ed1a606880c99c0bc96f666d83ba">◆ </a></span>~Base_by_rotation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Base_by_rotation::~Base_by_rotation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a910ed8dac159764f4b045f07c7ac2372"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a910ed8dac159764f4b045f07c7ac2372">◆ </a></span>cloud_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_by_rotation::cloud_calculation </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> * </td>
+ <td class="paramname"><em>var</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>Implements <a class="el" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">Abstract_strategy</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__by__rotation_8cpp_source.html#l00024">24</a> of file <a class="el" href="base__by__rotation_8cpp_source.html">base_by_rotation.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ad3d528929f1ec7bd2ddeed2c68a9fbc4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3d528929f1ec7bd2ddeed2c68a9fbc4">◆ </a></span>inv_map_creation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_by_rotation::inv_map_creation </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a> * </td>
+ <td class="paramname"><em>var</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>Implements <a class="el" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">Abstract_strategy</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__by__rotation_8cpp_source.html#l00004">4</a> of file <a class="el" href="base__by__rotation_8cpp_source.html">base_by_rotation.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="base__by__rotation_8h_source.html">base_by_rotation.h</a></li>
+<li><a class="el" href="base__by__rotation_8cpp_source.html">base_by_rotation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classBase__by__rotation__inherit__graph.map b/doc/html/classBase__by__rotation__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..d15c62e131984b5129a06427c911099ec590044b
--- /dev/null
+++ b/doc/html/classBase__by__rotation__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Base_by_rotation" name="Base_by_rotation">
+<area shape="rect" id="node1" title=" " alt="" coords="7,80,141,107"/>
+<area shape="rect" id="node2" href="$classAbstract__strategy.html" title=" " alt="" coords="5,5,143,32"/>
+</map>
diff --git a/doc/html/classBase__by__rotation__inherit__graph.md5 b/doc/html/classBase__by__rotation__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..b22765093d71a6409cbe9a000f04c5b1b1c129ed
--- /dev/null
+++ b/doc/html/classBase__by__rotation__inherit__graph.md5
@@ -0,0 +1 @@
+9d4a5582bedfe0e62d277a5d2b760627
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diff --git a/doc/html/classBase__by__rotation__inherit__graph.png b/doc/html/classBase__by__rotation__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fc84f1c0036cc96f171a6a764b738f805c3dc1a
Binary files /dev/null and b/doc/html/classBase__by__rotation__inherit__graph.png differ
diff --git a/doc/html/classBase__calculation__mediator-members.html b/doc/html/classBase__calculation__mediator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..38d10213a88566fac8d9080ad780d083d712fa26
--- /dev/null
+++ b/doc/html/classBase__calculation__mediator-members.html
@@ -0,0 +1,83 @@
+<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">Base_calculation_mediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">approximation</a>(Ceti_robot *robot)</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">build_wings</a>(std::bitset< 3 > &wings, int &robot) override</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">calculate</a>(std::vector< tf2::Transform > &ground_per_robot)</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">check_collision</a>(const int &robot) override</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">connect_robots</a>(std::unique_ptr< Abstract_robot_decorator > robot) override</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator::connect_robots</a>(Abstract_robot *robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">generate_grounds</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">grounds_</a></td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">mediate</a>() override</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a></td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">publish</a>(Ceti_robot *r)</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">robot_reader</a>()</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">robot_reader_</a></td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">set_panel</a>()</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(std::vector< std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">set_wings</a>(std::vector< std::pair< std::vector< object_data >, int >> &wbp)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">setup_rviz</a>()</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">wing_reader</a>()</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">wing_reader_</a></td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">wings_</a></td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">write_file</a>(Ceti_robot *A, Ceti_robot *B)</td><td class="entry"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classBase__calculation__mediator.html b/doc/html/classBase__calculation__mediator.html
new file mode 100644
index 0000000000000000000000000000000000000000..a3ac818878313bea9da102623397fb00aeec114a
--- /dev/null
+++ b/doc/html/classBase__calculation__mediator.html
@@ -0,0 +1,789 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Base_calculation_mediator 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="classBase__calculation__mediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Base_calculation_mediator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Concrete <a class="el" href="classMediator.html">Mediator</a>.
+ <a href="classBase__calculation__mediator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Base_calculation_mediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classBase__calculation__mediator__inherit__graph.png" border="0" usemap="#Base__calculation__mediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Base__calculation__mediator_inherit__map" id="Base__calculation__mediator_inherit__map">
+<area shape="rect" title="Concrete Mediator." alt="" coords="5,80,204,107"/>
+<area shape="rect" href="classAbstract__mediator.html" title="Abstract mediator." alt="" coords="33,5,176,32"/>
+</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:aa03bb145649933b2b362dfc8966f63c8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">approximation</a> (<a class="el" href="classCeti__robot.html">Ceti_robot</a> *robot)</td></tr>
+<tr class="memdesc:aa03bb145649933b2b362dfc8966f63c8"><td class="mdescLeft"> </td><td class="mdescRight">Approximates other robots to fit in the workspace. <a href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">More...</a><br /></td></tr>
+<tr class="separator:aa03bb145649933b2b362dfc8966f63c8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acf5ce9f5f854708b8b2a7008d75d0330"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:acf5ce9f5f854708b8b2a7008d75d0330"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classBase__calculation__mediator.html" title="Concrete Mediator.">Base_calculation_mediator</a> constructor. <a href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">More...</a><br /></td></tr>
+<tr class="separator:acf5ce9f5f854708b8b2a7008d75d0330"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aff019cc13f25228abaf99b4a3fe72c38"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">build_wings</a> (std::bitset< 3 > &<a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>, int &robot) override</td></tr>
+<tr class="memdesc:aff019cc13f25228abaf99b4a3fe72c38"><td class="mdescLeft"> </td><td class="mdescRight">Resets wings of a robot. <a href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">More...</a><br /></td></tr>
+<tr class="separator:aff019cc13f25228abaf99b4a3fe72c38"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a55975e58dfc863db246224217367c645"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">calculate</a> (std::vector< tf2::Transform > &ground_per_robot)</td></tr>
+<tr class="memdesc:a55975e58dfc863db246224217367c645"><td class="mdescLeft"> </td><td class="mdescRight">Ground position calculator. <a href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">More...</a><br /></td></tr>
+<tr class="separator:a55975e58dfc863db246224217367c645"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2f29ef22d330020bf276cb709c8c8238"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">check_collision</a> (const int &robot) override</td></tr>
+<tr class="memdesc:a2f29ef22d330020bf276cb709c8c8238"><td class="mdescLeft"> </td><td class="mdescRight">check_collision <a href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">More...</a><br /></td></tr>
+<tr class="separator:a2f29ef22d330020bf276cb709c8c8238"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6804ea3a11a66faf3bcf0429fd016d06"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">connect_robots</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > robot) override</td></tr>
+<tr class="memdesc:a6804ea3a11a66faf3bcf0429fd016d06"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> Connector implementation. <a href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">More...</a><br /></td></tr>
+<tr class="separator:a6804ea3a11a66faf3bcf0429fd016d06"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6c5b26e596ed3c7fb4d226fa10183c51"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">generate_grounds</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="memdesc:a6c5b26e596ed3c7fb4d226fa10183c51"><td class="mdescLeft"> </td><td class="mdescRight">Ground generator. <a href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">More...</a><br /></td></tr>
+<tr class="separator:a6c5b26e596ed3c7fb4d226fa10183c51"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af175bafdf327cc397ce1c9f42913c83a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">mediate</a> () override</td></tr>
+<tr class="memdesc:af175bafdf327cc397ce1c9f42913c83a"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classMediator.html">Mediator</a> implementation. <a href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">More...</a><br /></td></tr>
+<tr class="separator:af175bafdf327cc397ce1c9f42913c83a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a62cee1d422407a72223fcee53dbba5ba"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">publish</a> (<a class="el" href="classCeti__robot.html">Ceti_robot</a> *r)</td></tr>
+<tr class="memdesc:a62cee1d422407a72223fcee53dbba5ba"><td class="mdescLeft"> </td><td class="mdescRight">Marker publishing methode. <a href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">More...</a><br /></td></tr>
+<tr class="separator:a62cee1d422407a72223fcee53dbba5ba"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a00167697941fa249b15bc322e9ecb356"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classRobot__reader.html">Robot_reader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">robot_reader</a> ()</td></tr>
+<tr class="memdesc:a00167697941fa249b15bc322e9ecb356"><td class="mdescLeft"> </td><td class="mdescRight">Get <a class="el" href="classRobot__reader.html" title="Robot reader.">Robot_reader</a>. <a href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">More...</a><br /></td></tr>
+<tr class="separator:a00167697941fa249b15bc322e9ecb356"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3fc38aa682c47686159c0c67b7685fd7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">set_panel</a> ()</td></tr>
+<tr class="memdesc:a3fc38aa682c47686159c0c67b7685fd7"><td class="mdescLeft"> </td><td class="mdescRight">Sets panels for robots. <a href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">More...</a><br /></td></tr>
+<tr class="separator:a3fc38aa682c47686159c0c67b7685fd7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1e5a579ea6a516ec8537b4b3d506e4ae"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">setup_rviz</a> ()</td></tr>
+<tr class="memdesc:a1e5a579ea6a516ec8537b4b3d506e4ae"><td class="mdescLeft"> </td><td class="mdescRight">Rviz setup methode. <a href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">More...</a><br /></td></tr>
+<tr class="separator:a1e5a579ea6a516ec8537b4b3d506e4ae"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7d366c17687d6e3e4d3bc27c888ee5f5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classWing__reader.html">Wing_reader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">wing_reader</a> ()</td></tr>
+<tr class="memdesc:a7d366c17687d6e3e4d3bc27c888ee5f5"><td class="mdescLeft"> </td><td class="mdescRight">Get <a class="el" href="classWing__reader.html" title="Wing reader.">Wing_reader</a>. <a href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">More...</a><br /></td></tr>
+<tr class="separator:a7d366c17687d6e3e4d3bc27c888ee5f5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1e710053c31cd1f4da64b45a11c7b660"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">write_file</a> (<a class="el" href="classCeti__robot.html">Ceti_robot</a> *A, <a class="el" href="classCeti__robot.html">Ceti_robot</a> *B)</td></tr>
+<tr class="memdesc:a1e710053c31cd1f4da64b45a11c7b660"><td class="mdescLeft"> </td><td class="mdescRight">Writes result file. <a href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">More...</a><br /></td></tr>
+<tr class="separator:a1e710053c31cd1f4da64b45a11c7b660"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__mediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator constructor. <a href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">More...</a><br /></td></tr>
+<tr class="separator:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td></tr>
+<tr class="separator:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0c102b5e272139492ab04ce0d4e43234 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot)=0</td></tr>
+<tr class="separator:a0c102b5e272139492ab04ce0d4e43234 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="memdesc:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">More...</a><br /></td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="separator:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a> ()</td></tr>
+<tr class="separator:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><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="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a> ()</td></tr>
+<tr class="memdesc:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">More...</a><br /></td></tr>
+<tr class="separator:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a> ()</td></tr>
+<tr class="separator:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a> ()</td></tr>
+<tr class="memdesc:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">More...</a><br /></td></tr>
+<tr class="separator:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">More...</a><br /></td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">More...</a><br /></td></tr>
+<tr class="separator:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a> (std::vector< std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="separator:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92b5d1cb508826454ae3ea0e5cbf5f2 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">set_wings</a> (std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &wbp)=0</td></tr>
+<tr class="separator:af92b5d1cb508826454ae3ea0e5cbf5f2 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">More...</a><br /></td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a> ()</td></tr>
+<tr class="separator:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a> ()</td></tr>
+<tr class="memdesc:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">More...</a><br /></td></tr>
+<tr class="separator:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><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:a008b22e99593f2fcbff3c6e26ae5ddbe"><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="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">grounds_</a></td></tr>
+<tr class="memdesc:a008b22e99593f2fcbff3c6e26ae5ddbe"><td class="mdescLeft"> </td><td class="mdescRight">Possible ground positions per robots. <a href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">More...</a><br /></td></tr>
+<tr class="separator:a008b22e99593f2fcbff3c6e26ae5ddbe"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5419d9798ac36cd945706721aa542278"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< ros::Publisher > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">pub_</a></td></tr>
+<tr class="memdesc:a5419d9798ac36cd945706721aa542278"><td class="mdescLeft"> </td><td class="mdescRight">Publisher sharing visualization messages of the scene. <a href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">More...</a><br /></td></tr>
+<tr class="separator:a5419d9798ac36cd945706721aa542278"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3a04eb51e61a15179088786b9555e000"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classRobot__reader.html">Robot_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">robot_reader_</a></td></tr>
+<tr class="memdesc:a3a04eb51e61a15179088786b9555e000"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot__reader.html" title="Robot reader.">Robot_reader</a> which collects robot poses. <a href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">More...</a><br /></td></tr>
+<tr class="separator:a3a04eb51e61a15179088786b9555e000"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae1c0060fbd229bb5c7c8229e82200fc0"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classWing__reader.html">Wing_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">wing_reader_</a></td></tr>
+<tr class="memdesc:ae1c0060fbd229bb5c7c8229e82200fc0"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classWing__reader.html" title="Wing reader.">Wing_reader</a> which collects panel information of robots. <a href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">More...</a><br /></td></tr>
+<tr class="separator:ae1c0060fbd229bb5c7c8229e82200fc0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8274031d01b4648815a25e9e545178c5"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">wings_</a></td></tr>
+<tr class="memdesc:a8274031d01b4648815a25e9e545178c5"><td class="mdescLeft"> </td><td class="mdescRight">Possible panels per robot. <a href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">More...</a><br /></td></tr>
+<tr class="separator:a8274031d01b4648815a25e9e545178c5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__mediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td></tr>
+<tr class="memdesc:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">More...</a><br /></td></tr>
+<tr class="separator:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td></tr>
+<tr class="memdesc:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">More...</a><br /></td></tr>
+<tr class="separator:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td></tr>
+<tr class="separator:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">ros::Publisher * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td></tr>
+<tr class="separator:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td></tr>
+<tr class="memdesc:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">More...</a><br /></td></tr>
+<tr class="separator:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td></tr>
+<tr class="separator:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td></tr>
+<tr class="memdesc:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">More...</a><br /></td></tr>
+<tr class="separator:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td></tr>
+<tr class="separator:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td></tr>
+<tr class="memdesc:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">More...</a><br /></td></tr>
+<tr class="separator:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTs__reader.html">Ts_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td></tr>
+<tr class="memdesc:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">More...</a><br /></td></tr>
+<tr class="separator:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td></tr>
+<tr class="separator:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td></tr>
+<tr class="separator:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Concrete <a class="el" href="classMediator.html">Mediator</a>. </p>
+<p>Base calculation mediator, which mediates agents to form a multi-cell by placing/rotating and perform collision checks </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00022">22</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="acf5ce9f5f854708b8b2a7008d75d0330"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf5ce9f5f854708b8b2a7008d75d0330">◆ </a></span>Base_calculation_mediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Base_calculation_mediator::Base_calculation_mediator </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="classBase__calculation__mediator.html" title="Concrete Mediator.">Base_calculation_mediator</a> constructor. </p>
+<p>initializes readers und publisher </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>Ros nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00003">3</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa03bb145649933b2b362dfc8966f63c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa03bb145649933b2b362dfc8966f63c8">◆ </a></span>approximation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::approximation </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classCeti__robot.html">Ceti_robot</a> * </td>
+ <td class="paramname"><em>robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Approximates other robots to fit in the workspace. </p>
+<p>Places and rotates robot to fit in a previous robots surrounding </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td>next robot to fit in </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00218">218</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aff019cc13f25228abaf99b4a3fe72c38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff019cc13f25228abaf99b4a3fe72c38">◆ </a></span>build_wings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::build_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>wings</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int & </td>
+ <td class="paramname"><em>robot</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Resets wings of a robot. </p>
+<p>Rebuild robot wings by comparing robot observer mask and requested configuration </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">wings</td><td>requested wings </td></tr>
+ <tr><td class="paramname">robot</td><td>robot index </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00422">422</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a55975e58dfc863db246224217367c645"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55975e58dfc863db246224217367c645">◆ </a></span>calculate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::calculate </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>ground_per_robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Ground position calculator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">ground_per_robot</td><td><a class="el" href="classRobot.html">Robot</a> </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00140">140</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a2f29ef22d330020bf276cb709c8c8238"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2f29ef22d330020bf276cb709c8c8238">◆ </a></span>check_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Base_calculation_mediator::check_collision </td>
+ <td>(</td>
+ <td class="paramtype">const int & </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>check_collision </p>
+<p>Collsision checker impelementation including Rviz visualization </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td><a class="el" href="classRobot.html">Robot</a> by index </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00045">45</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6804ea3a11a66faf3bcf0429fd016d06"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6804ea3a11a66faf3bcf0429fd016d06">◆ </a></span>connect_robots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::connect_robots </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</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><a class="el" href="classRobot.html">Robot</a> Connector implementation. </p>
+<p>registers robot </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00022">22</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6c5b26e596ed3c7fb4d226fa10183c51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c5b26e596ed3c7fb4d226fa10183c51">◆ </a></span>generate_grounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::generate_grounds </td>
+ <td>(</td>
+ <td class="paramtype">const tf2::Vector3 </td>
+ <td class="paramname"><em>origin</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const float </td>
+ <td class="paramname"><em>diameter</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">float </td>
+ <td class="paramname"><em>resolution</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Ground generator. </p>
+<p>initialize descrete ground </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">origin</td><td>Ros nodehandle </td></tr>
+ <tr><td class="paramname">diameter</td><td>Ros nodehandle </td></tr>
+ <tr><td class="paramname">resolution</td><td>Ros nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00009">9</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af175bafdf327cc397ce1c9f42913c83a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af175bafdf327cc397ce1c9f42913c83a">◆ </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 Base_calculation_mediator::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><a class="el" href="classMediator.html">Mediator</a> implementation. </p>
+<p>Places and rotates robots till no collisions exists, all objects are somewhere on the tables </p>
+
+<p>Implements <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00099">99</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a62cee1d422407a72223fcee53dbba5ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62cee1d422407a72223fcee53dbba5ba">◆ </a></span>publish()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::publish </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classCeti__robot.html">Ceti_robot</a> * </td>
+ <td class="paramname"><em>r</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Marker publishing methode. </p>
+<p>Publishes all markers of an robot </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">r</td><td><a class="el" href="classRobot.html">Robot</a> </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00441">441</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a00167697941fa249b15bc322e9ecb356"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a00167697941fa249b15bc322e9ecb356">◆ </a></span>robot_reader()</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="classRobot__reader.html">Robot_reader</a>* Base_calculation_mediator::robot_reader </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 <a class="el" href="classRobot__reader.html" title="Robot reader.">Robot_reader</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>robot reader </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00060">60</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a3fc38aa682c47686159c0c67b7685fd7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fc38aa682c47686159c0c67b7685fd7">◆ </a></span>set_panel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::set_panel </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Sets panels for robots. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00028">28</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a1e5a579ea6a516ec8537b4b3d506e4ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e5a579ea6a516ec8537b4b3d506e4ae">◆ </a></span>setup_rviz()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::setup_rviz </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Rviz setup methode. </p>
+
+</div>
+</div>
+<a id="a7d366c17687d6e3e4d3bc27c888ee5f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d366c17687d6e3e4d3bc27c888ee5f5">◆ </a></span>wing_reader()</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="classWing__reader.html">Wing_reader</a>* Base_calculation_mediator::wing_reader </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 <a class="el" href="classWing__reader.html" title="Wing reader.">Wing_reader</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>wing reader </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00054">54</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a1e710053c31cd1f4da64b45a11c7b660"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e710053c31cd1f4da64b45a11c7b660">◆ </a></span>write_file()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Base_calculation_mediator::write_file </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classCeti__robot.html">Ceti_robot</a> * </td>
+ <td class="paramname"><em>A</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype"><a class="el" href="classCeti__robot.html">Ceti_robot</a> * </td>
+ <td class="paramname"><em>B</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Writes result file. </p>
+<p>Writes Protobuff file containing all robots, panels, Drop off locations and actual box positions </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">A</td><td>Robots </td></tr>
+ <tr><td class="paramname">B</td><td>Robots </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00299">299</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a008b22e99593f2fcbff3c6e26ae5ddbe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a008b22e99593f2fcbff3c6e26ae5ddbe">◆ </a></span>grounds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<pcl::PointXYZ> > Base_calculation_mediator::grounds_</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>Possible ground positions per robots. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00029">29</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a5419d9798ac36cd945706721aa542278"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5419d9798ac36cd945706721aa542278">◆ </a></span>pub_</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<ros::Publisher> Base_calculation_mediator::pub_</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>Publisher sharing visualization messages of the scene. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00024">24</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a3a04eb51e61a15179088786b9555e000"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a04eb51e61a15179088786b9555e000">◆ </a></span>robot_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="classRobot__reader.html">Robot_reader</a>> Base_calculation_mediator::robot_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><a class="el" href="classRobot__reader.html" title="Robot reader.">Robot_reader</a> which collects robot poses. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00026">26</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae1c0060fbd229bb5c7c8229e82200fc0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1c0060fbd229bb5c7c8229e82200fc0">◆ </a></span>wing_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="classWing__reader.html">Wing_reader</a>> Base_calculation_mediator::wing_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><a class="el" href="classWing__reader.html" title="Wing reader.">Wing_reader</a> which collects panel information of robots. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00025">25</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a8274031d01b4648815a25e9e545178c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8274031d01b4648815a25e9e545178c5">◆ </a></span>wings_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> > > Base_calculation_mediator::wings_</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>Possible panels per robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00030">30</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a></li>
+<li><a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/classBase__calculation__mediator__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Base_calculation_mediator" name="Base_calculation_mediator">
+<area shape="rect" id="node1" title="Concrete Mediator." alt="" coords="5,80,204,107"/>
+<area shape="rect" id="node2" href="$classAbstract__mediator.html" title="Abstract mediator." alt="" coords="33,5,176,32"/>
+</map>
diff --git a/doc/html/classBase__calculation__mediator__inherit__graph.md5 b/doc/html/classBase__calculation__mediator__inherit__graph.md5
new file mode 100644
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--- /dev/null
+++ b/doc/html/classBase__calculation__mediator__inherit__graph.md5
@@ -0,0 +1 @@
+0918e76f019fffb7532823b4fbee2ca4
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diff --git a/doc/html/classBase__calculation__mediator__inherit__graph.png b/doc/html/classBase__calculation__mediator__inherit__graph.png
new file mode 100644
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diff --git a/doc/html/classCeti__robot-members.html b/doc/html/classCeti__robot-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..90dc4a828b74a7445369513026720b23402c68eb
--- /dev/null
+++ b/doc/html/classCeti__robot-members.html
@@ -0,0 +1,76 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Ceti_robot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classCeti__robot.html">Ceti_robot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">access_fields</a>()</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a></td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">add_coll_markers</a>(std::shared_ptr< moveit_msgs::CollisionObject > marker)</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">bounds</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">check_single_object_collision</a>(tf2::Transform &obj, std::string &str) override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">coll_markers</a>()</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">coll_markers_</a></td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">generate_access_fields</a>()</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">in_collision</a>(Ceti_robot *R)</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">notify</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">observer_mask</a>()</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">observer_mask_</a></td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a>()</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a></td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">register_observers</a>(std::unique_ptr< Abstract_robot_element > wd)</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">reset</a>()</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">robot_root_bounds</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">root_tf</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">set_observer_mask</a>(int i)</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">Abstract_robot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>() override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj) override</td><td class="entry"><a class="el" href="classCeti__robot.html">Ceti_robot</a></td><td class="entry"><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCeti__robot.html b/doc/html/classCeti__robot.html
new file mode 100644
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+++ b/doc/html/classCeti__robot.html
@@ -0,0 +1,930 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Ceti_robot 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="classCeti__robot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Ceti_robot Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Concrete Ceti-Robot.
+ <a href="classCeti__robot.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Ceti_robot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classCeti__robot__inherit__graph.png" border="0" usemap="#Ceti__robot_inherit__map" alt="Inheritance graph"/></div>
+<map name="Ceti__robot_inherit__map" id="Ceti__robot_inherit__map">
+<area shape="rect" title="Concrete Ceti-Robot." alt="" coords="19,80,109,107"/>
+<area shape="rect" href="classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
+</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:a4ad187750675fbe7ba8ded55f2c0e3b7"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">access_fields</a> ()</td></tr>
+<tr class="memdesc:a4ad187750675fbe7ba8ded55f2c0e3b7"><td class="mdescLeft"> </td><td class="mdescRight">Get access fields. <a href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">More...</a><br /></td></tr>
+<tr class="separator:a4ad187750675fbe7ba8ded55f2c0e3b7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a85afa4e99b4d31282a0b1e7cba45176c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">add_coll_markers</a> (std::shared_ptr< moveit_msgs::CollisionObject > marker)</td></tr>
+<tr class="memdesc:a85afa4e99b4d31282a0b1e7cba45176c"><td class="mdescLeft"> </td><td class="mdescRight">Adds marker to array. <a href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">More...</a><br /></td></tr>
+<tr class="separator:a85afa4e99b4d31282a0b1e7cba45176c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2bca93f0ea688ce45a50b06edae104df"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">bounds</a> () override</td></tr>
+<tr class="separator:a2bca93f0ea688ce45a50b06edae104df"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ade0920ab43886af89a431f7808207efd"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot</a> (std::string &<a class="el" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a>, tf2::Transform <a class="el" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a>, tf2::Vector3 <a class="el" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a>)</td></tr>
+<tr class="memdesc:ade0920ab43886af89a431f7808207efd"><td class="mdescLeft"> </td><td class="mdescRight">Ceti robot constructor. <a href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">More...</a><br /></td></tr>
+<tr class="separator:ade0920ab43886af89a431f7808207efd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a128b5891d5519855c387dd0fd3b04384"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">check_single_object_collision</a> (tf2::Transform &obj, std::string &str) override</td></tr>
+<tr class="memdesc:a128b5891d5519855c387dd0fd3b04384"><td class="mdescLeft"> </td><td class="mdescRight">Collsion calculation for single objects. <a href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">More...</a><br /></td></tr>
+<tr class="separator:a128b5891d5519855c387dd0fd3b04384"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa12e1de6f139604143bb19b34abbfaeb"><td class="memItemLeft" align="right" valign="top">std::vector< std::shared_ptr< moveit_msgs::CollisionObject > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">coll_markers</a> ()</td></tr>
+<tr class="memdesc:aa12e1de6f139604143bb19b34abbfaeb"><td class="mdescLeft"> </td><td class="mdescRight">Get collision markers. <a href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">More...</a><br /></td></tr>
+<tr class="separator:aa12e1de6f139604143bb19b34abbfaeb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ace21ef0128109d49de07e1fe675b595d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">generate_access_fields</a> ()</td></tr>
+<tr class="memdesc:ace21ef0128109d49de07e1fe675b595d"><td class="mdescLeft"> </td><td class="mdescRight">Generate access fields as surrounding poses for possible robots. <a href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">More...</a><br /></td></tr>
+<tr class="separator:ace21ef0128109d49de07e1fe675b595d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af0e5f7417926e50ccb607c6612170687"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">in_collision</a> (<a class="el" href="classCeti__robot.html">Ceti_robot</a> *R)</td></tr>
+<tr class="memdesc:af0e5f7417926e50ccb607c6612170687"><td class="mdescLeft"> </td><td class="mdescRight">Collsion calculation. <a href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">More...</a><br /></td></tr>
+<tr class="separator:af0e5f7417926e50ccb607c6612170687"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac5776cb1039f39138f46c3a13799ee3b"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">name</a> () override</td></tr>
+<tr class="separator:ac5776cb1039f39138f46c3a13799ee3b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a50602f1990429a31148ec90369c8b390"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">notify</a> () override</td></tr>
+<tr class="memdesc:a50602f1990429a31148ec90369c8b390"><td class="mdescLeft"> </td><td class="mdescRight">Observer pattern. <a href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">More...</a><br /></td></tr>
+<tr class="separator:a50602f1990429a31148ec90369c8b390"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afeb11427714da34b8203de2d094dd536"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">observer_mask</a> ()</td></tr>
+<tr class="separator:afeb11427714da34b8203de2d094dd536"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a948403a8fba6220b86d2cda6cb74a326"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">observers</a> ()</td></tr>
+<tr class="memdesc:a948403a8fba6220b86d2cda6cb74a326"><td class="mdescLeft"> </td><td class="mdescRight">Get observers. <a href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">More...</a><br /></td></tr>
+<tr class="separator:a948403a8fba6220b86d2cda6cb74a326"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac28cfaf3ea80e2d3271c0c8ca634dc77"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">register_observers</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > wd)</td></tr>
+<tr class="memdesc:ac28cfaf3ea80e2d3271c0c8ca634dc77"><td class="mdescLeft"> </td><td class="mdescRight">Register observers in vector. <a href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">More...</a><br /></td></tr>
+<tr class="separator:ac28cfaf3ea80e2d3271c0c8ca634dc77"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9db994a08373f0c75bd69226855f2b54"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">reset</a> ()</td></tr>
+<tr class="memdesc:a9db994a08373f0c75bd69226855f2b54"><td class="mdescLeft"> </td><td class="mdescRight">Resset all robot properties. <a href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">More...</a><br /></td></tr>
+<tr class="separator:a9db994a08373f0c75bd69226855f2b54"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31ba978529d6f3039ff7223f90d864ec"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">robot_root_bounds</a> () override</td></tr>
+<tr class="separator:a31ba978529d6f3039ff7223f90d864ec"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c9612f7a87974aa64622fd4acd8123e"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">root_tf</a> () override</td></tr>
+<tr class="separator:a4c9612f7a87974aa64622fd4acd8123e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a86d9f27c0ebcbc7b7ce79a3ebfe60a16"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a86d9f27c0ebcbc7b7ce79a3ebfe60a16"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aafdcb4ce7d655b291170818c43162aa7"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">size</a> () override</td></tr>
+<tr class="separator:aafdcb4ce7d655b291170818c43162aa7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a60528a5a7c83e0b15d9fee091b00e5b3"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">tf</a> () override</td></tr>
+<tr class="separator:a60528a5a7c83e0b15d9fee091b00e5b3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8bfe48e6325263ae5607a5621dedebe9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj) override</td></tr>
+<tr class="memdesc:a8bfe48e6325263ae5607a5621dedebe9"><td class="mdescLeft"> </td><td class="mdescRight">Object counter. <a href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">More...</a><br /></td></tr>
+<tr class="separator:a8bfe48e6325263ae5607a5621dedebe9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a> (std::string <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">More...</a><br /></td></tr>
+<tr class="separator:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a> ()</td></tr>
+<tr class="separator:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a> ()</td></tr>
+<tr class="separator:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a> ()</td></tr>
+<tr class="separator:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a> ()</td></tr>
+<tr class="separator:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a> ()</td></tr>
+<tr class="separator:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a> ()</td></tr>
+<tr class="separator:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a> ()</td></tr>
+<tr class="separator:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><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:ae788dd0c96ea0112e46c0c817eb40466"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">access_fields_</a></td></tr>
+<tr class="memdesc:ae788dd0c96ea0112e46c0c817eb40466"><td class="mdescLeft"> </td><td class="mdescRight">Serrounding Fields shared pointers. <a href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">More...</a><br /></td></tr>
+<tr class="separator:ae788dd0c96ea0112e46c0c817eb40466"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a96c4c46c18217a5f55bbb9e8d57d0b9b"><td class="memItemLeft" align="right" valign="top">std::vector< std::shared_ptr< moveit_msgs::CollisionObject > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">coll_markers_</a></td></tr>
+<tr class="memdesc:a96c4c46c18217a5f55bbb9e8d57d0b9b"><td class="mdescLeft"> </td><td class="mdescRight">to be checked <a href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">More...</a><br /></td></tr>
+<tr class="separator:a96c4c46c18217a5f55bbb9e8d57d0b9b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adfdaf371d8c0ba26fe6ea193539cd2f9"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">observer_mask_</a></td></tr>
+<tr class="memdesc:adfdaf371d8c0ba26fe6ea193539cd2f9"><td class="mdescLeft"> </td><td class="mdescRight">Bitmap to set observers. <a href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">More...</a><br /></td></tr>
+<tr class="separator:adfdaf371d8c0ba26fe6ea193539cd2f9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af8c6391807befcfd2d431ad180a3beaf"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">observers_</a></td></tr>
+<tr class="memdesc:af8c6391807befcfd2d431ad180a3beaf"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classWing.html">Wing</a> shared pointers. <a href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">More...</a><br /></td></tr>
+<tr class="separator:af8c6391807befcfd2d431ad180a3beaf"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td></tr>
+<tr class="memdesc:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">More...</a><br /></td></tr>
+<tr class="separator:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td></tr>
+<tr class="memdesc:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">More...</a><br /></td></tr>
+<tr class="separator:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td></tr>
+<tr class="separator:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">More...</a><br /></td></tr>
+<tr class="separator:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td></tr>
+<tr class="memdesc:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> root on table top. <a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">More...</a><br /></td></tr>
+<tr class="separator:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td></tr>
+<tr class="memdesc:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">More...</a><br /></td></tr>
+<tr class="separator:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td></tr>
+<tr class="memdesc:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">More...</a><br /></td></tr>
+<tr class="separator:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Concrete Ceti-Robot. </p>
+<p>Refers especially to Robot-Arms mounted on a table of variable size. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00022">22</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ade0920ab43886af89a431f7808207efd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade0920ab43886af89a431f7808207efd">◆ </a></span>Ceti_robot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Ceti_robot::Ceti_robot </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Ceti robot constructor. </p>
+<p>Initializes Ceti-Robot, calculates bounds out of arm and table size. </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">name</td><td>std::string as <a class="el" href="classRobot.html">Robot</a> name, following the Robotarm([0-9]+) pattern </td></tr>
+ <tr><td class="paramname">tf</td><td>Table center pose </td></tr>
+ <tr><td class="paramname">size</td><td>Table size </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00003">3</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4ad187750675fbe7ba8ded55f2c0e3b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ad187750675fbe7ba8ded55f2c0e3b7">◆ </a></span>access_fields()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> >& Ceti_robot::access_fields </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 access fields. </p>
+<dl class="section return"><dt>Returns</dt><dd>Access fields vector </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00059">59</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a85afa4e99b4d31282a0b1e7cba45176c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85afa4e99b4d31282a0b1e7cba45176c">◆ </a></span>add_coll_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::add_coll_markers </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< moveit_msgs::CollisionObject > </td>
+ <td class="paramname"><em>marker</em></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>Adds marker to array. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">marker</td><td>CollisionObject which will be add to marker vector </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00065">65</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a2bca93f0ea688ce45a50b06edae104df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2bca93f0ea688ce45a50b06edae104df">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Ceti_robot::bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00046">46</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a128b5891d5519855c387dd0fd3b04384"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a128b5891d5519855c387dd0fd3b04384">◆ </a></span>check_single_object_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Ceti_robot::check_single_object_collision </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>str</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Collsion calculation for single objects. </p>
+<p>Checks collision for a single pose </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">obj</td><td>object pose to check </td></tr>
+ <tr><td class="paramname">str</td><td>name of colliding obj </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>bool if collision true, otherwise false </dd></dl>
+
+<p>Implements <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00065">65</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa12e1de6f139604143bb19b34abbfaeb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa12e1de6f139604143bb19b34abbfaeb">◆ </a></span>coll_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::shared_ptr<moveit_msgs::CollisionObject> > Ceti_robot::coll_markers </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 collision markers. </p>
+<dl class="section return"><dt>Returns</dt><dd>marker CollisionObject which will be add to marker vector </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00071">71</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ace21ef0128109d49de07e1fe675b595d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace21ef0128109d49de07e1fe675b595d">◆ </a></span>generate_access_fields()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::generate_access_fields </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Generate access fields as surrounding poses for possible robots. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00012">12</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af0e5f7417926e50ccb607c6612170687"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af0e5f7417926e50ccb607c6612170687">◆ </a></span>in_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Ceti_robot::in_collision </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classCeti__robot.html">Ceti_robot</a> * </td>
+ <td class="paramname"><em>R</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Collsion calculation. </p>
+<p>Iterates over <a class="el" href="classRobot.html">Robot</a> to calculate area und check collisions by other robot bounds </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">R</td><td><a class="el" href="classRobot.html">Robot</a> which bounds are to check for collisions </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>bool true if collision, false otherwise </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00118">118</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ac5776cb1039f39138f46c3a13799ee3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5776cb1039f39138f46c3a13799ee3b">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Ceti_robot::name </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00042">42</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a50602f1990429a31148ec90369c8b390"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50602f1990429a31148ec90369c8b390">◆ </a></span>notify()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::notify </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>Observer pattern. </p>
+<p>When changing pose, any observer calculates its new position in world frame </p>
+
+<p>Implements <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00113">113</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="afeb11427714da34b8203de2d094dd536"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afeb11427714da34b8203de2d094dd536">◆ </a></span>observer_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::bitset<3> Ceti_robot::observer_mask </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 class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00117">117</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a948403a8fba6220b86d2cda6cb74a326"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a948403a8fba6220b86d2cda6cb74a326">◆ </a></span>observers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> >& Ceti_robot::observers </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 observers. </p>
+<dl class="section return"><dt>Returns</dt><dd>observer vector </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00053">53</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ac28cfaf3ea80e2d3271c0c8ca634dc77"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac28cfaf3ea80e2d3271c0c8ca634dc77">◆ </a></span>register_observers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::register_observers </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td>
+ <td class="paramname"><em>wd</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Register observers in vector. </p>
+<p>manipulates access fields and adds observer+ </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">wd</td><td><a class="el" href="classWing.html">Wing</a> observer </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00162">162</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a9db994a08373f0c75bd69226855f2b54"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9db994a08373f0c75bd69226855f2b54">◆ </a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::reset </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Resset all robot properties. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00106">106</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a31ba978529d6f3039ff7223f90d864ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31ba978529d6f3039ff7223f90d864ec">◆ </a></span>robot_root_bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Ceti_robot::robot_root_bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00047">47</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a4c9612f7a87974aa64622fd4acd8123e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c9612f7a87974aa64622fd4acd8123e">◆ </a></span>root_tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Ceti_robot::root_tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00045">45</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a86d9f27c0ebcbc7b7ce79a3ebfe60a16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">◆ </a></span>set_observer_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::set_observer_mask </td>
+ <td>(</td>
+ <td class="paramtype">int </td>
+ <td class="paramname"><em>i</em></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 class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00118">118</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aafdcb4ce7d655b291170818c43162aa7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafdcb4ce7d655b291170818c43162aa7">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Ceti_robot::size </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00044">44</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a60528a5a7c83e0b15d9fee091b00e5b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60528a5a7c83e0b15d9fee091b00e5b3">◆ </a></span>tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Ceti_robot::tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00043">43</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a8bfe48e6325263ae5607a5621dedebe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8bfe48e6325263ae5607a5621dedebe9">◆ </a></span>workload_checker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ceti_robot::workload_checker </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< int > & </td>
+ <td class="paramname"><em>count_vector</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Object counter. </p>
+<p>counds objects attached to table or wings </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">count_vector</td><td>count per robot element </td></tr>
+ <tr><td class="paramname">obj</td><td>object to add </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00038">38</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae788dd0c96ea0112e46c0c817eb40466"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae788dd0c96ea0112e46c0c817eb40466">◆ </a></span>access_fields_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> > Ceti_robot::access_fields_</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>Serrounding Fields shared pointers. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00025">25</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a96c4c46c18217a5f55bbb9e8d57d0b9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96c4c46c18217a5f55bbb9e8d57d0b9b">◆ </a></span>coll_markers_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::shared_ptr<moveit_msgs::CollisionObject> > Ceti_robot::coll_markers_</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>to be checked </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00026">26</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="adfdaf371d8c0ba26fe6ea193539cd2f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adfdaf371d8c0ba26fe6ea193539cd2f9">◆ </a></span>observer_mask_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::bitset<3> Ceti_robot::observer_mask_</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>Bitmap to set observers. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00027">27</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="af8c6391807befcfd2d431ad180a3beaf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8c6391807befcfd2d431ad180a3beaf">◆ </a></span>observers_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<std::unique_ptr<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>> > Ceti_robot::observers_</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><a class="el" href="classWing.html">Wing</a> shared pointers. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00024">24</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a></li>
+<li><a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCeti__robot__inherit__graph.map b/doc/html/classCeti__robot__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..925af9bbd09798aca78a6587b39023df41e52b6d
--- /dev/null
+++ b/doc/html/classCeti__robot__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Ceti_robot" name="Ceti_robot">
+<area shape="rect" id="node1" title="Concrete Ceti-Robot." alt="" coords="19,80,109,107"/>
+<area shape="rect" id="node2" href="$classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
+</map>
diff --git a/doc/html/classCeti__robot__inherit__graph.md5 b/doc/html/classCeti__robot__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..176849c67be118c62d0bd7e7dc017a957e7d5485
--- /dev/null
+++ b/doc/html/classCeti__robot__inherit__graph.md5
@@ -0,0 +1 @@
+0fb026deab2a11adfc0d86f6ced5937a
\ No newline at end of file
diff --git a/doc/html/classCeti__robot__inherit__graph.png b/doc/html/classCeti__robot__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..3203cd0cf5b570275321bff40644824fc913a292
Binary files /dev/null and b/doc/html/classCeti__robot__inherit__graph.png differ
diff --git a/doc/html/classCollision__helper-members.html b/doc/html/classCollision__helper-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..8ae057b41be29d426a185a391dc22c6f800dbde7
--- /dev/null
+++ b/doc/html/classCollision__helper-members.html
@@ -0,0 +1,39 @@
+<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">Collision_helper Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classCollision__helper.html">Collision_helper</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">collision_detector</a>(const std::string &object1_name, const std::string &object2_name)</td><td class="entry"><a class="el" href="classCollision__helper.html">Collision_helper</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a>()=default</td><td class="entry"><a class="el" href="classCollision__helper.html">Collision_helper</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCollision__helper.html#a3578a1bf2e59c1f5e55fc396ce966e9b">~Collision_helper</a>()=default</td><td class="entry"><a class="el" href="classCollision__helper.html">Collision_helper</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCollision__helper.html b/doc/html/classCollision__helper.html
new file mode 100644
index 0000000000000000000000000000000000000000..10ea5d2c7a96ca03a153c7e5c8c28159a1b20659
--- /dev/null
+++ b/doc/html/classCollision__helper.html
@@ -0,0 +1,146 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Collision_helper 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="classCollision__helper-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Collision_helper Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="collision__helper_8h_source.html">collision_helper.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Collision_helper:</div>
+<div class="dyncontent">
+<div class="center"><img src="classCollision__helper__inherit__graph.png" border="0" usemap="#Collision__helper_inherit__map" alt="Inheritance graph"/></div>
+<map name="Collision__helper_inherit__map" id="Collision__helper_inherit__map">
+<area shape="rect" title=" " alt="" coords="14,95,141,121"/>
+<area shape="rect" title=" " alt="" coords="5,5,149,47"/>
+</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:a0969d2a29f043ad3509bf174ecc103ec"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">collision_detector</a> (const std::string &object1_name, const std::string &object2_name)</td></tr>
+<tr class="separator:a0969d2a29f043ad3509bf174ecc103ec"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1637a6d6db9a3a3458ab0eec053c5d9a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a> ()=default</td></tr>
+<tr class="separator:a1637a6d6db9a3a3458ab0eec053c5d9a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3578a1bf2e59c1f5e55fc396ce966e9b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCollision__helper.html#a3578a1bf2e59c1f5e55fc396ce966e9b">~Collision_helper</a> ()=default</td></tr>
+<tr class="separator:a3578a1bf2e59c1f5e55fc396ce966e9b"><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="collision__helper_8h_source.html#l00010">10</a> of file <a class="el" href="collision__helper_8h_source.html">collision_helper.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a1637a6d6db9a3a3458ab0eec053c5d9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1637a6d6db9a3a3458ab0eec053c5d9a">◆ </a></span>Collision_helper()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Collision_helper::Collision_helper </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3578a1bf2e59c1f5e55fc396ce966e9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3578a1bf2e59c1f5e55fc396ce966e9b">◆ </a></span>~Collision_helper()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Collision_helper::~Collision_helper </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0969d2a29f043ad3509bf174ecc103ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0969d2a29f043ad3509bf174ecc103ec">◆ </a></span>collision_detector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Collision_helper::collision_detector </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>object1_name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>object2_name</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="collision__helper_8cpp_source.html#l00005">5</a> of file <a class="el" href="collision__helper_8cpp_source.html">collision_helper.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="collision__helper_8h_source.html">collision_helper.h</a></li>
+<li><a class="el" href="collision__helper_8cpp_source.html">collision_helper.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCollision__helper__inherit__graph.map b/doc/html/classCollision__helper__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..9579a4f74925a47aa220eca4462754c3c8a76358
--- /dev/null
+++ b/doc/html/classCollision__helper__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Collision_helper" name="Collision_helper">
+<area shape="rect" id="node1" title=" " alt="" coords="14,95,141,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="5,5,149,47"/>
+</map>
diff --git a/doc/html/classCollision__helper__inherit__graph.md5 b/doc/html/classCollision__helper__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..bb1febd21586c8d0b82a6c95a0dd6ee33c291488
--- /dev/null
+++ b/doc/html/classCollision__helper__inherit__graph.md5
@@ -0,0 +1 @@
+bfa6f4cc2990a0ebd64788fd1428d9cc
\ No newline at end of file
diff --git a/doc/html/classCollision__helper__inherit__graph.png b/doc/html/classCollision__helper__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..58d97603ec20bc06683f77a826219cf507e85ecb
Binary files /dev/null and b/doc/html/classCollision__helper__inherit__graph.png differ
diff --git a/doc/html/classCuboid__reader-members.html b/doc/html/classCuboid__reader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..27ccacda09cd96009b39d12cd7784efd15873880
--- /dev/null
+++ b/doc/html/classCuboid__reader-members.html
@@ -0,0 +1,47 @@
+<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">Cuboid_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classCuboid__reader.html">Cuboid_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">cuboid_bin</a>()</td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">cuboid_box_</a></td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">cuboid_obstacle</a>()</td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">cuboid_obstacle_</a></td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">read</a>() override</td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">set_cuboid_bin_data</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">set_cuboid_obstacle_data</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboid__reader.html">Cuboid_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCuboid__reader.html b/doc/html/classCuboid__reader.html
new file mode 100644
index 0000000000000000000000000000000000000000..0ccaf2d1b736f2e5552060896a982eaa625f6b0e
--- /dev/null
+++ b/doc/html/classCuboid__reader.html
@@ -0,0 +1,356 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Cuboid_reader 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="classCuboid__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Cuboid_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Cuboid reader.
+ <a href="classCuboid__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Cuboid_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classCuboid__reader__inherit__graph.png" border="0" usemap="#Cuboid__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Cuboid__reader_inherit__map" id="Cuboid__reader_inherit__map">
+<area shape="rect" title="Cuboid reader." alt="" coords="35,80,151,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:a3f80a47bd3b32eb3daaa7ee4c9dbd670"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">cuboid_bin</a> ()</td></tr>
+<tr class="memdesc:a3f80a47bd3b32eb3daaa7ee4c9dbd670"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid box. <a href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">More...</a><br /></td></tr>
+<tr class="separator:a3f80a47bd3b32eb3daaa7ee4c9dbd670"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a499edb06157aac6287cdf683b0316a8b"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">cuboid_obstacle</a> ()</td></tr>
+<tr class="memdesc:a499edb06157aac6287cdf683b0316a8b"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid obstacle. <a href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">More...</a><br /></td></tr>
+<tr class="separator:a499edb06157aac6287cdf683b0316a8b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a23a0d80e92f06c576ee242239f27a68f"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a23a0d80e92f06c576ee242239f27a68f"><td class="mdescLeft"> </td><td class="mdescRight">Cuboid reader constructor. <a href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">More...</a><br /></td></tr>
+<tr class="separator:a23a0d80e92f06c576ee242239f27a68f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa9fb23e8916e3288d8172725b8cd1842"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">read</a> () override</td></tr>
+<tr class="memdesc:aa9fb23e8916e3288d8172725b8cd1842"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">More...</a><br /></td></tr>
+<tr class="separator:aa9fb23e8916e3288d8172725b8cd1842"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a79e976d81d68adfc6b15d5b6879a726e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">set_cuboid_bin_data</a> (std::vector< Cuboid > &cuboid_data)</td></tr>
+<tr class="memdesc:a79e976d81d68adfc6b15d5b6879a726e"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid box. <a href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">More...</a><br /></td></tr>
+<tr class="separator:a79e976d81d68adfc6b15d5b6879a726e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ace0ace01df2eeb0607e8ad9d2764200d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">set_cuboid_obstacle_data</a> (std::vector< Cuboid > &cuboid_data)</td></tr>
+<tr class="memdesc:ace0ace01df2eeb0607e8ad9d2764200d"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid obstacle. <a href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">More...</a><br /></td></tr>
+<tr class="separator:ace0ace01df2eeb0607e8ad9d2764200d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><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:ae02b31c6baf83e5d957170a7d454224b"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">cuboid_box_</a></td></tr>
+<tr class="memdesc:ae02b31c6baf83e5d957170a7d454224b"><td class="mdescLeft"> </td><td class="mdescRight">As box defined object. <a href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">More...</a><br /></td></tr>
+<tr class="separator:ae02b31c6baf83e5d957170a7d454224b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af8a5a286ea79d157c294d0f1efc9ce8a"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">cuboid_obstacle_</a></td></tr>
+<tr class="memdesc:af8a5a286ea79d157c294d0f1efc9ce8a"><td class="mdescLeft"> </td><td class="mdescRight">As obstacle defined objects. <a href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">More...</a><br /></td></tr>
+<tr class="separator:af8a5a286ea79d157c294d0f1efc9ce8a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Cuboid reader. </p>
+<p>Reader which returns cuboid objects as defined in gb_grasp </p>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00017">17</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a23a0d80e92f06c576ee242239f27a68f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23a0d80e92f06c576ee242239f27a68f">◆ </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">Cuboid_reader::Cuboid_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>Cuboid reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842" title="read implementatin">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00028">28</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3f80a47bd3b32eb3daaa7ee4c9dbd670"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f80a47bd3b32eb3daaa7ee4c9dbd670">◆ </a></span>cuboid_bin()</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> Cuboid_reader::cuboid_bin </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 box. </p>
+<dl class="section return"><dt>Returns</dt><dd>Cuboid box vector </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00046">46</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a499edb06157aac6287cdf683b0316a8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a499edb06157aac6287cdf683b0316a8b">◆ </a></span>cuboid_obstacle()</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> Cuboid_reader::cuboid_obstacle </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 obstacle. </p>
+<dl class="section return"><dt>Returns</dt><dd>Cuboid obstacle vector </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00052">52</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="aa9fb23e8916e3288d8172725b8cd1842"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9fb23e8916e3288d8172725b8cd1842">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Cuboid_reader::read </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>read implementatin </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8cpp_source.html#l00003">3</a> of file <a class="el" href="cuboid__reader_8cpp_source.html">cuboid_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a79e976d81d68adfc6b15d5b6879a726e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a79e976d81d68adfc6b15d5b6879a726e">◆ </a></span>set_cuboid_bin_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Cuboid_reader::set_cuboid_bin_data </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< Cuboid > & </td>
+ <td class="paramname"><em>cuboid_data</em></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>Set Cuboid box. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">cuboid_data</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00034">34</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="ace0ace01df2eeb0607e8ad9d2764200d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace0ace01df2eeb0607e8ad9d2764200d">◆ </a></span>set_cuboid_obstacle_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Cuboid_reader::set_cuboid_obstacle_data </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< Cuboid > & </td>
+ <td class="paramname"><em>cuboid_data</em></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>Set Cuboid obstacle. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">cuboid_data</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00040">40</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae02b31c6baf83e5d957170a7d454224b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae02b31c6baf83e5d957170a7d454224b">◆ </a></span>cuboid_box_</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> Cuboid_reader::cuboid_box_</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>As box defined object. </p>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00019">19</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="af8a5a286ea79d157c294d0f1efc9ce8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8a5a286ea79d157c294d0f1efc9ce8a">◆ </a></span>cuboid_obstacle_</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> Cuboid_reader::cuboid_obstacle_</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>As obstacle defined objects. </p>
+
+<p class="definition">Definition at line <a class="el" href="cuboid__reader_8h_source.html#l00020">20</a> of file <a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="cuboid__reader_8h_source.html">cuboid_reader.h</a></li>
+<li><a class="el" href="cuboid__reader_8cpp_source.html">cuboid_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCuboid__reader__inherit__graph.map b/doc/html/classCuboid__reader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..57c0b3d9c2df855b2d0cb662d15ff5dc5620bc65
--- /dev/null
+++ b/doc/html/classCuboid__reader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Cuboid_reader" name="Cuboid_reader">
+<area shape="rect" id="node1" title="Cuboid reader." alt="" coords="35,80,151,107"/>
+<area shape="rect" id="node2" href="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</map>
diff --git a/doc/html/classCuboid__reader__inherit__graph.md5 b/doc/html/classCuboid__reader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..deb3cc55f572699b36c1364328476953746c787c
--- /dev/null
+++ b/doc/html/classCuboid__reader__inherit__graph.md5
@@ -0,0 +1 @@
+d89c69c97675b68798f7ce67586dc990
\ No newline at end of file
diff --git a/doc/html/classCuboid__reader__inherit__graph.png b/doc/html/classCuboid__reader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..066198c1a1abdfc3244e3964b03cc4a2f2341353
Binary files /dev/null and b/doc/html/classCuboid__reader__inherit__graph.png differ
diff --git a/doc/html/classField-members.html b/doc/html/classField-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..c02d4999ccfe35aec6b430245836d348235e9afc
--- /dev/null
+++ b/doc/html/classField-members.html
@@ -0,0 +1,61 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Field Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classField.html">Field</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">bounds</a>() override</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">name</a>() override</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2">set_name</a>(std::string str)</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb">set_set</a>(tf2::Vector3 &vec)</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">size</a>() override</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">world_tf</a>() override</td><td class="entry"><a class="el" href="classField.html">Field</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classField.html b/doc/html/classField.html
new file mode 100644
index 0000000000000000000000000000000000000000..5307f64e45c7893d295cbc377630edec1b7609b2
--- /dev/null
+++ b/doc/html/classField.html
@@ -0,0 +1,395 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Field 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="classField-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Field Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="impl_2field_8h_source.html">field.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Field:</div>
+<div class="dyncontent">
+<div class="center"><img src="classField__inherit__graph.png" border="0" usemap="#Field_inherit__map" alt="Inheritance graph"/></div>
+<map name="Field_inherit__map" id="Field_inherit__map">
+<area shape="rect" title=" " alt="" coords="69,80,121,107"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:a12dca5fcc8ba8bb0191101a5f40db023"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">bounds</a> () override</td></tr>
+<tr class="separator:a12dca5fcc8ba8bb0191101a5f40db023"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3937b0953056acede15814ada1053f9a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a3937b0953056acede15814ada1053f9a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3937b0953056acede15814ada1053f9a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a3937b0953056acede15814ada1053f9a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a63a8a02d41e3e0f9eed98c5136a2216a"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">name</a> () override</td></tr>
+<tr class="separator:a63a8a02d41e3e0f9eed98c5136a2216a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae1cad38d7a84b8363bf9ab7d2de11cc2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2">set_name</a> (std::string str)</td></tr>
+<tr class="separator:ae1cad38d7a84b8363bf9ab7d2de11cc2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6e8e789d6defcbc56d62e05a29d452fb"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb">set_set</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:a6e8e789d6defcbc56d62e05a29d452fb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac76cd0ffa4b2e361dd0e9ce1fd601034"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">size</a> () override</td></tr>
+<tr class="separator:ac76cd0ffa4b2e361dd0e9ce1fd601034"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5e927f0256af43c7f9bc45177adb6da0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a5e927f0256af43c7f9bc45177adb6da0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5e927f0256af43c7f9bc45177adb6da0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a5e927f0256af43c7f9bc45177adb6da0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a769e61adfbb8e8b261da88fab1190f4d"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">world_tf</a> () override</td></tr>
+<tr class="separator:a769e61adfbb8e8b261da88fab1190f4d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="impl_2field_8h_source.html#l00007">7</a> of file <a class="el" href="impl_2field_8h_source.html">impl/field.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a3937b0953056acede15814ada1053f9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3937b0953056acede15814ada1053f9a">◆ </a></span>Field() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Field::Field </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em></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 class="definition">Definition at line <a class="el" href="impl_2field_8h_source.html#l00009">9</a> of file <a class="el" href="impl_2field_8h_source.html">impl/field.h</a>.</p>
+
+</div>
+</div>
+<a id="a3937b0953056acede15814ada1053f9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3937b0953056acede15814ada1053f9a">◆ </a></span>Field() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Field::Field </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a12dca5fcc8ba8bb0191101a5f40db023"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12dca5fcc8ba8bb0191101a5f40db023">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Field::bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00016">16</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<a id="a63a8a02d41e3e0f9eed98c5136a2216a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63a8a02d41e3e0f9eed98c5136a2216a">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Field::name </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00018">18</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<a id="ae1cad38d7a84b8363bf9ab7d2de11cc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1cad38d7a84b8363bf9ab7d2de11cc2">◆ </a></span>set_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field::set_name </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>str</em></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 class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00011">11</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<a id="a6e8e789d6defcbc56d62e05a29d452fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e8e789d6defcbc56d62e05a29d452fb">◆ </a></span>set_set()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field::set_set </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>vec</em></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 class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00012">12</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<a id="ac76cd0ffa4b2e361dd0e9ce1fd601034"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac76cd0ffa4b2e361dd0e9ce1fd601034">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Field::size </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00019">19</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<a id="a5e927f0256af43c7f9bc45177adb6da0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e927f0256af43c7f9bc45177adb6da0">◆ </a></span>update() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="impl_2field_8h_source.html#l00011">11</a> of file <a class="el" href="impl_2field_8h_source.html">impl/field.h</a>.</p>
+
+</div>
+</div>
+<a id="a5e927f0256af43c7f9bc45177adb6da0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e927f0256af43c7f9bc45177adb6da0">◆ </a></span>update() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00014">14</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<a id="a769e61adfbb8e8b261da88fab1190f4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a769e61adfbb8e8b261da88fab1190f4d">◆ </a></span>world_tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Field::world_tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__element_2observers_2field_8h_source.html#l00017">17</a> of file <a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="impl_2field_8h_source.html">impl/field.h</a></li>
+<li><a class="el" href="field_8cpp_source.html">field.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classField__inherit__graph.map b/doc/html/classField__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..13edd590aad46b1eb3d673d664e718db4087a9d2
--- /dev/null
+++ b/doc/html/classField__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Field" name="Field">
+<area shape="rect" id="node1" title=" " alt="" coords="69,80,121,107"/>
+<area shape="rect" id="node2" href="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</map>
diff --git a/doc/html/classField__inherit__graph.md5 b/doc/html/classField__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..e0093ad528b8b1ec00f8bb5392ded3f57536e2c7
--- /dev/null
+++ b/doc/html/classField__inherit__graph.md5
@@ -0,0 +1 @@
+1f9141e3a21eca3bf2d742d5913e12a6
\ No newline at end of file
diff --git a/doc/html/classField__inherit__graph.png b/doc/html/classField__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aad30c4961ab882c5ddba1cfe077e9bd79a04c1
Binary files /dev/null and b/doc/html/classField__inherit__graph.png differ
diff --git a/doc/html/classField__rviz__decorator-members.html b/doc/html/classField__rviz__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..707445d76852430f91c425cc3ab5c55f7a16ddec
--- /dev/null
+++ b/doc/html/classField__rviz__decorator-members.html
@@ -0,0 +1,70 @@
+<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">Field_rviz_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a>(std::unique_ptr< Abstract_robot_element > next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator</a>(Abstract_robot_element *next, visualization_msgs::MarkerArray *markers)</td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField__rviz__decorator.html#a3b79225f014c0d1081080891d332187b">input_filter</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>()</td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a></td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">output_filter</a>() override</td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7">set_markers</a>(visualization_msgs::MarkerArray *markers)</td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classField__rviz__decorator.html b/doc/html/classField__rviz__decorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..67bf0fa6a20e9fadc2e76fc14f2653254b72eb67
--- /dev/null
+++ b/doc/html/classField__rviz__decorator.html
@@ -0,0 +1,351 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Field_rviz_decorator 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="#pri-attribs">Private Attributes</a> |
+<a href="classField__rviz__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Field_rviz_decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Field_rviz_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classField__rviz__decorator__inherit__graph.png" border="0" usemap="#Field__rviz__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Field__rviz__decorator_inherit__map" id="Field__rviz__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="19,169,171,196"/>
+<area shape="rect" href="classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:aa88d9d5da860369d94420f6db716016c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>, visualization_msgs::MarkerArray *<a class="el" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>)</td></tr>
+<tr class="separator:aa88d9d5da860369d94420f6db716016c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3b79225f014c0d1081080891d332187b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#a3b79225f014c0d1081080891d332187b">input_filter</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a3b79225f014c0d1081080891d332187b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abf6af7cbe66c0fc31443bbdba78005b3"><td class="memItemLeft" align="right" valign="top">visualization_msgs::MarkerArray * </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a> ()</td></tr>
+<tr class="separator:abf6af7cbe66c0fc31443bbdba78005b3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9ea2d91d648a270d3a3a1853d14ccfe6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">output_filter</a> () override</td></tr>
+<tr class="separator:a9ea2d91d648a270d3a3a1853d14ccfe6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a16d7d4e68c53db336c4d2a9f032adff7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7">set_markers</a> (visualization_msgs::MarkerArray *<a class="el" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>)</td></tr>
+<tr class="separator:a16d7d4e68c53db336c4d2a9f032adff7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abf15c56ecefe976950818f7418ad47d4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:abf15c56ecefe976950818f7418ad47d4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a> () override</td></tr>
+<tr class="separator:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae6a83bd61665cc4e3692143e84f091e8 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a> ()=0</td></tr>
+<tr class="separator:ae6a83bd61665cc4e3692143e84f091e8 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a> () override</td></tr>
+<tr class="separator:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a> ()</td></tr>
+<tr class="separator:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a> () override</td></tr>
+<tr class="separator:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:addab3f179d202bea3da80887206c8048 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:addab3f179d202bea3da80887206c8048 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> ()</td></tr>
+<tr class="separator:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a> () override</td></tr>
+<tr class="separator:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:ad524be1ab9385b0f0e1a91c794ce2a94"><td class="memItemLeft" align="right" valign="top">visualization_msgs::MarkerArray * </td><td class="memItemRight" valign="bottom"><a class="el" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a></td></tr>
+<tr class="separator:ad524be1ab9385b0f0e1a91c794ce2a94"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td></tr>
+<tr class="separator:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td></tr>
+<tr class="separator:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td></tr>
+<tr class="separator:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="field__rviz__decorator_8h_source.html#l00009">9</a> of file <a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aa88d9d5da860369d94420f6db716016c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa88d9d5da860369d94420f6db716016c">◆ </a></span>Field_rviz_decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Field_rviz_decorator::Field_rviz_decorator </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td>
+ <td class="paramname"><em>next</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">visualization_msgs::MarkerArray * </td>
+ <td class="paramname"><em>markers</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="field__rviz__decorator_8h_source.html#l00015">15</a> of file <a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b79225f014c0d1081080891d332187b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b79225f014c0d1081080891d332187b">◆ </a></span>input_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field_rviz_decorator::input_filter </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="field__rviz__decorator_8cpp_source.html#l00008">8</a> of file <a class="el" href="field__rviz__decorator_8cpp_source.html">field_rviz_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="abf6af7cbe66c0fc31443bbdba78005b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf6af7cbe66c0fc31443bbdba78005b3">◆ </a></span>markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">visualization_msgs::MarkerArray* Field_rviz_decorator::markers </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 class="definition">Definition at line <a class="el" href="field__rviz__decorator_8h_source.html#l00018">18</a> of file <a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9ea2d91d648a270d3a3a1853d14ccfe6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ea2d91d648a270d3a3a1853d14ccfe6">◆ </a></span>output_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field_rviz_decorator::output_filter </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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="field__rviz__decorator_8cpp_source.html#l00010">10</a> of file <a class="el" href="field__rviz__decorator_8cpp_source.html">field_rviz_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a16d7d4e68c53db336c4d2a9f032adff7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a16d7d4e68c53db336c4d2a9f032adff7">◆ </a></span>set_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field_rviz_decorator::set_markers </td>
+ <td>(</td>
+ <td class="paramtype">visualization_msgs::MarkerArray * </td>
+ <td class="paramname"><em>markers</em></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 class="definition">Definition at line <a class="el" href="field__rviz__decorator_8h_source.html#l00017">17</a> of file <a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="abf15c56ecefe976950818f7418ad47d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf15c56ecefe976950818f7418ad47d4">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Field_rviz_decorator::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Reimplemented from <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="field__rviz__decorator_8cpp_source.html#l00003">3</a> of file <a class="el" href="field__rviz__decorator_8cpp_source.html">field_rviz_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad524be1ab9385b0f0e1a91c794ce2a94"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad524be1ab9385b0f0e1a91c794ce2a94">◆ </a></span>markers_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">visualization_msgs::MarkerArray* Field_rviz_decorator::markers_</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="field__rviz__decorator_8h_source.html#l00011">11</a> of file <a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="field__rviz__decorator_8h_source.html">field_rviz_decorator.h</a></li>
+<li><a class="el" href="field__rviz__decorator_8cpp_source.html">field_rviz_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classField__rviz__decorator__inherit__graph.map b/doc/html/classField__rviz__decorator__inherit__graph.map
new file mode 100644
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--- /dev/null
+++ b/doc/html/classField__rviz__decorator__inherit__graph.map
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+<map id="Field_rviz_decorator" name="Field_rviz_decorator">
+<area shape="rect" id="node1" title=" " alt="" coords="19,169,171,196"/>
+<area shape="rect" id="node2" href="$classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
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+</map>
diff --git a/doc/html/classField__rviz__decorator__inherit__graph.md5 b/doc/html/classField__rviz__decorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..f53aee263692a7c9e67d39500d4b4a6cef76e2d3
--- /dev/null
+++ b/doc/html/classField__rviz__decorator__inherit__graph.md5
@@ -0,0 +1 @@
+41934e72c825a6a4675960dee8b044ef
\ No newline at end of file
diff --git a/doc/html/classField__rviz__decorator__inherit__graph.png b/doc/html/classField__rviz__decorator__inherit__graph.png
new file mode 100644
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Binary files /dev/null and b/doc/html/classField__rviz__decorator__inherit__graph.png differ
diff --git a/doc/html/classJob__reader-members.html b/doc/html/classJob__reader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..bd922f538488ec2694ffa2a90b954abe7a05eb41
--- /dev/null
+++ b/doc/html/classJob__reader-members.html
@@ -0,0 +1,44 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Job_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classJob__reader.html">Job_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">job_data_</a></td><td class="entry"><a class="el" href="classJob__reader.html">Job_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classJob__reader.html">Job_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">read</a>() override</td><td class="entry"><a class="el" href="classJob__reader.html">Job_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">robot_data</a>()</td><td class="entry"><a class="el" href="classJob__reader.html">Job_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">set_job_data</a>(boost::circular_buffer< std::pair< std::string, job_data >> &robot_data)</td><td class="entry"><a class="el" href="classJob__reader.html">Job_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classJob__reader.html b/doc/html/classJob__reader.html
new file mode 100644
index 0000000000000000000000000000000000000000..7b468dad9958445867f71d8dd8526469b2e80513
--- /dev/null
+++ b/doc/html/classJob__reader.html
@@ -0,0 +1,258 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Job_reader 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="classJob__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Job_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Job reader.
+ <a href="classJob__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="job__reader_8h_source.html">job_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Job_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classJob__reader__inherit__graph.png" border="0" usemap="#Job__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Job__reader_inherit__map" id="Job__reader_inherit__map">
+<area shape="rect" title="Job reader." alt="" coords="47,80,138,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:a72439a3fe9612af7b44bbf2f5131481a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a72439a3fe9612af7b44bbf2f5131481a"><td class="mdescLeft"> </td><td class="mdescRight">Job reader constructor. <a href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">More...</a><br /></td></tr>
+<tr class="separator:a72439a3fe9612af7b44bbf2f5131481a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a828c979dea61dfcf8214c30d11645b07"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">read</a> () override</td></tr>
+<tr class="memdesc:a828c979dea61dfcf8214c30d11645b07"><td class="mdescLeft"> </td><td class="mdescRight">read implementation <a href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">More...</a><br /></td></tr>
+<tr class="separator:a828c979dea61dfcf8214c30d11645b07"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8d82c745bb59406821c91c3e09440b"><td class="memItemLeft" align="right" valign="top">boost::circular_buffer< std::pair< std::string, <a class="el" href="structjob__data.html">job_data</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">robot_data</a> ()</td></tr>
+<tr class="memdesc:a6d8d82c745bb59406821c91c3e09440b"><td class="mdescLeft"> </td><td class="mdescRight">Get Job_data. <a href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">More...</a><br /></td></tr>
+<tr class="separator:a6d8d82c745bb59406821c91c3e09440b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0602b23e66eeea128251f411b0935f81"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">set_job_data</a> (boost::circular_buffer< std::pair< std::string, <a class="el" href="structjob__data.html">job_data</a> >> &<a class="el" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">robot_data</a>)</td></tr>
+<tr class="memdesc:a0602b23e66eeea128251f411b0935f81"><td class="mdescLeft"> </td><td class="mdescRight">Set Job_data. <a href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">More...</a><br /></td></tr>
+<tr class="separator:a0602b23e66eeea128251f411b0935f81"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><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:ae7af6b2d3734d71bc2d15131733e9c1a"><td class="memItemLeft" align="right" valign="top">boost::circular_buffer< std::pair< std::string, <a class="el" href="structjob__data.html">job_data</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">job_data_</a></td></tr>
+<tr class="memdesc:ae7af6b2d3734d71bc2d15131733e9c1a"><td class="mdescLeft"> </td><td class="mdescRight">FIFO job information. <a href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">More...</a><br /></td></tr>
+<tr class="separator:ae7af6b2d3734d71bc2d15131733e9c1a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Job reader. </p>
+<p>Reader which returns job data liked to robot </p>
+
+<p class="definition">Definition at line <a class="el" href="job__reader_8h_source.html#l00016">16</a> of file <a class="el" href="job__reader_8h_source.html">job_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a72439a3fe9612af7b44bbf2f5131481a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72439a3fe9612af7b44bbf2f5131481a">◆ </a></span>Job_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Job_reader::Job_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>Job reader constructor. </p>
+<p>Calls <a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07" title="read implementation">read()</a> implementation </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS Nodehandle <br />
+ </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="job__reader_8h_source.html#l00026">26</a> of file <a class="el" href="job__reader_8h_source.html">job_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a828c979dea61dfcf8214c30d11645b07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a828c979dea61dfcf8214c30d11645b07">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Job_reader::read </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>read implementation </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="job__reader_8cpp_source.html#l00005">5</a> of file <a class="el" href="job__reader_8cpp_source.html">job_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6d8d82c745bb59406821c91c3e09440b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d8d82c745bb59406821c91c3e09440b">◆ </a></span>robot_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">boost::circular_buffer<std::pair<std::string, <a class="el" href="structjob__data.html">job_data</a>> >& Job_reader::robot_data </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 Job_data. </p>
+<dl class="section return"><dt>Returns</dt><dd>FIFO job information <br />
+ </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="job__reader_8h_source.html#l00041">41</a> of file <a class="el" href="job__reader_8h_source.html">job_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a0602b23e66eeea128251f411b0935f81"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0602b23e66eeea128251f411b0935f81">◆ </a></span>set_job_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Job_reader::set_job_data </td>
+ <td>(</td>
+ <td class="paramtype">boost::circular_buffer< std::pair< std::string, <a class="el" href="structjob__data.html">job_data</a> >> & </td>
+ <td class="paramname"><em>robot_data</em></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>Set Job_data. </p>
+<p>Calls pure virtual <a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07" title="read implementation">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot_data</td><td>FIFO job information <br />
+ </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="job__reader_8h_source.html#l00035">35</a> of file <a class="el" href="job__reader_8h_source.html">job_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae7af6b2d3734d71bc2d15131733e9c1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7af6b2d3734d71bc2d15131733e9c1a">◆ </a></span>job_data_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">boost::circular_buffer<std::pair<std::string, <a class="el" href="structjob__data.html">job_data</a>> > Job_reader::job_data_</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>FIFO job information. </p>
+
+<p class="definition">Definition at line <a class="el" href="job__reader_8h_source.html#l00018">18</a> of file <a class="el" href="job__reader_8h_source.html">job_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="job__reader_8h_source.html">job_reader.h</a></li>
+<li><a class="el" href="job__reader_8cpp_source.html">job_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classJob__reader__inherit__graph.map b/doc/html/classJob__reader__inherit__graph.map
new file mode 100644
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--- /dev/null
+++ b/doc/html/classJob__reader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Job_reader" name="Job_reader">
+<area shape="rect" id="node1" title="Job reader." alt="" coords="47,80,138,107"/>
+<area shape="rect" id="node2" href="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</map>
diff --git a/doc/html/classJob__reader__inherit__graph.md5 b/doc/html/classJob__reader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..9d023e33424bf48ca615e56dd7ec716b43dbefef
--- /dev/null
+++ b/doc/html/classJob__reader__inherit__graph.md5
@@ -0,0 +1 @@
+ee77437e3d49947a07cde62218d07ad8
\ No newline at end of file
diff --git a/doc/html/classJob__reader__inherit__graph.png b/doc/html/classJob__reader__inherit__graph.png
new file mode 100644
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Binary files /dev/null and b/doc/html/classJob__reader__inherit__graph.png differ
diff --git a/doc/html/classLog__decorator-members.html b/doc/html/classLog__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..fa932eb1f0722435bedd8572cfa5e78becf63b7c
--- /dev/null
+++ b/doc/html/classLog__decorator-members.html
@@ -0,0 +1,67 @@
+<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">Log_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classLog__decorator.html">Log_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a>(std::unique_ptr< Abstract_robot_element > next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">input_filter</a>() override</td><td class="entry"><a class="el" href="classLog__decorator.html">Log_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">Abstract_robot_element_decorator::input_filter</a>(tf2::Transform &tf)=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator</a>(std::unique_ptr< Abstract_robot_element > next)</td><td class="entry"><a class="el" href="classLog__decorator.html">Log_decorator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">output_filter</a>() override</td><td class="entry"><a class="el" href="classLog__decorator.html">Log_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classLog__decorator.html">Log_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classLog__decorator.html b/doc/html/classLog__decorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..cbcc69a224c475a1802e8e1a388e55c5cc7d8c7d
--- /dev/null
+++ b/doc/html/classLog__decorator.html
@@ -0,0 +1,240 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Log_decorator 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="classLog__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Log_decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="log__decorator_8h_source.html">log_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Log_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classLog__decorator__inherit__graph.png" border="0" usemap="#Log__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Log__decorator_inherit__map" id="Log__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="37,169,152,196"/>
+<area shape="rect" href="classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:ac31262be083a8b9f2105b7f0211db7d6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">input_filter</a> () override</td></tr>
+<tr class="separator:ac31262be083a8b9f2105b7f0211db7d6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abac3ce8b5ef982e3a030a152cfcc2290"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:abac3ce8b5ef982e3a030a152cfcc2290"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7c3305b339a0e539d60bd92d59f5c835"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">output_filter</a> () override</td></tr>
+<tr class="separator:a7c3305b339a0e539d60bd92d59f5c835"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9fdbd079b56b93f87a9b325397d9d57a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a9fdbd079b56b93f87a9b325397d9d57a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a> () override</td></tr>
+<tr class="separator:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa43d886a91e05c76c2cad7695d1662ff inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">input_filter</a> (tf2::Transform &tf)=0</td></tr>
+<tr class="separator:aa43d886a91e05c76c2cad7695d1662ff inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a> () override</td></tr>
+<tr class="separator:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a> ()</td></tr>
+<tr class="separator:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a> () override</td></tr>
+<tr class="separator:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> ()</td></tr>
+<tr class="separator:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a> () override</td></tr>
+<tr class="separator:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td></tr>
+<tr class="separator:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td></tr>
+<tr class="separator:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td></tr>
+<tr class="separator:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="log__decorator_8h_source.html#l00008">8</a> of file <a class="el" href="log__decorator_8h_source.html">log_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="abac3ce8b5ef982e3a030a152cfcc2290"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abac3ce8b5ef982e3a030a152cfcc2290">◆ </a></span>Log_decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Log_decorator::Log_decorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td>
+ <td class="paramname"><em>next</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="log__decorator_8cpp_source.html#l00003">3</a> of file <a class="el" href="log__decorator_8cpp_source.html">log_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac31262be083a8b9f2105b7f0211db7d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac31262be083a8b9f2105b7f0211db7d6">◆ </a></span>input_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Log_decorator::input_filter </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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="log__decorator_8cpp_source.html#l00009">9</a> of file <a class="el" href="log__decorator_8cpp_source.html">log_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a7c3305b339a0e539d60bd92d59f5c835"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c3305b339a0e539d60bd92d59f5c835">◆ </a></span>output_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Log_decorator::output_filter </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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="log__decorator_8cpp_source.html#l00021">21</a> of file <a class="el" href="log__decorator_8cpp_source.html">log_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a9fdbd079b56b93f87a9b325397d9d57a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fdbd079b56b93f87a9b325397d9d57a">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Log_decorator::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Reimplemented from <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="log__decorator_8cpp_source.html#l00015">15</a> of file <a class="el" href="log__decorator_8cpp_source.html">log_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="log__decorator_8h_source.html">log_decorator.h</a></li>
+<li><a class="el" href="log__decorator_8cpp_source.html">log_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classLog__decorator__inherit__graph.map b/doc/html/classLog__decorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..0d797cde4cff4b405e0e28dd3e7e34eaf17dbf30
--- /dev/null
+++ b/doc/html/classLog__decorator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Log_decorator" name="Log_decorator">
+<area shape="rect" id="node1" title=" " alt="" coords="37,169,152,196"/>
+<area shape="rect" id="node2" href="$classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
+<area shape="rect" id="node3" href="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</map>
diff --git a/doc/html/classLog__decorator__inherit__graph.md5 b/doc/html/classLog__decorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..3087a9ffd46328b04dc6a6ac23d92a1f3686f299
--- /dev/null
+++ b/doc/html/classLog__decorator__inherit__graph.md5
@@ -0,0 +1 @@
+15bb5028eb2055e02098d5d4be8c860b
\ No newline at end of file
diff --git a/doc/html/classLog__decorator__inherit__graph.png b/doc/html/classLog__decorator__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ccd9940aefba3dee2483588b4042001ae6f8569
Binary files /dev/null and b/doc/html/classLog__decorator__inherit__graph.png differ
diff --git a/doc/html/classMap__loader-members.html b/doc/html/classMap__loader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..fb39380836b84b0b7f095d810f7502278a3b6d0b
--- /dev/null
+++ b/doc/html/classMap__loader-members.html
@@ -0,0 +1,60 @@
+<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">Map_loader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMap__loader.html">Map_loader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>()=default</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">base_calculation</a>() override</td><td class="entry"><a class="el" href="classMap__loader.html">Map_loader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">create_pcl_box</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a>(XmlRpc::XmlRpcValue &map_data, XmlRpc::XmlRpcValue &target_data)</td><td class="entry"><a class="el" href="classMap__loader.html">Map_loader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">set_inv_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">set_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">set_strategy</a>(Abstract_strategy *some_stratergy)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">set_target_cloud</a>(std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">set_target_rot</a>(std::vector< std::vector< std::vector< tf2::Quaternion >>> &rots)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">set_task_grasps</a>(std::vector< std::vector< tf2::Transform >> &lists_in_list)</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">strategy</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">target_cloud</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>()</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a></td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">write_task</a>(Abstract_robot *robot) override</td><td class="entry"><a class="el" href="classMap__loader.html">Map_loader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">~Abstract_map_loader</a>()=default</td><td class="entry"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMap__loader.html b/doc/html/classMap__loader.html
new file mode 100644
index 0000000000000000000000000000000000000000..589bdb028e9a4508c389fc8647047ee4828509e0
--- /dev/null
+++ b/doc/html/classMap__loader.html
@@ -0,0 +1,203 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Map_loader 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="classMap__loader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Map_loader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="map__loader_8h_source.html">map_loader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Map_loader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMap__loader__inherit__graph.png" border="0" usemap="#Map__loader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Map__loader_inherit__map" id="Map__loader_inherit__map">
+<area shape="rect" title=" " alt="" coords="36,80,135,107"/>
+<area shape="rect" href="classAbstract__map__loader.html" title=" " alt="" coords="5,5,165,32"/>
+</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:ac8f429fe039a03dd69505fe899f37310"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">base_calculation</a> () override</td></tr>
+<tr class="separator:ac8f429fe039a03dd69505fe899f37310"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a40cb9325cf9975bd8204abfbd7c599b8"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a> (XmlRpc::XmlRpcValue &map_data, XmlRpc::XmlRpcValue &target_data)</td></tr>
+<tr class="separator:a40cb9325cf9975bd8204abfbd7c599b8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa1fc661c7d1d19a0c1e408a89d31d69b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">write_task</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot) override</td></tr>
+<tr class="separator:aa1fc661c7d1d19a0c1e408a89d31d69b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__map__loader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__map__loader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td></tr>
+<tr class="memitem:a408d265bc42bdbb25b2db44b9533e668 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a> ()=default</td></tr>
+<tr class="separator:a408d265bc42bdbb25b2db44b9533e668 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af4f75fbdda254f2a506770969cc46d8e inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">inv_map</a> ()</td></tr>
+<tr class="separator:af4f75fbdda254f2a506770969cc46d8e inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13fb2cd6ac1a353192161e053426d7c8 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a> ()</td></tr>
+<tr class="separator:a13fb2cd6ac1a353192161e053426d7c8 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a297e8f8fa66f70678d19d321033eea4d inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">set_inv_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="separator:a297e8f8fa66f70678d19d321033eea4d inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1edc00738184b6aa4b245727c8ed52ec inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">set_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="separator:a1edc00738184b6aa4b245727c8ed52ec inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3508478d51dcdf86ed8418006a4dd0d9 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">set_strategy</a> (<a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> *some_stratergy)</td></tr>
+<tr class="separator:a3508478d51dcdf86ed8418006a4dd0d9 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2945aff76228233abb3a89477c013d8a inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">set_target_cloud</a> (std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td></tr>
+<tr class="separator:a2945aff76228233abb3a89477c013d8a inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2adcb4394435282441360fb2310c231b inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">set_target_rot</a> (std::vector< std::vector< std::vector< tf2::Quaternion >>> &rots)</td></tr>
+<tr class="separator:a2adcb4394435282441360fb2310c231b inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab738d6d84071f7b931e2373a7fefc498 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">set_task_grasps</a> (std::vector< std::vector< tf2::Transform >> &lists_in_list)</td></tr>
+<tr class="separator:ab738d6d84071f7b931e2373a7fefc498 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afd6b5c362ad38cfe32600ff9f1398bc7 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">strategy</a> ()</td></tr>
+<tr class="separator:afd6b5c362ad38cfe32600ff9f1398bc7 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abb73acebcfbfb3a5acb790eb2d96fbd6 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">target_cloud</a> ()</td></tr>
+<tr class="separator:abb73acebcfbfb3a5acb790eb2d96fbd6 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abdd0484ea0507910d37b0eae257b6476 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Quaternion > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">target_rot</a> ()</td></tr>
+<tr class="separator:abdd0484ea0507910d37b0eae257b6476 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa9772fe2bd594967b8f7b980db442ca5 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a> ()</td></tr>
+<tr class="separator:aa9772fe2bd594967b8f7b980db442ca5 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3b3675673d54d23b1678bd47df4b2273 inherit pub_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">~Abstract_map_loader</a> ()=default</td></tr>
+<tr class="separator:a3b3675673d54d23b1678bd47df4b2273 inherit pub_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classAbstract__map__loader"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classAbstract__map__loader')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td></tr>
+<tr class="memitem:a797587fa281f28fde814a052396d90bf inherit pub_static_methods_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">static std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">create_pcl_box</a> ()</td></tr>
+<tr class="separator:a797587fa281f28fde814a052396d90bf inherit pub_static_methods_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__map__loader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__map__loader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a></td></tr>
+<tr class="memitem:ad43b3e44a4908e0352c3a7c7b26c8347 inherit pro_attribs_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">inv_map_</a></td></tr>
+<tr class="separator:ad43b3e44a4908e0352c3a7c7b26c8347 inherit pro_attribs_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a460481a298b27e411bafcdc584f1f35a inherit pro_attribs_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">map_</a></td></tr>
+<tr class="separator:a460481a298b27e411bafcdc584f1f35a inherit pro_attribs_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a18cb3dcb65ee0af86bff355c24814dc3 inherit pro_attribs_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a></td></tr>
+<tr class="separator:a18cb3dcb65ee0af86bff355c24814dc3 inherit pro_attribs_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aab0898959888bc50f37690808f9571a8 inherit pro_attribs_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a></td></tr>
+<tr class="separator:aab0898959888bc50f37690808f9571a8 inherit pro_attribs_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af012c7a4a222097864cbcda7ed58212f inherit pro_attribs_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Quaternion > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a></td></tr>
+<tr class="separator:af012c7a4a222097864cbcda7ed58212f inherit pro_attribs_classAbstract__map__loader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8c4bd31f9c778a3a5ef7a21ab16f6127 inherit pro_attribs_classAbstract__map__loader"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a></td></tr>
+<tr class="separator:a8c4bd31f9c778a3a5ef7a21ab16f6127 inherit pro_attribs_classAbstract__map__loader"><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="map__loader_8h_source.html#l00010">10</a> of file <a class="el" href="map__loader_8h_source.html">map_loader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a40cb9325cf9975bd8204abfbd7c599b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40cb9325cf9975bd8204abfbd7c599b8">◆ </a></span>Map_loader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Map_loader::Map_loader </td>
+ <td>(</td>
+ <td class="paramtype">XmlRpc::XmlRpcValue & </td>
+ <td class="paramname"><em>map_data</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">XmlRpc::XmlRpcValue & </td>
+ <td class="paramname"><em>target_data</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="map__loader_8cpp_source.html#l00005">5</a> of file <a class="el" href="map__loader_8cpp_source.html">map_loader.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac8f429fe039a03dd69505fe899f37310"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8f429fe039a03dd69505fe899f37310">◆ </a></span>base_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector< std::vector< pcl::PointXYZ > > Map_loader::base_calculation </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>Implements <a class="el" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">Abstract_map_loader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="map__loader_8cpp_source.html#l00039">39</a> of file <a class="el" href="map__loader_8cpp_source.html">map_loader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa1fc661c7d1d19a0c1e408a89d31d69b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa1fc661c7d1d19a0c1e408a89d31d69b">◆ </a></span>write_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Map_loader::write_task </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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>Implements <a class="el" href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">Abstract_map_loader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="map__loader_8cpp_source.html#l00140">140</a> of file <a class="el" href="map__loader_8cpp_source.html">map_loader.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="map__loader_8h_source.html">map_loader.h</a></li>
+<li><a class="el" href="map__loader_8cpp_source.html">map_loader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMap__loader__inherit__graph.map b/doc/html/classMap__loader__inherit__graph.map
new file mode 100644
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--- /dev/null
+++ b/doc/html/classMap__loader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Map_loader" name="Map_loader">
+<area shape="rect" id="node1" title=" " alt="" coords="36,80,135,107"/>
+<area shape="rect" id="node2" href="$classAbstract__map__loader.html" title=" " alt="" coords="5,5,165,32"/>
+</map>
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new file mode 100644
index 0000000000000000000000000000000000000000..8a2e0c66ed96ed5c52b21117ed210c4939ea83ac
--- /dev/null
+++ b/doc/html/classMap__loader__inherit__graph.md5
@@ -0,0 +1 @@
+4afa3afa033ce58acf1a15a5378413ac
\ No newline at end of file
diff --git a/doc/html/classMap__loader__inherit__graph.png b/doc/html/classMap__loader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..44f8dcb7ce4518b5c15a2379fb8290c6f1f44775
Binary files /dev/null and b/doc/html/classMap__loader__inherit__graph.png differ
diff --git a/doc/html/classMap__reader-members.html b/doc/html/classMap__reader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..3d463c0ecf9a30de169ac775b8e926f632c22155
--- /dev/null
+++ b/doc/html/classMap__reader-members.html
@@ -0,0 +1,44 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Map_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMap__reader.html">Map_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">map_data</a>()</td><td class="entry"><a class="el" href="classMap__reader.html">Map_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">map_data_</a></td><td class="entry"><a class="el" href="classMap__reader.html">Map_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classMap__reader.html">Map_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">read</a>() override</td><td class="entry"><a class="el" href="classMap__reader.html">Map_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">set_map_data</a>(std::vector< tf2::Transform > &robot_data)</td><td class="entry"><a class="el" href="classMap__reader.html">Map_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMap__reader.html b/doc/html/classMap__reader.html
new file mode 100644
index 0000000000000000000000000000000000000000..c4d0d0bb34ad6956f721a0f24ba43e1a1b722d96
--- /dev/null
+++ b/doc/html/classMap__reader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Map_reader 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="classMap__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Map_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Map reader.
+ <a href="classMap__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="map__reader_8h_source.html">map_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Map_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMap__reader__inherit__graph.png" border="0" usemap="#Map__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Map__reader_inherit__map" id="Map__reader_inherit__map">
+<area shape="rect" title="Map reader." alt="" coords="43,80,142,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:a31bfd513f89c1b196f2616df5e64611c"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">map_data</a> ()</td></tr>
+<tr class="memdesc:a31bfd513f89c1b196f2616df5e64611c"><td class="mdescLeft"> </td><td class="mdescRight">Get map_data. <a href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">More...</a><br /></td></tr>
+<tr class="separator:a31bfd513f89c1b196f2616df5e64611c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a651a31b2d8120523590a7d9707d5b4b5"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a651a31b2d8120523590a7d9707d5b4b5"><td class="mdescLeft"> </td><td class="mdescRight">Map reader constructor. <a href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">More...</a><br /></td></tr>
+<tr class="separator:a651a31b2d8120523590a7d9707d5b4b5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a91deab19bee09cfa5174fdb159972fe3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">read</a> () override</td></tr>
+<tr class="memdesc:a91deab19bee09cfa5174fdb159972fe3"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">More...</a><br /></td></tr>
+<tr class="separator:a91deab19bee09cfa5174fdb159972fe3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6f6a52aa711ebdeb6bc8714b18679af6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">set_map_data</a> (std::vector< tf2::Transform > &robot_data)</td></tr>
+<tr class="memdesc:a6f6a52aa711ebdeb6bc8714b18679af6"><td class="mdescLeft"> </td><td class="mdescRight">Set map_data. <a href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">More...</a><br /></td></tr>
+<tr class="separator:a6f6a52aa711ebdeb6bc8714b18679af6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><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:abfb159fe634aab941d493204be389fa9"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">map_data_</a></td></tr>
+<tr class="memdesc:abfb159fe634aab941d493204be389fa9"><td class="mdescLeft"> </td><td class="mdescRight">Map transforms. <a href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">More...</a><br /></td></tr>
+<tr class="separator:abfb159fe634aab941d493204be389fa9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Map reader. </p>
+<p>Reads Reachabilty Map vector </p>
+
+<p class="definition">Definition at line <a class="el" href="map__reader_8h_source.html#l00015">15</a> of file <a class="el" href="map__reader_8h_source.html">map_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a651a31b2d8120523590a7d9707d5b4b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a651a31b2d8120523590a7d9707d5b4b5">◆ </a></span>Map_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Map_reader::Map_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>Map reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3" title="read implementatin">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>Ros Nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="map__reader_8h_source.html#l00025">25</a> of file <a class="el" href="map__reader_8h_source.html">map_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a31bfd513f89c1b196f2616df5e64611c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31bfd513f89c1b196f2616df5e64611c">◆ </a></span>map_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Map_reader::map_data </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 map_data. </p>
+<dl class="section return"><dt>Returns</dt><dd>vector of transforms </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="map__reader_8h_source.html#l00037">37</a> of file <a class="el" href="map__reader_8h_source.html">map_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a91deab19bee09cfa5174fdb159972fe3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91deab19bee09cfa5174fdb159972fe3">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Map_reader::read </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>read implementatin </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="map__reader_8cpp_source.html#l00003">3</a> of file <a class="el" href="map__reader_8cpp_source.html">map_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6f6a52aa711ebdeb6bc8714b18679af6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f6a52aa711ebdeb6bc8714b18679af6">◆ </a></span>set_map_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Map_reader::set_map_data </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>robot_data</em></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>Set map_data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot_data</td><td>vector of transforms </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="map__reader_8h_source.html#l00031">31</a> of file <a class="el" href="map__reader_8h_source.html">map_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abfb159fe634aab941d493204be389fa9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abfb159fe634aab941d493204be389fa9">◆ </a></span>map_data_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Map_reader::map_data_</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>Map transforms. </p>
+
+<p class="definition">Definition at line <a class="el" href="map__reader_8h_source.html#l00017">17</a> of file <a class="el" href="map__reader_8h_source.html">map_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="map__reader_8h_source.html">map_reader.h</a></li>
+<li><a class="el" href="map__reader_8cpp_source.html">map_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMap__reader__inherit__graph.map b/doc/html/classMap__reader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..18b969a162598e901be81c6e6320db6bae478722
--- /dev/null
+++ b/doc/html/classMap__reader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Map_reader" name="Map_reader">
+<area shape="rect" id="node1" title="Map reader." alt="" coords="43,80,142,107"/>
+<area shape="rect" id="node2" href="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</map>
diff --git a/doc/html/classMap__reader__inherit__graph.md5 b/doc/html/classMap__reader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..de681c9992ca83f4b3cb2bffa1d1f27baf908ec9
--- /dev/null
+++ b/doc/html/classMap__reader__inherit__graph.md5
@@ -0,0 +1 @@
+4c38d4855923ee13c0f8e51584f9a432
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diff --git a/doc/html/classMap__reader__inherit__graph.png b/doc/html/classMap__reader__inherit__graph.png
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Binary files /dev/null and b/doc/html/classMap__reader__inherit__graph.png differ
diff --git a/doc/html/classMediator-members.html b/doc/html/classMediator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..063cf1cbda46a5afe95cb0b2241e5d3445f361c3
--- /dev/null
+++ b/doc/html/classMediator-members.html
@@ -0,0 +1,76 @@
+<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">Mediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMediator.html">Mediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">approximation</a>(Robot *robot)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">build_wings</a>(std::bitset< 3 > &wings, int &robot) override</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">calculate</a>(std::vector< tf2::Transform > &ground_per_robot)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">check_collision</a>(const int &robot) override</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">connect_robots</a>(Abstract_robot *robot) override</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">Abstract_mediator::connect_robots</a>(std::unique_ptr< Abstract_robot_decorator > robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#a5fe305318a23ed8967b76f897dfb6659">generate_Ground</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">mediate</a>() override</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">publish</a>(Robot *r)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(std::vector< std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">set_wings</a>(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">setup_rviz</a>()</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMediator.html#accf269f067ad74db3e291289a96a71cc">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">write_file</a>(Robot *A, Robot *B)</td><td class="entry"><a class="el" href="classMediator.html">Mediator</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMediator.html b/doc/html/classMediator.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Mediator Class Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+<script type="text/javascript" src="jquery.js"></script>
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+/* @license-end */</script>
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+<div class="header">
+ <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> |
+<a href="classMediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Mediator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="mediator_8h_source.html">mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Mediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMediator__inherit__graph.png" border="0" usemap="#Mediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Mediator_inherit__map" id="Mediator_inherit__map">
+<area shape="rect" title=" " alt="" coords="37,80,117,107"/>
+<area shape="rect" href="classAbstract__mediator.html" title="Abstract mediator." alt="" coords="5,5,148,32"/>
+</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:a337eff9aa7e40e41f724e5b2e6c7f2b9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">approximation</a> (<a class="el" href="classRobot.html">Robot</a> *robot)</td></tr>
+<tr class="separator:a337eff9aa7e40e41f724e5b2e6c7f2b9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1bc333451fdba008fa7eb985dfa824ab"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">build_wings</a> (std::bitset< 3 > &<a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>, int &robot) override</td></tr>
+<tr class="separator:a1bc333451fdba008fa7eb985dfa824ab"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a04f3617b928e20bdd364244420a014ae"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">calculate</a> (std::vector< tf2::Transform > &ground_per_robot)</td></tr>
+<tr class="separator:a04f3617b928e20bdd364244420a014ae"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a754b1266d12b93c214e4ca9f2bffde27"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">check_collision</a> (const int &robot) override</td></tr>
+<tr class="separator:a754b1266d12b93c214e4ca9f2bffde27"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a362636b4a9f1018308c4843cb91c1f18"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">connect_robots</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot) override</td></tr>
+<tr class="separator:a362636b4a9f1018308c4843cb91c1f18"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5fe305318a23ed8967b76f897dfb6659"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a5fe305318a23ed8967b76f897dfb6659">generate_Ground</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="separator:a5fe305318a23ed8967b76f897dfb6659"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a102d4e690501ce83fd6789309326fc95"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">mediate</a> () override</td></tr>
+<tr class="separator:a102d4e690501ce83fd6789309326fc95"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeb53c3e593afd4bb9f79990c3398ff36"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td></tr>
+<tr class="separator:aeb53c3e593afd4bb9f79990c3398ff36"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad12e69c15639193aeff3ac95263d7774"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">publish</a> (<a class="el" href="classRobot.html">Robot</a> *r)</td></tr>
+<tr class="separator:ad12e69c15639193aeff3ac95263d7774"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa16035737db08e657c36a5d69374a67f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">set_wings</a> (std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &wbp) override</td></tr>
+<tr class="separator:aa16035737db08e657c36a5d69374a67f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a47c455b2e15e19e16565d9267528ff6e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">setup_rviz</a> ()</td></tr>
+<tr class="separator:a47c455b2e15e19e16565d9267528ff6e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:accf269f067ad74db3e291289a96a71cc"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#accf269f067ad74db3e291289a96a71cc">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="separator:accf269f067ad74db3e291289a96a71cc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acd53d6e32bb1e65cb2f0197acdd101cd"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">write_file</a> (<a class="el" href="classRobot.html">Robot</a> *A, <a class="el" href="classRobot.html">Robot</a> *B)</td></tr>
+<tr class="separator:acd53d6e32bb1e65cb2f0197acdd101cd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__mediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator constructor. <a href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">More...</a><br /></td></tr>
+<tr class="separator:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td></tr>
+<tr class="separator:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">connect_robots</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > robot)=0</td></tr>
+<tr class="memdesc:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">More...</a><br /></td></tr>
+<tr class="separator:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="memdesc:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">More...</a><br /></td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="separator:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a> ()</td></tr>
+<tr class="separator:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><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="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a> ()</td></tr>
+<tr class="memdesc:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">More...</a><br /></td></tr>
+<tr class="separator:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a> ()</td></tr>
+<tr class="separator:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a> ()</td></tr>
+<tr class="memdesc:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">More...</a><br /></td></tr>
+<tr class="separator:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">More...</a><br /></td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">More...</a><br /></td></tr>
+<tr class="separator:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a> (std::vector< std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="separator:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">More...</a><br /></td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a> ()</td></tr>
+<tr class="separator:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a> ()</td></tr>
+<tr class="memdesc:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">More...</a><br /></td></tr>
+<tr class="separator:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__mediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td></tr>
+<tr class="memdesc:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">More...</a><br /></td></tr>
+<tr class="separator:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td></tr>
+<tr class="memdesc:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">More...</a><br /></td></tr>
+<tr class="separator:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td></tr>
+<tr class="separator:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">ros::Publisher * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td></tr>
+<tr class="separator:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td></tr>
+<tr class="memdesc:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">More...</a><br /></td></tr>
+<tr class="separator:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td></tr>
+<tr class="separator:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td></tr>
+<tr class="memdesc:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">More...</a><br /></td></tr>
+<tr class="separator:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td></tr>
+<tr class="separator:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td></tr>
+<tr class="memdesc:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">More...</a><br /></td></tr>
+<tr class="separator:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTs__reader.html">Ts_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td></tr>
+<tr class="memdesc:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">More...</a><br /></td></tr>
+<tr class="separator:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td></tr>
+<tr class="separator:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td></tr>
+<tr class="separator:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><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="mediator_8h_source.html#l00012">12</a> of file <a class="el" href="mediator_8h_source.html">mediator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aeb53c3e593afd4bb9f79990c3398ff36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb53c3e593afd4bb9f79990c3398ff36">◆ </a></span>Mediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Mediator::Mediator </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< tf2::Transform >> </td>
+ <td class="paramname"><em>objects</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">ros::Publisher * </td>
+ <td class="paramname"><em>pub</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="mediator_8h_source.html#l00014">14</a> of file <a class="el" href="mediator_8h_source.html">mediator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a337eff9aa7e40e41f724e5b2e6c7f2b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a337eff9aa7e40e41f724e5b2e6c7f2b9">◆ </a></span>approximation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::approximation </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classRobot.html">Robot</a> * </td>
+ <td class="paramname"><em>robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00222">222</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a1bc333451fdba008fa7eb985dfa824ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1bc333451fdba008fa7eb985dfa824ab">◆ </a></span>build_wings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::build_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>wings</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int & </td>
+ <td class="paramname"><em>robot</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Implements <a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00429">429</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a04f3617b928e20bdd364244420a014ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a04f3617b928e20bdd364244420a014ae">◆ </a></span>calculate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::calculate </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>ground_per_robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00144">144</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a754b1266d12b93c214e4ca9f2bffde27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a754b1266d12b93c214e4ca9f2bffde27">◆ </a></span>check_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Mediator::check_collision </td>
+ <td>(</td>
+ <td class="paramtype">const int & </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>Implements <a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00055">55</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a362636b4a9f1018308c4843cb91c1f18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a362636b4a9f1018308c4843cb91c1f18">◆ </a></span>connect_robots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::connect_robots </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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>Implements <a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00006">6</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a5fe305318a23ed8967b76f897dfb6659"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5fe305318a23ed8967b76f897dfb6659">◆ </a></span>generate_Ground()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<pcl::PointXYZ> Mediator::generate_Ground </td>
+ <td>(</td>
+ <td class="paramtype">const tf2::Vector3 </td>
+ <td class="paramname"><em>origin</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const float </td>
+ <td class="paramname"><em>diameter</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">float </td>
+ <td class="paramname"><em>resolution</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a102d4e690501ce83fd6789309326fc95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a102d4e690501ce83fd6789309326fc95">◆ </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 Mediator::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>Implements <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00105">105</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ad12e69c15639193aeff3ac95263d7774"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad12e69c15639193aeff3ac95263d7774">◆ </a></span>publish()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::publish </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classRobot.html">Robot</a> * </td>
+ <td class="paramname"><em>r</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00448">448</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa16035737db08e657c36a5d69374a67f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa16035737db08e657c36a5d69374a67f">◆ </a></span>set_wings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::set_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> & </td>
+ <td class="paramname"><em>wbp</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>Implements <a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="mediator_8cpp_source.html#l00042">42</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a47c455b2e15e19e16565d9267528ff6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a47c455b2e15e19e16565d9267528ff6e">◆ </a></span>setup_rviz()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::setup_rviz </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="mediator_8cpp_source.html#l00008">8</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="accf269f067ad74db3e291289a96a71cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#accf269f067ad74db3e291289a96a71cc">◆ </a></span>vector_to_cloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">pcl::PointCloud< pcl::PointXYZ >::Ptr Mediator::vector_to_cloud </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< pcl::PointXYZ > & </td>
+ <td class="paramname"><em>vector</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acd53d6e32bb1e65cb2f0197acdd101cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd53d6e32bb1e65cb2f0197acdd101cd">◆ </a></span>write_file()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Mediator::write_file </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classRobot.html">Robot</a> * </td>
+ <td class="paramname"><em>A</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype"><a class="el" href="classRobot.html">Robot</a> * </td>
+ <td class="paramname"><em>B</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="mediator_8cpp_source.html#l00303">303</a> of file <a class="el" href="mediator_8cpp_source.html">mediator.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="mediator_8h_source.html">mediator.h</a></li>
+<li><a class="el" href="mediator_8cpp_source.html">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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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diff --git a/doc/html/classMoveit__grasp__mediator-members.html b/doc/html/classMoveit__grasp__mediator-members.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/classMoveit__grasp__mediator-members.html
@@ -0,0 +1,115 @@
+<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">Moveit_grasp_mediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">build_wings</a>(std::bitset< 3 > &wing, int &robot) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">check_collision</a>(const int &robot) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">connect_robots</a>(Abstract_robot *robot) override</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">Abstract_mediator::connect_robots</a>(std::unique_ptr< Abstract_robot_decorator > robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">create_Task</a>(Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">generateRandomCuboid</a>(std::string &object_name, geometry_msgs::Pose &object_pose, double &x_depth, double &y_width, double &z_height)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">getIKSolution</a>(const moveit::core::JointModelGroup *arm_jmg, const Eigen::Isometry3d &target_pose, robot_state::RobotState &solution, const std::string &link_name)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">isStateValid</a>(const planning_scene::PlanningScene *planning_scene, const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, robot_state::RobotState *robot_state, const robot_model::JointModelGroup *group, const double *ik_solution)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118">job_reader_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">manipulate_grasp_data</a>(Moveit_robot *robot)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">manipulate_mapspace</a>(tf2::Transform &tf, tf2::Vector3 &size)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">mediate</a>() override</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">merge_acm</a>(moveit_msgs::PlanningScene &in)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">merge_ps</a>(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">mgi</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">parallel_exec</a>(Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">planFullGrasp</a>(std::vector< moveit_grasps::GraspCandidatePtr > &grasp_candidates, moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, moveit_msgs::MotionPlanResponse &pre_approach_plan, const std::string &object_name)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">planning_pipeline_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">planning_scene_diff_publisher_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">planPreApproach</a>(const robot_state::RobotState &goal_state, moveit_msgs::MotionPlanResponse &pre_approach_plan)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">rewrite_task_template</a>(Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">robot_reader_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">scene_setup</a>()</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(std::vector< std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">set_tasks</a>(std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">set_wings</a>(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">setup_task</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">task_map</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">task_map_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">task_planner</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">visualizePick</a>(const moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, const moveit_msgs::MotionPlanResponse &pre_approach_plan)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">voxel_environment_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">waitForNextStep</a>(const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, const std::string &prompt)</td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf">wing_reader_</a></td><td class="entry"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__grasp__mediator.html b/doc/html/classMoveit__grasp__mediator.html
new file mode 100644
index 0000000000000000000000000000000000000000..9e57eb3cd9afed5f06d593ac17afab73926013c9
--- /dev/null
+++ b/doc/html/classMoveit__grasp__mediator.html
@@ -0,0 +1,903 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Moveit_grasp_mediator 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>
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+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
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+<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="classMoveit__grasp__mediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Moveit_grasp_mediator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Moveit_grasp_mediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMoveit__grasp__mediator__inherit__graph.png" border="0" usemap="#Moveit__grasp__mediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Moveit__grasp__mediator_inherit__map" id="Moveit__grasp__mediator_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,155,181,181"/>
+<area shape="rect" href="classMoveit__mediator.html" title=" " alt="" coords="27,80,160,107"/>
+<area shape="rect" href="classAbstract__mediator.html" title="Abstract mediator." alt="" coords="22,5,165,32"/>
+</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:aa9b3d92f1177b7ed103400bd5e1aa558"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">connect_robots</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot) override</td></tr>
+<tr class="separator:aa9b3d92f1177b7ed103400bd5e1aa558"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1c5f2ad1dedf0b71711725e2d96c3b2d"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">generateRandomCuboid</a> (std::string &object_name, geometry_msgs::Pose &object_pose, double &x_depth, double &y_width, double &z_height)</td></tr>
+<tr class="separator:a1c5f2ad1dedf0b71711725e2d96c3b2d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa469150a38fcf4e8a3d9acde59e4b519"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">getIKSolution</a> (const moveit::core::JointModelGroup *arm_jmg, const Eigen::Isometry3d &target_pose, robot_state::RobotState &solution, const std::string &link_name)</td></tr>
+<tr class="separator:aa469150a38fcf4e8a3d9acde59e4b519"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a97f68aabffc7f663ab03927084044311"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">isStateValid</a> (const planning_scene::PlanningScene *planning_scene, const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, robot_state::RobotState *robot_state, const robot_model::JointModelGroup *group, const double *ik_solution)</td></tr>
+<tr class="separator:a97f68aabffc7f663ab03927084044311"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa285fd973936b65c68cfb19c054edfb5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">manipulate_grasp_data</a> (<a class="el" href="classMoveit__robot.html">Moveit_robot</a> *robot)</td></tr>
+<tr class="separator:aa285fd973936b65c68cfb19c054edfb5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a306c73cd3d0772a033fca3677fa547cc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">manipulate_mapspace</a> (tf2::Transform &tf, tf2::Vector3 &size)</td></tr>
+<tr class="separator:a306c73cd3d0772a033fca3677fa547cc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ace031e7894f77a460ce5782a6e3160e8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">mediate</a> () override</td></tr>
+<tr class="separator:ace031e7894f77a460ce5782a6e3160e8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aafcbc3db53825d13dacdf6417e207d84"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</td></tr>
+<tr class="separator:aafcbc3db53825d13dacdf6417e207d84"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad2e01237a4927df1d71d99276e56761e"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">planFullGrasp</a> (std::vector< moveit_grasps::GraspCandidatePtr > &grasp_candidates, moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, moveit_msgs::MotionPlanResponse &pre_approach_plan, const std::string &object_name)</td></tr>
+<tr class="separator:ad2e01237a4927df1d71d99276e56761e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa27d054a12c40a0e4fe3e94da271df83"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">planPreApproach</a> (const robot_state::RobotState &goal_state, moveit_msgs::MotionPlanResponse &pre_approach_plan)</td></tr>
+<tr class="separator:aa27d054a12c40a0e4fe3e94da271df83"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af4c5933ccfcbf7ca153a039ad00a865f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">scene_setup</a> ()</td></tr>
+<tr class="separator:af4c5933ccfcbf7ca153a039ad00a865f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aba249a3b9ac5f2b4c426de836eb7d6eb"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">visualizePick</a> (const moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, const moveit_msgs::MotionPlanResponse &pre_approach_plan)</td></tr>
+<tr class="separator:aba249a3b9ac5f2b4c426de836eb7d6eb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab9c8056fd38678f42c75119bc2b057e4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">waitForNextStep</a> (const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, const std::string &prompt)</td></tr>
+<tr class="separator:ab9c8056fd38678f42c75119bc2b057e4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classMoveit__mediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classMoveit__mediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td></tr>
+<tr class="memitem:a3196ded3639d69478121db539eaa3d1f inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">build_wings</a> (std::bitset< 3 > &wing, int &robot) override</td></tr>
+<tr class="separator:a3196ded3639d69478121db539eaa3d1f inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab20eabb5f72715df3bb9305d216ea66a inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">check_collision</a> (const int &robot) override</td></tr>
+<tr class="separator:ab20eabb5f72715df3bb9305d216ea66a inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43b776b7aaf2d7203c5bc860cdc6dc5b inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">connect_robots</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot) override</td></tr>
+<tr class="separator:a43b776b7aaf2d7203c5bc860cdc6dc5b inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7582bb7618f935c486681d9435fc02e5 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">moveit::task_constructor::Task </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">create_Task</a> (<a class="el" href="classMoveit__robot.html">Moveit_robot</a> *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td></tr>
+<tr class="separator:a7582bb7618f935c486681d9435fc02e5 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab864f0b277826dafff1944d9f884acff inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">mediate</a> () override</td></tr>
+<tr class="separator:ab864f0b277826dafff1944d9f884acff inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5724e8b5966c640ff005f4aaae48f2a4 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">merge_acm</a> (moveit_msgs::PlanningScene &in)</td></tr>
+<tr class="separator:a5724e8b5966c640ff005f4aaae48f2a4 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a061e0ca9e84b36ec1bf33a6bd4104417 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">merge_ps</a> (moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, <a class="el" href="classMoveit__robot.html">Moveit_robot</a> *mr)</td></tr>
+<tr class="separator:a061e0ca9e84b36ec1bf33a6bd4104417 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aac9157796fc133cdab1b22ef66ef8889 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">mgi</a> ()</td></tr>
+<tr class="separator:aac9157796fc133cdab1b22ef66ef8889 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9ac25277f557f65084d0245ecd8246bf inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</td></tr>
+<tr class="separator:a9ac25277f557f65084d0245ecd8246bf inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1883a9e06be1b1684b76bd44f5925bf3 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">parallel_exec</a> (<a class="el" href="classMoveit__robot.html">Moveit_robot</a> &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)</td></tr>
+<tr class="separator:a1883a9e06be1b1684b76bd44f5925bf3 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a054489ae555d8ecd197b23d09e40be47 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a> ()</td></tr>
+<tr class="separator:a054489ae555d8ecd197b23d09e40be47 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6913d3c81c3a30d9a628d0fe4756776c inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">rewrite_task_template</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td></tr>
+<tr class="separator:a6913d3c81c3a30d9a628d0fe4756776c inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acf8ec374cb01f96ef41dea8bb0bae963 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">set_tasks</a> (std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</td></tr>
+<tr class="separator:acf8ec374cb01f96ef41dea8bb0bae963 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77b4aae7790bdd2a24a2941d9fca43b3 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">set_wings</a> (std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &wbp) override</td></tr>
+<tr class="separator:a77b4aae7790bdd2a24a2941d9fca43b3 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab9a1f61e86fa295e426f751ff7ea8838 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">setup_task</a> ()</td></tr>
+<tr class="separator:ab9a1f61e86fa295e426f751ff7ea8838 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab11f9ee155b39e5809f75d9dfd44f34c inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::vector< moveit::task_constructor::Task > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">task_map</a> ()</td></tr>
+<tr class="separator:ab11f9ee155b39e5809f75d9dfd44f34c inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae1a6378021b727fdfd1f1f3816b41c6 inherit pub_methods_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">task_planner</a> ()</td></tr>
+<tr class="separator:aae1a6378021b727fdfd1f1f3816b41c6 inherit pub_methods_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__mediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator constructor. <a href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">More...</a><br /></td></tr>
+<tr class="separator:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td></tr>
+<tr class="separator:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">connect_robots</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > robot)=0</td></tr>
+<tr class="memdesc:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">More...</a><br /></td></tr>
+<tr class="separator:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="memdesc:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">More...</a><br /></td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="separator:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a> ()</td></tr>
+<tr class="separator:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><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="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a> ()</td></tr>
+<tr class="memdesc:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">More...</a><br /></td></tr>
+<tr class="separator:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a> ()</td></tr>
+<tr class="separator:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a> ()</td></tr>
+<tr class="memdesc:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">More...</a><br /></td></tr>
+<tr class="separator:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">More...</a><br /></td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">More...</a><br /></td></tr>
+<tr class="separator:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a> (std::vector< std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="separator:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">More...</a><br /></td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a> ()</td></tr>
+<tr class="separator:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a> ()</td></tr>
+<tr class="memdesc:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">More...</a><br /></td></tr>
+<tr class="separator:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><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:a6ed9b1a3d7b66a75cc2f0c5712cf7a62"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a></td></tr>
+<tr class="separator:a6ed9b1a3d7b66a75cc2f0c5712cf7a62"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7358966adab0fea05c2587e492273cb0"><td class="memItemLeft" align="right" valign="top">std::vector< GraspMap > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a></td></tr>
+<tr class="separator:a7358966adab0fea05c2587e492273cb0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a61afc06c74fcadd24af49e74e69730cc"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a></td></tr>
+<tr class="separator:a61afc06c74fcadd24af49e74e69730cc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada64005701a160ab15e54664a0a9f118"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classJob__reader.html">Job_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118">job_reader_</a></td></tr>
+<tr class="separator:ada64005701a160ab15e54664a0a9f118"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c03d26fbb07ddfce88c0134a269db26"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_pipeline::PlanningPipeline > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">planning_pipeline_</a></td></tr>
+<tr class="separator:a2c03d26fbb07ddfce88c0134a269db26"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adb66e0ab29aa994a762ec03d501dff09"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classRobot__reader.html">Robot_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">robot_reader_</a></td></tr>
+<tr class="separator:adb66e0ab29aa994a762ec03d501dff09"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:add410bc786e487285644dbbfd1cc4435"><td class="memItemLeft" align="right" valign="top">boost::dynamic_bitset </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">voxel_environment_</a></td></tr>
+<tr class="separator:add410bc786e487285644dbbfd1cc4435"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae22e5102cea0d7c0ad9da4b2fad997f0"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< VoxelManager > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a></td></tr>
+<tr class="separator:ae22e5102cea0d7c0ad9da4b2fad997f0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0807f49aeb0b5a21b2f9ce52a9d690bf"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf">wing_reader_</a></td></tr>
+<tr class="separator:a0807f49aeb0b5a21b2f9ce52a9d690bf"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classMoveit__mediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classMoveit__mediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td></tr>
+<tr class="memitem:adb99cac7a2807485330065b7019f7f2d inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::vector< uint8_t > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a></td></tr>
+<tr class="separator:adb99cac7a2807485330065b7019f7f2d inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeea1b8bf554a8a338f6548a100624b30 inherit pro_attribs_classMoveit__mediator"><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="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a></td></tr>
+<tr class="separator:aeea1b8bf554a8a338f6548a100624b30 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad95fe10af2afc29db1dc5bab04d314dd inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboid__reader.html">Cuboid_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">cuboid_reader_</a></td></tr>
+<tr class="separator:ad95fe10af2afc29db1dc5bab04d314dd inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a08a10d6b7faba5468f45182667be7b4d inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classJob__reader.html">Job_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">job_reader_</a></td></tr>
+<tr class="separator:a08a10d6b7faba5468f45182667be7b4d inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3d550e1db30b83e6f6bf25536dd5c78 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a></td></tr>
+<tr class="separator:ac3d550e1db30b83e6f6bf25536dd5c78 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9673dc2802ed32e576ff58bde8dc52eb inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a></td></tr>
+<tr class="separator:a9673dc2802ed32e576ff58bde8dc52eb inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a40026b9dc0519dbb0bb4e649cdebab37 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::Publisher > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">planning_scene_diff_publisher_</a></td></tr>
+<tr class="separator:a40026b9dc0519dbb0bb4e649cdebab37 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae5368a1e8034689de7c2fd15c680b7e5 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a></td></tr>
+<tr class="separator:ae5368a1e8034689de7c2fd15c680b7e5 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a613cd260bba43012848ea0a80452cf09 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene::PlanningScene > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a></td></tr>
+<tr class="separator:a613cd260bba43012848ea0a80452cf09 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c349f21f00ee6ec4cbb290557fe6a39 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a></td></tr>
+<tr class="separator:a4c349f21f00ee6ec4cbb290557fe6a39 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6f4a8f20841b33341c4991ee00fef75e inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::core::RobotModel > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a></td></tr>
+<tr class="separator:a6f4a8f20841b33341c4991ee00fef75e inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31a36d397814aff398138b7ce8583155 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a></td></tr>
+<tr class="separator:a31a36d397814aff398138b7ce8583155 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a56194f2f70bc9b469a8422dfef0cf602 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::vector< moveit::task_constructor::Task > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">task_map_</a></td></tr>
+<tr class="separator:a56194f2f70bc9b469a8422dfef0cf602 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa330766933e58c781067b1b943ce47a6 inherit pro_attribs_classMoveit__mediator"><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="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a></td></tr>
+<tr class="separator:aa330766933e58c781067b1b943ce47a6 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af2b6e5e089fbfc61afb5f0c25a320571 inherit pro_attribs_classMoveit__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a></td></tr>
+<tr class="separator:af2b6e5e089fbfc61afb5f0c25a320571 inherit pro_attribs_classMoveit__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__mediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td></tr>
+<tr class="memdesc:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">More...</a><br /></td></tr>
+<tr class="separator:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td></tr>
+<tr class="memdesc:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">More...</a><br /></td></tr>
+<tr class="separator:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td></tr>
+<tr class="separator:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">ros::Publisher * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td></tr>
+<tr class="separator:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td></tr>
+<tr class="memdesc:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">More...</a><br /></td></tr>
+<tr class="separator:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td></tr>
+<tr class="separator:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td></tr>
+<tr class="memdesc:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">More...</a><br /></td></tr>
+<tr class="separator:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td></tr>
+<tr class="separator:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td></tr>
+<tr class="memdesc:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">More...</a><br /></td></tr>
+<tr class="separator:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTs__reader.html">Ts_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td></tr>
+<tr class="memdesc:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">More...</a><br /></td></tr>
+<tr class="separator:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td></tr>
+<tr class="separator:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td></tr>
+<tr class="separator:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><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="moveit__grasp__mediator_8h_source.html#l00023">23</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aafcbc3db53825d13dacdf6417e207d84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafcbc3db53825d13dacdf6417e207d84">◆ </a></span>Moveit_grasp_mediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Moveit_grasp_mediator::Moveit_grasp_mediator </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< tf2::Transform >> </td>
+ <td class="paramname"><em>objects</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">ros::Publisher * </td>
+ <td class="paramname"><em>pub</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>nh</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="moveit__grasp__mediator_8cpp_source.html#l00525">525</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa9b3d92f1177b7ed103400bd5e1aa558"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9b3d92f1177b7ed103400bd5e1aa558">◆ </a></span>connect_robots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_grasp_mediator::connect_robots </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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>Implements <a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8cpp_source.html#l00008">8</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a1c5f2ad1dedf0b71711725e2d96c3b2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c5f2ad1dedf0b71711725e2d96c3b2d">◆ </a></span>generateRandomCuboid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Moveit_grasp_mediator::generateRandomCuboid </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>object_name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">geometry_msgs::Pose & </td>
+ <td class="paramname"><em>object_pose</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">double & </td>
+ <td class="paramname"><em>x_depth</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">double & </td>
+ <td class="paramname"><em>y_width</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">double & </td>
+ <td class="paramname"><em>z_height</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="moveit__grasp__mediator_8cpp_source.html#l00108">108</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa469150a38fcf4e8a3d9acde59e4b519"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa469150a38fcf4e8a3d9acde59e4b519">◆ </a></span>getIKSolution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Moveit_grasp_mediator::getIKSolution </td>
+ <td>(</td>
+ <td class="paramtype">const moveit::core::JointModelGroup * </td>
+ <td class="paramname"><em>arm_jmg</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const Eigen::Isometry3d & </td>
+ <td class="paramname"><em>target_pose</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">robot_state::RobotState & </td>
+ <td class="paramname"><em>solution</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>link_name</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="moveit__grasp__mediator_8cpp_source.html#l00483">483</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a97f68aabffc7f663ab03927084044311"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97f68aabffc7f663ab03927084044311">◆ </a></span>isStateValid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Moveit_grasp_mediator::isStateValid </td>
+ <td>(</td>
+ <td class="paramtype">const planning_scene::PlanningScene * </td>
+ <td class="paramname"><em>planning_scene</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const moveit_visual_tools::MoveItVisualToolsPtr & </td>
+ <td class="paramname"><em>visual_tools</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">robot_state::RobotState * </td>
+ <td class="paramname"><em>robot_state</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const robot_model::JointModelGroup * </td>
+ <td class="paramname"><em>group</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const double * </td>
+ <td class="paramname"><em>ik_solution</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="moveit__grasp__mediator_8cpp_source.html#l00474">474</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa285fd973936b65c68cfb19c054edfb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa285fd973936b65c68cfb19c054edfb5">◆ </a></span>manipulate_grasp_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_grasp_mediator::manipulate_grasp_data </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classMoveit__robot.html">Moveit_robot</a> * </td>
+ <td class="paramname"><em>robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8cpp_source.html#l00049">49</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a306c73cd3d0772a033fca3677fa547cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a306c73cd3d0772a033fca3677fa547cc">◆ </a></span>manipulate_mapspace()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_grasp_mediator::manipulate_mapspace </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>size</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="moveit__grasp__mediator_8cpp_source.html#l00035">35</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ace031e7894f77a460ce5782a6e3160e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace031e7894f77a460ce5782a6e3160e8">◆ </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 Moveit_grasp_mediator::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>Implements <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8cpp_source.html#l00141">141</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ad2e01237a4927df1d71d99276e56761e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2e01237a4927df1d71d99276e56761e">◆ </a></span>planFullGrasp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Moveit_grasp_mediator::planFullGrasp </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< moveit_grasps::GraspCandidatePtr > & </td>
+ <td class="paramname"><em>grasp_candidates</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_grasps::GraspCandidatePtr & </td>
+ <td class="paramname"><em>valid_grasp_candidate</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::MotionPlanResponse & </td>
+ <td class="paramname"><em>pre_approach_plan</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>object_name</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="moveit__grasp__mediator_8cpp_source.html#l00382">382</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa27d054a12c40a0e4fe3e94da271df83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa27d054a12c40a0e4fe3e94da271df83">◆ </a></span>planPreApproach()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Moveit_grasp_mediator::planPreApproach </td>
+ <td>(</td>
+ <td class="paramtype">const robot_state::RobotState & </td>
+ <td class="paramname"><em>goal_state</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::MotionPlanResponse & </td>
+ <td class="paramname"><em>pre_approach_plan</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="moveit__grasp__mediator_8cpp_source.html#l00429">429</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af4c5933ccfcbf7ca153a039ad00a865f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4c5933ccfcbf7ca153a039ad00a865f">◆ </a></span>scene_setup()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_grasp_mediator::scene_setup </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="moveit__grasp__mediator_8cpp_source.html#l00501">501</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aba249a3b9ac5f2b4c426de836eb7d6eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba249a3b9ac5f2b4c426de836eb7d6eb">◆ </a></span>visualizePick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_grasp_mediator::visualizePick </td>
+ <td>(</td>
+ <td class="paramtype">const moveit_grasps::GraspCandidatePtr & </td>
+ <td class="paramname"><em>valid_grasp_candidate</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const moveit_msgs::MotionPlanResponse & </td>
+ <td class="paramname"><em>pre_approach_plan</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="moveit__grasp__mediator_8cpp_source.html#l00318">318</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab9c8056fd38678f42c75119bc2b057e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab9c8056fd38678f42c75119bc2b057e4">◆ </a></span>waitForNextStep()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_grasp_mediator::waitForNextStep </td>
+ <td>(</td>
+ <td class="paramtype">const moveit_visual_tools::MoveItVisualToolsPtr & </td>
+ <td class="paramname"><em>visual_tools</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>prompt</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="moveit__grasp__mediator_8cpp_source.html#l00424">424</a> of file <a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_grasp_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6ed9b1a3d7b66a75cc2f0c5712cf7a62"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">◆ </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="classAbstract__param__reader.html">Abstract_param_reader</a>> Moveit_grasp_mediator::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 class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8h_source.html#l00035">35</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a7358966adab0fea05c2587e492273cb0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7358966adab0fea05c2587e492273cb0">◆ </a></span>grasp_maps_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<GraspMap> Moveit_grasp_mediator::grasp_maps_</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="moveit__grasp__mediator_8h_source.html#l00029">29</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a61afc06c74fcadd24af49e74e69730cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61afc06c74fcadd24af49e74e69730cc">◆ </a></span>grasp_ns_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string Moveit_grasp_mediator::grasp_ns_</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="moveit__grasp__mediator_8h_source.html#l00027">27</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ada64005701a160ab15e54664a0a9f118"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada64005701a160ab15e54664a0a9f118">◆ </a></span>job_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="classJob__reader.html">Job_reader</a>> Moveit_grasp_mediator::job_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 class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8h_source.html#l00036">36</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a2c03d26fbb07ddfce88c0134a269db26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c03d26fbb07ddfce88c0134a269db26">◆ </a></span>planning_pipeline_</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_pipeline::PlanningPipeline> Moveit_grasp_mediator::planning_pipeline_</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="moveit__grasp__mediator_8h_source.html#l00025">25</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="adb66e0ab29aa994a762ec03d501dff09"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb66e0ab29aa994a762ec03d501dff09">◆ </a></span>robot_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="classRobot__reader.html">Robot_reader</a>> Moveit_grasp_mediator::robot_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 class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8h_source.html#l00033">33</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="add410bc786e487285644dbbfd1cc4435"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add410bc786e487285644dbbfd1cc4435">◆ </a></span>voxel_environment_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">boost::dynamic_bitset Moveit_grasp_mediator::voxel_environment_</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="moveit__grasp__mediator_8h_source.html#l00028">28</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae22e5102cea0d7c0ad9da4b2fad997f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae22e5102cea0d7c0ad9da4b2fad997f0">◆ </a></span>voxel_manager_</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<VoxelManager> Moveit_grasp_mediator::voxel_manager_</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="moveit__grasp__mediator_8h_source.html#l00026">26</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a0807f49aeb0b5a21b2f9ce52a9d690bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0807f49aeb0b5a21b2f9ce52a9d690bf">◆ </a></span>wing_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="classAbstract__param__reader.html">Abstract_param_reader</a>> Moveit_grasp_mediator::wing_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 class="definition">Definition at line <a class="el" href="moveit__grasp__mediator_8h_source.html#l00034">34</a> of file <a class="el" href="moveit__grasp__mediator_8h_source.html">moveit_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="moveit__grasp__mediator_8h_source.html">moveit_grasp_mediator.h</a></li>
+<li><a class="el" href="moveit__grasp__mediator_8cpp_source.html">moveit_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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@@ -0,0 +1,97 @@
+<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">Moveit_mediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMoveit__mediator.html">Moveit_mediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">build_wings</a>(std::bitset< 3 > &wing, int &robot) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">check_collision</a>(const int &robot) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">connect_robots</a>(Abstract_robot *robot) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">Abstract_mediator::connect_robots</a>(std::unique_ptr< Abstract_robot_decorator > robot)=0</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">create_Task</a>(Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">cuboid_reader_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">job_reader_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">mediate</a>() override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">merge_acm</a>(moveit_msgs::PlanningScene &in)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">merge_ps</a>(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">mgi</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">parallel_exec</a>(Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">planning_scene_diff_publisher_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">rewrite_task_template</a>(Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(std::vector< std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">set_tasks</a>(std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">set_wings</a>(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">setup_task</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">task_map</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">task_map_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">task_planner</a>()</td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a></td><td class="entry"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a>()</td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td><td class="entry"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__mediator.html b/doc/html/classMoveit__mediator.html
new file mode 100644
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+++ b/doc/html/classMoveit__mediator.html
@@ -0,0 +1,1065 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Moveit_mediator 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 -->
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+<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="classMoveit__mediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Moveit_mediator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Moveit_mediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMoveit__mediator__inherit__graph.png" border="0" usemap="#Moveit__mediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Moveit__mediator_inherit__map" id="Moveit__mediator_inherit__map">
+<area shape="rect" title=" " alt="" coords="27,80,160,107"/>
+<area shape="rect" href="classMoveit__grasp__mediator.html" title=" " alt="" coords="5,155,181,181"/>
+<area shape="rect" href="classAbstract__mediator.html" title="Abstract mediator." alt="" coords="22,5,165,32"/>
+</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:a3196ded3639d69478121db539eaa3d1f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">build_wings</a> (std::bitset< 3 > &wing, int &robot) override</td></tr>
+<tr class="separator:a3196ded3639d69478121db539eaa3d1f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab20eabb5f72715df3bb9305d216ea66a"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">check_collision</a> (const int &robot) override</td></tr>
+<tr class="separator:ab20eabb5f72715df3bb9305d216ea66a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43b776b7aaf2d7203c5bc860cdc6dc5b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">connect_robots</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot) override</td></tr>
+<tr class="separator:a43b776b7aaf2d7203c5bc860cdc6dc5b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7582bb7618f935c486681d9435fc02e5"><td class="memItemLeft" align="right" valign="top">moveit::task_constructor::Task </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">create_Task</a> (<a class="el" href="classMoveit__robot.html">Moveit_robot</a> *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td></tr>
+<tr class="separator:a7582bb7618f935c486681d9435fc02e5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab864f0b277826dafff1944d9f884acff"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">mediate</a> () override</td></tr>
+<tr class="separator:ab864f0b277826dafff1944d9f884acff"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5724e8b5966c640ff005f4aaae48f2a4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">merge_acm</a> (moveit_msgs::PlanningScene &in)</td></tr>
+<tr class="separator:a5724e8b5966c640ff005f4aaae48f2a4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a061e0ca9e84b36ec1bf33a6bd4104417"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">merge_ps</a> (moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, <a class="el" href="classMoveit__robot.html">Moveit_robot</a> *mr)</td></tr>
+<tr class="separator:a061e0ca9e84b36ec1bf33a6bd4104417"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aac9157796fc133cdab1b22ef66ef8889"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">mgi</a> ()</td></tr>
+<tr class="separator:aac9157796fc133cdab1b22ef66ef8889"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9ac25277f557f65084d0245ecd8246bf"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</td></tr>
+<tr class="separator:a9ac25277f557f65084d0245ecd8246bf"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1883a9e06be1b1684b76bd44f5925bf3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">parallel_exec</a> (<a class="el" href="classMoveit__robot.html">Moveit_robot</a> &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)</td></tr>
+<tr class="separator:a1883a9e06be1b1684b76bd44f5925bf3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a054489ae555d8ecd197b23d09e40be47"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a> ()</td></tr>
+<tr class="separator:a054489ae555d8ecd197b23d09e40be47"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6913d3c81c3a30d9a628d0fe4756776c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">rewrite_task_template</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td></tr>
+<tr class="separator:a6913d3c81c3a30d9a628d0fe4756776c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acf8ec374cb01f96ef41dea8bb0bae963"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">set_tasks</a> (std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</td></tr>
+<tr class="separator:acf8ec374cb01f96ef41dea8bb0bae963"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77b4aae7790bdd2a24a2941d9fca43b3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">set_wings</a> (std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &wbp) override</td></tr>
+<tr class="separator:a77b4aae7790bdd2a24a2941d9fca43b3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab9a1f61e86fa295e426f751ff7ea8838"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">setup_task</a> ()</td></tr>
+<tr class="separator:ab9a1f61e86fa295e426f751ff7ea8838"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab11f9ee155b39e5809f75d9dfd44f34c"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::vector< moveit::task_constructor::Task > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">task_map</a> ()</td></tr>
+<tr class="separator:ab11f9ee155b39e5809f75d9dfd44f34c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae1a6378021b727fdfd1f1f3816b41c6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">task_planner</a> ()</td></tr>
+<tr class="separator:aae1a6378021b727fdfd1f1f3816b41c6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__mediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">Abstract_mediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator constructor. <a href="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6">More...</a><br /></td></tr>
+<tr class="separator:a724fb5c020cca45732464f0227c854b6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a> (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</td></tr>
+<tr class="separator:a42b339e1ffa0b206129cc11fa300b217 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">connect_robots</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > robot)=0</td></tr>
+<tr class="memdesc:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">More...</a><br /></td></tr>
+<tr class="separator:aec722e2a7493b29b04b613b800883cf9 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a> ()</td></tr>
+<tr class="memdesc:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">More...</a><br /></td></tr>
+<tr class="separator:ad651113a7bd5059643177c7b5fc08b8d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="separator:a0127bf58ba90cd82b39b0dfe4dfbe88a inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a> ()</td></tr>
+<tr class="separator:a9a4028042141d35f7429f92db32599c2 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><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="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a> ()</td></tr>
+<tr class="memdesc:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">More...</a><br /></td></tr>
+<tr class="separator:ada2fc1c6243fcb68ec2daf7bf52e17a4 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a> ()</td></tr>
+<tr class="separator:a24f9a262c71f04f66550da4f61746e62 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a> ()</td></tr>
+<tr class="memdesc:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">More...</a><br /></td></tr>
+<tr class="separator:ac905db346790f6bac814cdb7cd1f268d inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">More...</a><br /></td></tr>
+<tr class="separator:a64323b190e965287422f7b840bc1b95f inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">More...</a><br /></td></tr>
+<tr class="separator:aa12e37e26ac0e75fadb103bc50285408 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a> (std::vector< std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="separator:a45f051cc8b3816677c638f805e805838 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">More...</a><br /></td></tr>
+<tr class="separator:a26d47b6d6d64a8eb4b096fcb5f78b389 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a> ()</td></tr>
+<tr class="separator:a9838c41eeb97aef668cd7213f0e2e9a6 inherit pub_methods_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a> ()</td></tr>
+<tr class="memdesc:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">More...</a><br /></td></tr>
+<tr class="separator:a525894d2f6a888163c9de63093b2bd6c inherit pub_methods_classAbstract__mediator"><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:adb99cac7a2807485330065b7019f7f2d"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::vector< uint8_t > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a></td></tr>
+<tr class="separator:adb99cac7a2807485330065b7019f7f2d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeea1b8bf554a8a338f6548a100624b30"><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="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a></td></tr>
+<tr class="separator:aeea1b8bf554a8a338f6548a100624b30"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad95fe10af2afc29db1dc5bab04d314dd"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboid__reader.html">Cuboid_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">cuboid_reader_</a></td></tr>
+<tr class="separator:ad95fe10af2afc29db1dc5bab04d314dd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a08a10d6b7faba5468f45182667be7b4d"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classJob__reader.html">Job_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">job_reader_</a></td></tr>
+<tr class="separator:a08a10d6b7faba5468f45182667be7b4d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3d550e1db30b83e6f6bf25536dd5c78"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a></td></tr>
+<tr class="separator:ac3d550e1db30b83e6f6bf25536dd5c78"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9673dc2802ed32e576ff58bde8dc52eb"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a></td></tr>
+<tr class="separator:a9673dc2802ed32e576ff58bde8dc52eb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a40026b9dc0519dbb0bb4e649cdebab37"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::Publisher > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">planning_scene_diff_publisher_</a></td></tr>
+<tr class="separator:a40026b9dc0519dbb0bb4e649cdebab37"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae5368a1e8034689de7c2fd15c680b7e5"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a></td></tr>
+<tr class="separator:ae5368a1e8034689de7c2fd15c680b7e5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a613cd260bba43012848ea0a80452cf09"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene::PlanningScene > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a></td></tr>
+<tr class="separator:a613cd260bba43012848ea0a80452cf09"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c349f21f00ee6ec4cbb290557fe6a39"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a></td></tr>
+<tr class="separator:a4c349f21f00ee6ec4cbb290557fe6a39"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6f4a8f20841b33341c4991ee00fef75e"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::core::RobotModel > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a></td></tr>
+<tr class="separator:a6f4a8f20841b33341c4991ee00fef75e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31a36d397814aff398138b7ce8583155"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a></td></tr>
+<tr class="separator:a31a36d397814aff398138b7ce8583155"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a56194f2f70bc9b469a8422dfef0cf602"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::vector< moveit::task_constructor::Task > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">task_map_</a></td></tr>
+<tr class="separator:a56194f2f70bc9b469a8422dfef0cf602"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa330766933e58c781067b1b943ce47a6"><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="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a></td></tr>
+<tr class="separator:aa330766933e58c781067b1b943ce47a6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af2b6e5e089fbfc61afb5f0c25a320571"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a></td></tr>
+<tr class="separator:af2b6e5e089fbfc61afb5f0c25a320571"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__mediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__mediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memitem:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a></td></tr>
+<tr class="memdesc:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">More...</a><br /></td></tr>
+<tr class="separator:ad4565f4b98c689289ddda9e7507736ae inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a></td></tr>
+<tr class="memdesc:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">More...</a><br /></td></tr>
+<tr class="separator:a47ae440332d8744b368f6f95a84daf2a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< tf2::Transform > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a></td></tr>
+<tr class="separator:a78a9e79c0a97238c7d76ec1a3cc7349c inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">ros::Publisher * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a></td></tr>
+<tr class="separator:a77682034ad695305a6781b53af93d05e inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a></td></tr>
+<tr class="memdesc:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">More...</a><br /></td></tr>
+<tr class="separator:a4580d0c30a62cc91203b950694f98e98 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a></td></tr>
+<tr class="separator:a9a48fc344129cd16dc0f20be2d9368ab inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><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="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a></td></tr>
+<tr class="memdesc:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">More...</a><br /></td></tr>
+<tr class="separator:a4458d27f8d22f7ff58dc8191e1019e5a inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a></td></tr>
+<tr class="separator:a66416f41c207636fcf0b5223c2f70061 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a></td></tr>
+<tr class="memdesc:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">More...</a><br /></td></tr>
+<tr class="separator:a69df414af025faf785c9034633240282 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTs__reader.html">Ts_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a></td></tr>
+<tr class="memdesc:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">More...</a><br /></td></tr>
+<tr class="separator:a25e0b0dc5a154ad28d68f58500234d56 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a></td></tr>
+<tr class="separator:ae7e91c3c5ac234ee1d1bd2d7d6128bc8 inherit pro_attribs_classAbstract__mediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a></td></tr>
+<tr class="separator:a85b75b44d1f17f2d52c5e6171c13456b inherit pro_attribs_classAbstract__mediator"><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="moveit__mediator_8h_source.html#l00054">54</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a9ac25277f557f65084d0245ecd8246bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ac25277f557f65084d0245ecd8246bf">◆ </a></span>Moveit_mediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Moveit_mediator::Moveit_mediator </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::vector< tf2::Transform >> </td>
+ <td class="paramname"><em>objects</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">ros::Publisher * </td>
+ <td class="paramname"><em>pub</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>nh</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="moveit__mediator_8cpp_source.html#l01262">1262</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3196ded3639d69478121db539eaa3d1f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3196ded3639d69478121db539eaa3d1f">◆ </a></span>build_wings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::build_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>wing</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int & </td>
+ <td class="paramname"><em>robot</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Implements <a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00076">76</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab20eabb5f72715df3bb9305d216ea66a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab20eabb5f72715df3bb9305d216ea66a">◆ </a></span>check_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Moveit_mediator::check_collision </td>
+ <td>(</td>
+ <td class="paramtype">const int & </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>Implements <a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00061">61</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a43b776b7aaf2d7203c5bc860cdc6dc5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43b776b7aaf2d7203c5bc860cdc6dc5b">◆ </a></span>connect_robots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::connect_robots </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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>Implements <a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00014">14</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a7582bb7618f935c486681d9435fc02e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7582bb7618f935c486681d9435fc02e5">◆ </a></span>create_Task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit::task_constructor::Task Moveit_mediator::create_Task </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classMoveit__robot.html">Moveit_robot</a> * </td>
+ <td class="paramname"><em>r</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::CollisionObject & </td>
+ <td class="paramname"><em>source</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>target</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="moveit__mediator_8cpp_source.html#l00877">877</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab864f0b277826dafff1944d9f884acff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab864f0b277826dafff1944d9f884acff">◆ </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 Moveit_mediator::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>Implements <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00067">67</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a5724e8b5966c640ff005f4aaae48f2a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5724e8b5966c640ff005f4aaae48f2a4">◆ </a></span>merge_acm()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::merge_acm </td>
+ <td>(</td>
+ <td class="paramtype">moveit_msgs::PlanningScene & </td>
+ <td class="paramname"><em>in</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00812">812</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a061e0ca9e84b36ec1bf33a6bd4104417"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a061e0ca9e84b36ec1bf33a6bd4104417">◆ </a></span>merge_ps()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::merge_ps </td>
+ <td>(</td>
+ <td class="paramtype">moveit_msgs::PlanningScene & </td>
+ <td class="paramname"><em>out</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::PlanningScene * </td>
+ <td class="paramname"><em>in</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype"><a class="el" href="classMoveit__robot.html">Moveit_robot</a> * </td>
+ <td class="paramname"><em>mr</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="moveit__mediator_8cpp_source.html#l00828">828</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aac9157796fc133cdab1b22ef66ef8889"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac9157796fc133cdab1b22ef66ef8889">◆ </a></span>mgi()</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::planning_interface::MoveGroupInterface> Moveit_mediator::mgi </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 class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00087">87</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a1883a9e06be1b1684b76bd44f5925bf3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1883a9e06be1b1684b76bd44f5925bf3">◆ </a></span>parallel_exec()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::parallel_exec </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classMoveit__robot.html">Moveit_robot</a> & </td>
+ <td class="paramname"><em>r</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::RobotTrajectory </td>
+ <td class="paramname"><em>rt</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::PlanningScene </td>
+ <td class="paramname"><em>ps</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="moveit__mediator_8cpp_source.html#l00871">871</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a054489ae555d8ecd197b23d09e40be47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a054489ae555d8ecd197b23d09e40be47">◆ </a></span>publish_tables()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::publish_tables </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="moveit__mediator_8cpp_source.html#l00024">24</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6913d3c81c3a30d9a628d0fe4756776c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6913d3c81c3a30d9a628d0fe4756776c">◆ </a></span>rewrite_task_template()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::rewrite_task_template </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</a> * </td>
+ <td class="paramname"><em>r</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_msgs::CollisionObject & </td>
+ <td class="paramname"><em>source</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>target</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="moveit__mediator_8cpp_source.html#l01162">1162</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="acf8ec374cb01f96ef41dea8bb0bae963"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf8ec374cb01f96ef41dea8bb0bae963">◆ </a></span>set_tasks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::set_tasks </td>
+ <td>(</td>
+ <td class="paramtype">std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> & </td>
+ <td class="paramname"><em>tasks</em></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 class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00106">106</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a77b4aae7790bdd2a24a2941d9fca43b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77b4aae7790bdd2a24a2941d9fca43b3">◆ </a></span>set_wings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::set_wings </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> & </td>
+ <td class="paramname"><em>wbp</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>Implements <a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">Abstract_mediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00087">87</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab9a1f61e86fa295e426f751ff7ea8838"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab9a1f61e86fa295e426f751ff7ea8838">◆ </a></span>setup_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::setup_task </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="moveit__mediator_8cpp_source.html#l00098">98</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab11f9ee155b39e5809f75d9dfd44f34c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab11f9ee155b39e5809f75d9dfd44f34c">◆ </a></span>task_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<std::string, std::vector<moveit::task_constructor::Task> >& Moveit_mediator::task_map </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 class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00105">105</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="aae1a6378021b727fdfd1f1f3816b41c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae1a6378021b727fdfd1f1f3816b41c6">◆ </a></span>task_planner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_mediator::task_planner </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="moveit__mediator_8cpp_source.html#l00696">696</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="adb99cac7a2807485330065b7019f7f2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb99cac7a2807485330065b7019f7f2d">◆ </a></span>acm_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<std::string, std::vector<uint8_t> > Moveit_mediator::acm_</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="moveit__mediator_8h_source.html#l00076">76</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="aeea1b8bf554a8a338f6548a100624b30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeea1b8bf554a8a338f6548a100624b30">◆ </a></span>cartesian_planner_</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::task_constructor::solvers::CartesianPath> Moveit_mediator::cartesian_planner_</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="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>
+<a id="ad95fe10af2afc29db1dc5bab04d314dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad95fe10af2afc29db1dc5bab04d314dd">◆ </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="classCuboid__reader.html">Cuboid_reader</a>> Moveit_mediator::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 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="a08a10d6b7faba5468f45182667be7b4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08a10d6b7faba5468f45182667be7b4d">◆ </a></span>job_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="classJob__reader.html">Job_reader</a>> Moveit_mediator::job_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 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>
+
+</div>
+</div>
+<a id="ac3d550e1db30b83e6f6bf25536dd5c78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3d550e1db30b83e6f6bf25536dd5c78">◆ </a></span>mgi_</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::planning_interface::MoveGroupInterface> Moveit_mediator::mgi_</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="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>
+<a id="a9673dc2802ed32e576ff58bde8dc52eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9673dc2802ed32e576ff58bde8dc52eb">◆ </a></span>nh_</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<ros::NodeHandle> Moveit_mediator::nh_</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="moveit__mediator_8h_source.html#l00056">56</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a40026b9dc0519dbb0bb4e649cdebab37"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40026b9dc0519dbb0bb4e649cdebab37">◆ </a></span>planning_scene_diff_publisher_</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<ros::Publisher> Moveit_mediator::planning_scene_diff_publisher_</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="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>
+<a id="ae5368a1e8034689de7c2fd15c680b7e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae5368a1e8034689de7c2fd15c680b7e5">◆ </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> Moveit_mediator::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 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="a613cd260bba43012848ea0a80452cf09"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a613cd260bba43012848ea0a80452cf09">◆ </a></span>ps_</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::PlanningScene> Moveit_mediator::ps_</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="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>
+<a id="a4c349f21f00ee6ec4cbb290557fe6a39"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c349f21f00ee6ec4cbb290557fe6a39">◆ </a></span>psi_</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::planning_interface::PlanningSceneInterface> Moveit_mediator::psi_</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="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>
+<a id="a6f4a8f20841b33341c4991ee00fef75e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f4a8f20841b33341c4991ee00fef75e">◆ </a></span>robot_model_</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::core::RobotModel> Moveit_mediator::robot_model_</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="moveit__mediator_8h_source.html#l00057">57</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a31a36d397814aff398138b7ce8583155"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31a36d397814aff398138b7ce8583155">◆ </a></span>sampling_planner_</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::task_constructor::solvers::PipelinePlanner> Moveit_mediator::sampling_planner_</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="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>
+<a id="a56194f2f70bc9b469a8422dfef0cf602"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56194f2f70bc9b469a8422dfef0cf602">◆ </a></span>task_map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<std::string, std::vector<moveit::task_constructor::Task> > Moveit_mediator::task_map_</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="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>
+<a id="aa330766933e58c781067b1b943ce47a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa330766933e58c781067b1b943ce47a6">◆ </a></span>tasks_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> > > Moveit_mediator::tasks_</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="moveit__mediator_8h_source.html#l00077">77</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="af2b6e5e089fbfc61afb5f0c25a320571"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2b6e5e089fbfc61afb5f0c25a320571">◆ </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> Moveit_mediator::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 class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00058">58</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a></li>
+<li><a class="el" href="moveit__mediator_8cpp_source.html">moveit_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__mediator__inherit__graph.map b/doc/html/classMoveit__mediator__inherit__graph.map
new file mode 100644
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--- /dev/null
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+<map id="Moveit_mediator" name="Moveit_mediator">
+<area shape="rect" id="node1" title=" " alt="" coords="27,80,160,107"/>
+<area shape="rect" id="node3" href="$classMoveit__grasp__mediator.html" title=" " alt="" coords="5,155,181,181"/>
+<area shape="rect" id="node2" href="$classAbstract__mediator.html" title="Abstract mediator." alt="" coords="22,5,165,32"/>
+</map>
diff --git a/doc/html/classMoveit__mediator__inherit__graph.md5 b/doc/html/classMoveit__mediator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..b0cc854b42d102a07d9aa600ceb916daceff14c7
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+++ b/doc/html/classMoveit__mediator__inherit__graph.md5
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+811bf2ccaee15da259bc2900614f327a
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diff --git a/doc/html/classMoveit__mediator__inherit__graph.png b/doc/html/classMoveit__mediator__inherit__graph.png
new file mode 100644
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Binary files /dev/null and b/doc/html/classMoveit__mediator__inherit__graph.png differ
diff --git a/doc/html/classMoveit__panel-members.html b/doc/html/classMoveit__panel-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..764bfc82e72b38e661da948bba65ad5939d0fe3c
--- /dev/null
+++ b/doc/html/classMoveit__panel-members.html
@@ -0,0 +1,62 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Moveit_panel Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMoveit__panel.html">Moveit_panel</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406">marker</a>()</td><td class="entry"><a class="el" href="classMoveit__panel.html">Moveit_panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a></td><td class="entry"><a class="el" href="classMoveit__panel.html">Moveit_panel</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classMoveit__panel.html">Moveit_panel</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a>(std::string str)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a>(tf2::Vector3 &vec)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classMoveit__panel.html">Moveit_panel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__panel.html b/doc/html/classMoveit__panel.html
new file mode 100644
index 0000000000000000000000000000000000000000..2382247bdd75e3e84307f556e8fac5a3bd58f738
--- /dev/null
+++ b/doc/html/classMoveit__panel.html
@@ -0,0 +1,242 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Moveit_panel 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="classMoveit__panel-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Moveit_panel Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="moveit__panel_8h_source.html">moveit_panel.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Moveit_panel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMoveit__panel__inherit__graph.png" border="0" usemap="#Moveit__panel_inherit__map" alt="Inheritance graph"/></div>
+<map name="Moveit__panel_inherit__map" id="Moveit__panel_inherit__map">
+<area shape="rect" title=" " alt="" coords="39,155,150,181"/>
+<area shape="rect" href="classPanel.html" title=" " alt="" coords="65,80,124,107"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:a3ea48e6b8a4a0d75297b735ae87e1406"><td class="memItemLeft" align="right" valign="top">moveit_msgs::CollisionObject & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406">marker</a> ()</td></tr>
+<tr class="separator:a3ea48e6b8a4a0d75297b735ae87e1406"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ace0a415c711a11c45d6a2e58aa707fb5"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a> (std::string <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>)</td></tr>
+<tr class="separator:ace0a415c711a11c45d6a2e58aa707fb5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0f9f446bd773e9ae6345511a66499331"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a0f9f446bd773e9ae6345511a66499331"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classPanel"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPanel')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classPanel.html">Panel</a></td></tr>
+<tr class="memitem:af4477404926c93431f4c369d36e945d6 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a> () override</td></tr>
+<tr class="separator:af4477404926c93431f4c369d36e945d6 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abc3a14b055ba9004fa5ebdb34cd5e583 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a> () override</td></tr>
+<tr class="separator:abc3a14b055ba9004fa5ebdb34cd5e583 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2f673224275e5ecb0db4d778f93e0bda inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a> (std::string <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>)</td></tr>
+<tr class="separator:a2f673224275e5ecb0db4d778f93e0bda inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a58081e744b584114f23b80c1f3cee22e inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a> (std::string str)</td></tr>
+<tr class="separator:a58081e744b584114f23b80c1f3cee22e inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af865f7bb6545e057fcb0a76fd774a497 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:af865f7bb6545e057fcb0a76fd774a497 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af6a63c29e5a5573b369482528c4b4818 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a> () override</td></tr>
+<tr class="separator:af6a63c29e5a5573b369482528c4b4818 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2a70a607d1521d4df2360891afd2106f inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a2a70a607d1521d4df2360891afd2106f inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aaa3899db59afd593ef4ec2eb343f71b7 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a> () override</td></tr>
+<tr class="separator:aaa3899db59afd593ef4ec2eb343f71b7 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><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:a4ca4542a08ce50772b2101fa4cd5e24f"><td class="memItemLeft" align="right" valign="top">moveit_msgs::CollisionObject </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a></td></tr>
+<tr class="separator:a4ca4542a08ce50772b2101fa4cd5e24f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="moveit__panel_8h_source.html#l00013">13</a> of file <a class="el" href="moveit__panel_8h_source.html">moveit_panel.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ace0a415c711a11c45d6a2e58aa707fb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace0a415c711a11c45d6a2e58aa707fb5">◆ </a></span>Moveit_panel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Moveit_panel::Moveit_panel </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</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="moveit__panel_8cpp_source.html#l00004">4</a> of file <a class="el" href="moveit__panel_8cpp_source.html">moveit_panel.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3ea48e6b8a4a0d75297b735ae87e1406"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3ea48e6b8a4a0d75297b735ae87e1406">◆ </a></span>marker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit_msgs::CollisionObject& Moveit_panel::marker </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 class="definition">Definition at line <a class="el" href="moveit__panel_8h_source.html#l00021">21</a> of file <a class="el" href="moveit__panel_8h_source.html">moveit_panel.h</a>.</p>
+
+</div>
+</div>
+<a id="a0f9f446bd773e9ae6345511a66499331"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f9f446bd773e9ae6345511a66499331">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_panel::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__panel_8cpp_source.html#l00032">32</a> of file <a class="el" href="moveit__panel_8cpp_source.html">moveit_panel.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4ca4542a08ce50772b2101fa4cd5e24f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ca4542a08ce50772b2101fa4cd5e24f">◆ </a></span>marker_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit_msgs::CollisionObject Moveit_panel::marker_</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="moveit__panel_8h_source.html#l00015">15</a> of file <a class="el" href="moveit__panel_8h_source.html">moveit_panel.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="moveit__panel_8h_source.html">moveit_panel.h</a></li>
+<li><a class="el" href="moveit__panel_8cpp_source.html">moveit_panel.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__panel__inherit__graph.map b/doc/html/classMoveit__panel__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..488079570a2aee2065e6f1df9f9798272930d8d5
--- /dev/null
+++ b/doc/html/classMoveit__panel__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Moveit_panel" name="Moveit_panel">
+<area shape="rect" id="node1" title=" " alt="" coords="39,155,150,181"/>
+<area shape="rect" id="node2" href="$classPanel.html" title=" " alt="" coords="65,80,124,107"/>
+<area shape="rect" id="node3" href="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</map>
diff --git a/doc/html/classMoveit__panel__inherit__graph.md5 b/doc/html/classMoveit__panel__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..9b6669a34c9293fdc91136833afedfba844bcded
--- /dev/null
+++ b/doc/html/classMoveit__panel__inherit__graph.md5
@@ -0,0 +1 @@
+58bd2ab5d5cbd18d623dd1140c989182
\ No newline at end of file
diff --git a/doc/html/classMoveit__panel__inherit__graph.png b/doc/html/classMoveit__panel__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..38a8cad83588780e70e50e8aa6c14e5a7c10b6c4
Binary files /dev/null and b/doc/html/classMoveit__panel__inherit__graph.png differ
diff --git a/doc/html/classMoveit__robot-members.html b/doc/html/classMoveit__robot-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..79dc1ba18c2c41f990f3b0bfd26b184d2387cc4e
--- /dev/null
+++ b/doc/html/classMoveit__robot-members.html
@@ -0,0 +1,93 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Moveit_robot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMoveit__robot.html">Moveit_robot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">access_fields</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a></td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#ab333a4150395873d947c791996171510">add_coll_markers</a>(moveit_msgs::CollisionObject *marker)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">check_robot_collision</a>(Robot *R)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">check_single_object_collision</a>(tf2::Transform &obj, std::string &str) override</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">coll_markers</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a></td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">grasp_map_generator</a>()</td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()</td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a></td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a>()</td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">mgi_</a></td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">mgi_hand</a>()</td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a></td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">name</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>() override</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a></td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a>(Abstract_robot_element *wd)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">robot_root_bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">root_tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">set_grasp_map_generator</a>(std::shared_ptr< MapGenerator >const &d)</td><td class="entry"><a class="el" href="classMoveit__robot.html">Moveit_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a>(int i)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">size</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj) override</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__robot.html b/doc/html/classMoveit__robot.html
new file mode 100644
index 0000000000000000000000000000000000000000..76bb1251074e0c466b27f1a5be8a14392c55b71a
--- /dev/null
+++ b/doc/html/classMoveit__robot.html
@@ -0,0 +1,468 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Moveit_robot 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="classMoveit__robot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Moveit_robot Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Moveit_robot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMoveit__robot__inherit__graph.png" border="0" usemap="#Moveit__robot_inherit__map" alt="Inheritance graph"/></div>
+<map name="Moveit__robot_inherit__map" id="Moveit__robot_inherit__map">
+<area shape="rect" title=" " alt="" coords="10,155,118,181"/>
+<area shape="rect" href="classRobot.html" title=" " alt="" coords="34,80,94,107"/>
+<area shape="rect" href="classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
+</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:ac3a9f2cfc74a1304a1faea5516252c28"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">grasp_map_generator</a> ()</td></tr>
+<tr class="separator:ac3a9f2cfc74a1304a1faea5516252c28"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad10c0b3b2e683870e784262123ba779c"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a> ()</td></tr>
+<tr class="separator:ad10c0b3b2e683870e784262123ba779c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac23f8ce7d2961979821f7678b551f5c4"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a> ()</td></tr>
+<tr class="separator:ac23f8ce7d2961979821f7678b551f5c4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7b52336368bd778fafb637ca2f20fc04"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">mgi_hand</a> ()</td></tr>
+<tr class="separator:a7b52336368bd778fafb637ca2f20fc04"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab991a44b804dab173ca4c787c105d68a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ab991a44b804dab173ca4c787c105d68a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a70514d5e32fa947dfd54235d806ef0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">set_grasp_map_generator</a> (std::shared_ptr< MapGenerator >const &d)</td></tr>
+<tr class="separator:a9a70514d5e32fa947dfd54235d806ef0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classRobot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classRobot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classRobot.html">Robot</a></td></tr>
+<tr class="memitem:a1a73b8eaedcdab4b7defcedd81f8c713 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">access_fields</a> ()</td></tr>
+<tr class="separator:a1a73b8eaedcdab4b7defcedd81f8c713 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab333a4150395873d947c791996171510 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab333a4150395873d947c791996171510">add_coll_markers</a> (moveit_msgs::CollisionObject *marker)</td></tr>
+<tr class="separator:ab333a4150395873d947c791996171510 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0b60a38b7639a58095b3303052e4a801 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="separator:a0b60a38b7639a58095b3303052e4a801 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab57fc902b6e93336db5310abf05c8a92 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">check_robot_collision</a> (<a class="el" href="classRobot.html">Robot</a> *R)</td></tr>
+<tr class="separator:ab57fc902b6e93336db5310abf05c8a92 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab7bf74de30a186337b05cb05b74d0e73 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">check_single_object_collision</a> (tf2::Transform &obj, std::string &str) override</td></tr>
+<tr class="separator:ab7bf74de30a186337b05cb05b74d0e73 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a39fda5c987efad9c391bf4ce236e271f inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">std::vector< moveit_msgs::CollisionObject * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">coll_markers</a> ()</td></tr>
+<tr class="separator:a39fda5c987efad9c391bf4ce236e271f inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9cec7ea9000ee388e058ba6bfbe7640d inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</a> ()</td></tr>
+<tr class="separator:a9cec7ea9000ee388e058ba6bfbe7640d inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab95c43650b9596fc2e9bc374abeeadf6 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a> () override</td></tr>
+<tr class="separator:ab95c43650b9596fc2e9bc374abeeadf6 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeb6c8c47edbcc561f15b00d551a045e6 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a> ()</td></tr>
+<tr class="separator:aeb6c8c47edbcc561f15b00d551a045e6 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7eddff501a2c3a3d5feb6c2ec4b016e0 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *wd)</td></tr>
+<tr class="separator:a7eddff501a2c3a3d5feb6c2ec4b016e0 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af626880915da239eeb0793eb41ab7596 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a> ()</td></tr>
+<tr class="separator:af626880915da239eeb0793eb41ab7596 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0ad9bc06ae12dedaf6eb97bc4398c34a inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a0ad9bc06ae12dedaf6eb97bc4398c34a inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7e045dcd43e888a9e4cddc2a9e6abdc8 inherit pub_methods_classRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj) override</td></tr>
+<tr class="separator:a7e045dcd43e888a9e4cddc2a9e6abdc8 inherit pub_methods_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a> (std::string <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">More...</a><br /></td></tr>
+<tr class="separator:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a> ()</td></tr>
+<tr class="separator:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a52c63e180b0a31cd9b97b824eb1b5c22 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">bounds</a> ()=0</td></tr>
+<tr class="separator:a52c63e180b0a31cd9b97b824eb1b5c22 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a> ()</td></tr>
+<tr class="separator:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1a5d8cd75f0aa634022f09d88066d313 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">name</a> ()=0</td></tr>
+<tr class="separator:a1a5d8cd75f0aa634022f09d88066d313 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a> ()</td></tr>
+<tr class="separator:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a> ()</td></tr>
+<tr class="separator:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a62093041e9154e06ed573a42a76cc778 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">robot_root_bounds</a> ()=0</td></tr>
+<tr class="separator:a62093041e9154e06ed573a42a76cc778 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a> ()</td></tr>
+<tr class="separator:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af7a230da2f4551f707557a4f5fa447ac inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">root_tf</a> ()=0</td></tr>
+<tr class="separator:af7a230da2f4551f707557a4f5fa447ac inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a> ()</td></tr>
+<tr class="separator:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13949665d4f8ac53aadc357883b301da inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">size</a> ()=0</td></tr>
+<tr class="separator:a13949665d4f8ac53aadc357883b301da inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a> ()</td></tr>
+<tr class="separator:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae3e4f92f97f4a55fe9cb7196024fe30a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">tf</a> ()=0</td></tr>
+<tr class="separator:ae3e4f92f97f4a55fe9cb7196024fe30a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><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:ade0496c9088ddad701fb06ce2a514e8a"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">grasp_map_generator_</a></td></tr>
+<tr class="separator:ade0496c9088ddad701fb06ce2a514e8a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa9551bfab3c080becc7d6d281dd53dcd"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a></td></tr>
+<tr class="separator:aa9551bfab3c080becc7d6d281dd53dcd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef61abe18fca3cc07578265d3a2c2c59"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">mgi_</a></td></tr>
+<tr class="separator:aef61abe18fca3cc07578265d3a2c2c59"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a14716dcae3fe594d6b16f10bc58ba226"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a></td></tr>
+<tr class="separator:a14716dcae3fe594d6b16f10bc58ba226"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classRobot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classRobot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classRobot.html">Robot</a></td></tr>
+<tr class="memitem:aaeebeca358c747b158be2999664d4b6a inherit pro_attribs_classRobot"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a></td></tr>
+<tr class="separator:aaeebeca358c747b158be2999664d4b6a inherit pro_attribs_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a20984a642a92887a622d8e069884b8e8 inherit pro_attribs_classRobot"><td class="memItemLeft" align="right" valign="top">std::vector< moveit_msgs::CollisionObject * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a></td></tr>
+<tr class="separator:a20984a642a92887a622d8e069884b8e8 inherit pro_attribs_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6821b81b167e8bffbeca4beedc8033f8 inherit pro_attribs_classRobot"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a></td></tr>
+<tr class="separator:a6821b81b167e8bffbeca4beedc8033f8 inherit pro_attribs_classRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td></tr>
+<tr class="memdesc:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">More...</a><br /></td></tr>
+<tr class="separator:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td></tr>
+<tr class="memdesc:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">More...</a><br /></td></tr>
+<tr class="separator:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td></tr>
+<tr class="separator:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">More...</a><br /></td></tr>
+<tr class="separator:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td></tr>
+<tr class="memdesc:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> root on table top. <a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">More...</a><br /></td></tr>
+<tr class="separator:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td></tr>
+<tr class="memdesc:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">More...</a><br /></td></tr>
+<tr class="separator:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td></tr>
+<tr class="memdesc:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">More...</a><br /></td></tr>
+<tr class="separator:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><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="moveit__robot_8h_source.html#l00012">12</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ab991a44b804dab173ca4c787c105d68a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab991a44b804dab173ca4c787c105d68a">◆ </a></span>Moveit_robot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Moveit_robot::Moveit_robot </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="moveit__robot_8h_source.html#l00023">23</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac3a9f2cfc74a1304a1faea5516252c28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3a9f2cfc74a1304a1faea5516252c28">◆ </a></span>grasp_map_generator()</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<MapGenerator> Moveit_robot::grasp_map_generator </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 class="definition">Definition at line <a class="el" href="moveit__robot_8h_source.html#l00045">45</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ad10c0b3b2e683870e784262123ba779c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad10c0b3b2e683870e784262123ba779c">◆ </a></span>map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<std::string, std::string>& Moveit_robot::map </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 class="definition">Definition at line <a class="el" href="moveit__robot_8h_source.html#l00048">48</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ac23f8ce7d2961979821f7678b551f5c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac23f8ce7d2961979821f7678b551f5c4">◆ </a></span>mgi()</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::planning_interface::MoveGroupInterface> Moveit_robot::mgi </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 class="definition">Definition at line <a class="el" href="moveit__robot_8h_source.html#l00043">43</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a7b52336368bd778fafb637ca2f20fc04"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b52336368bd778fafb637ca2f20fc04">◆ </a></span>mgi_hand()</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::planning_interface::MoveGroupInterface> Moveit_robot::mgi_hand </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 class="definition">Definition at line <a class="el" href="moveit__robot_8h_source.html#l00044">44</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a9a70514d5e32fa947dfd54235d806ef0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a70514d5e32fa947dfd54235d806ef0">◆ </a></span>set_grasp_map_generator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Moveit_robot::set_grasp_map_generator </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< MapGenerator >const & </td>
+ <td class="paramname"><em>d</em></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 class="definition">Definition at line <a class="el" href="moveit__robot_8h_source.html#l00049">49</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ade0496c9088ddad701fb06ce2a514e8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade0496c9088ddad701fb06ce2a514e8a">◆ </a></span>grasp_map_generator_</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<MapGenerator> Moveit_robot::grasp_map_generator_</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="moveit__robot_8h_source.html#l00018">18</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aa9551bfab3c080becc7d6d281dd53dcd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9551bfab3c080becc7d6d281dd53dcd">◆ </a></span>map_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<std::string, std::string> Moveit_robot::map_</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="moveit__robot_8h_source.html#l00017">17</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aef61abe18fca3cc07578265d3a2c2c59"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef61abe18fca3cc07578265d3a2c2c59">◆ </a></span>mgi_</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::planning_interface::MoveGroupInterface> Moveit_robot::mgi_</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="moveit__robot_8h_source.html#l00014">14</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a14716dcae3fe594d6b16f10bc58ba226"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a14716dcae3fe594d6b16f10bc58ba226">◆ </a></span>mgi_hand_</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::planning_interface::MoveGroupInterface> Moveit_robot::mgi_hand_</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="moveit__robot_8h_source.html#l00015">15</a> of file <a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="moveit__robot_8h_source.html">moveit_robot.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveit__robot__inherit__graph.map b/doc/html/classMoveit__robot__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..6a684a470bcf4e287f2278d40554157739f3f3c7
--- /dev/null
+++ b/doc/html/classMoveit__robot__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Moveit_robot" name="Moveit_robot">
+<area shape="rect" id="node1" title=" " alt="" coords="10,155,118,181"/>
+<area shape="rect" id="node2" href="$classRobot.html" title=" " alt="" coords="34,80,94,107"/>
+<area shape="rect" id="node3" href="$classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
+</map>
diff --git a/doc/html/classMoveit__robot__inherit__graph.md5 b/doc/html/classMoveit__robot__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..c35ae4f2dfb28064fd9ef8c8a4116ee86f2de362
--- /dev/null
+++ b/doc/html/classMoveit__robot__inherit__graph.md5
@@ -0,0 +1 @@
+cd1c4d20ed992ad280303fafdbc56a79
\ No newline at end of file
diff --git a/doc/html/classMoveit__robot__inherit__graph.png b/doc/html/classMoveit__robot__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..317f332ac77b06bc5341d67bbf47b55433392e35
Binary files /dev/null and b/doc/html/classMoveit__robot__inherit__graph.png differ
diff --git a/doc/html/classPanda__decorator-members.html b/doc/html/classPanda__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..ed5439e742975c37c390cc4c621e1b3136547c57
--- /dev/null
+++ b/doc/html/classPanda__decorator-members.html
@@ -0,0 +1,74 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Panda_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPanda__decorator.html">Panda_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>(std::unique_ptr< Abstract_robot > next)</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">check_single_object_collision</a>(tf2::Transform &obj, std::string &b) override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">mgi_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">notify</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator</a>(std::unique_ptr< Abstract_robot > next)</td><td class="entry"><a class="el" href="classPanda__decorator.html">Panda_decorator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">robot_root_bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">root_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a>(int i)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">Abstract_robot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">spezifie_robot_groups</a>() override</td><td class="entry"><a class="el" href="classPanda__decorator.html">Panda_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">spezifie_root_bounds</a>() override</td><td class="entry"><a class="el" href="classPanda__decorator.html">Panda_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj) override</td><td class="entry"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPanda__decorator.html b/doc/html/classPanda__decorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..2773abadf3d1b7da090762f56f0d6789f55de322
--- /dev/null
+++ b/doc/html/classPanda__decorator.html
@@ -0,0 +1,243 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Panda_decorator 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="classPanda__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Panda_decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="panda__decorator_8h_source.html">panda_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Panda_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPanda__decorator__inherit__graph.png" border="0" usemap="#Panda__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Panda__decorator_inherit__map" id="Panda__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="33,155,164,181"/>
+<area shape="rect" href="classAbstract__robot__decorator.html" title=" " alt="" coords="5,80,192,107"/>
+<area shape="rect" href="classAbstract__robot.html" title=" " alt="" coords="40,5,157,32"/>
+</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:aa06d746a0cb43e4f30780289f606e5cb"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > <a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>)</td></tr>
+<tr class="separator:aa06d746a0cb43e4f30780289f606e5cb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac84d81aaf6ba3bf7c251886ad73c48e6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">spezifie_robot_groups</a> () override</td></tr>
+<tr class="separator:ac84d81aaf6ba3bf7c251886ad73c48e6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a09b74248a99c3ce02dc909a3871bb876"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">spezifie_root_bounds</a> () override</td></tr>
+<tr class="separator:a09b74248a99c3ce02dc909a3871bb876"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__decorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__decorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td></tr>
+<tr class="memitem:a9049f28e67b6457114a2b575587de4d4 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > <a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>)</td></tr>
+<tr class="separator:a9049f28e67b6457114a2b575587de4d4 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a889edd0d57abce0f6c2a6bc14bcbee6e inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">bounds</a> () override</td></tr>
+<tr class="separator:a889edd0d57abce0f6c2a6bc14bcbee6e inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad0c58aab1a4758916e8b448f83b1eec7 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">check_single_object_collision</a> (tf2::Transform &obj, std::string &b) override</td></tr>
+<tr class="separator:ad0c58aab1a4758916e8b448f83b1eec7 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a93929b117f84e353f322d353ad762d61 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">name</a> () override</td></tr>
+<tr class="separator:a93929b117f84e353f322d353ad762d61 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aea8ffc58bc7a4187d8d28440e4395174 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot.html">Abstract_robot</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a> ()</td></tr>
+<tr class="separator:aea8ffc58bc7a4187d8d28440e4395174 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9a1d6aa0f1bdeeabe95517b0408e0cf8 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">notify</a> () override</td></tr>
+<tr class="separator:a9a1d6aa0f1bdeeabe95517b0408e0cf8 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae7c7ebc6cbf26f5e99649ffaabf7e419 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">robot_root_bounds</a> () override</td></tr>
+<tr class="separator:ae7c7ebc6cbf26f5e99649ffaabf7e419 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7fdba4f8a000b15b7a367066b0d79910 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">root_tf</a> () override</td></tr>
+<tr class="separator:a7fdba4f8a000b15b7a367066b0d79910 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a70a76cf36cdbe1179340b533b238151b inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">size</a> () override</td></tr>
+<tr class="separator:a70a76cf36cdbe1179340b533b238151b inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5a2e4b619b74d083b4497af183948950 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">tf</a> () override</td></tr>
+<tr class="separator:a5a2e4b619b74d083b4497af183948950 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad725d88bfcce39d8e90c45b38b85e144 inherit pub_methods_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj) override</td></tr>
+<tr class="separator:ad725d88bfcce39d8e90c45b38b85e144 inherit pub_methods_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a> (std::string <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">More...</a><br /></td></tr>
+<tr class="separator:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a> ()</td></tr>
+<tr class="separator:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a> ()</td></tr>
+<tr class="separator:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a> ()</td></tr>
+<tr class="separator:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a> ()</td></tr>
+<tr class="separator:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a> ()</td></tr>
+<tr class="separator:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a> ()</td></tr>
+<tr class="separator:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a> ()</td></tr>
+<tr class="separator:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__decorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__decorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></td></tr>
+<tr class="memitem:a625e198b41f5965ac3fca6673d4039a7 inherit pro_attribs_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">grasp_map_generator_</a></td></tr>
+<tr class="separator:a625e198b41f5965ac3fca6673d4039a7 inherit pro_attribs_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a86429ab626717a96cd34de271bb75c5c inherit pro_attribs_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a></td></tr>
+<tr class="separator:a86429ab626717a96cd34de271bb75c5c inherit pro_attribs_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a586e264c1add89b1becf4e5d18964160 inherit pro_attribs_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">mgi_</a></td></tr>
+<tr class="separator:a586e264c1add89b1becf4e5d18964160 inherit pro_attribs_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9bdb9eee650e25e17647b8626ae74c27 inherit pro_attribs_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a></td></tr>
+<tr class="separator:a9bdb9eee650e25e17647b8626ae74c27 inherit pro_attribs_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41ecd95589c9236d7fc82921276339c7 inherit pro_attribs_classAbstract__robot__decorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a></td></tr>
+<tr class="separator:a41ecd95589c9236d7fc82921276339c7 inherit pro_attribs_classAbstract__robot__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td></tr>
+<tr class="memdesc:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">More...</a><br /></td></tr>
+<tr class="separator:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td></tr>
+<tr class="memdesc:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">More...</a><br /></td></tr>
+<tr class="separator:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td></tr>
+<tr class="separator:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">More...</a><br /></td></tr>
+<tr class="separator:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td></tr>
+<tr class="memdesc:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> root on table top. <a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">More...</a><br /></td></tr>
+<tr class="separator:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td></tr>
+<tr class="memdesc:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">More...</a><br /></td></tr>
+<tr class="separator:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td></tr>
+<tr class="memdesc:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">More...</a><br /></td></tr>
+<tr class="separator:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><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="panda__decorator_8h_source.html#l00009">9</a> of file <a class="el" href="panda__decorator_8h_source.html">panda_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aa06d746a0cb43e4f30780289f606e5cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa06d746a0cb43e4f30780289f606e5cb">◆ </a></span>Panda_decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Panda_decorator::Panda_decorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstract__robot.html">Abstract_robot</a> > </td>
+ <td class="paramname"><em>next</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="panda__decorator_8cpp_source.html#l00004">4</a> of file <a class="el" href="panda__decorator_8cpp_source.html">panda_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac84d81aaf6ba3bf7c251886ad73c48e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac84d81aaf6ba3bf7c251886ad73c48e6">◆ </a></span>spezifie_robot_groups()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Panda_decorator::spezifie_robot_groups </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>Implements <a class="el" href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">Abstract_robot_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panda__decorator_8cpp_source.html#l00023">23</a> of file <a class="el" href="panda__decorator_8cpp_source.html">panda_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a09b74248a99c3ce02dc909a3871bb876"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09b74248a99c3ce02dc909a3871bb876">◆ </a></span>spezifie_root_bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Panda_decorator::spezifie_root_bounds </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>Implements <a class="el" href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">Abstract_robot_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panda__decorator_8cpp_source.html#l00014">14</a> of file <a class="el" href="panda__decorator_8cpp_source.html">panda_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="panda__decorator_8h_source.html">panda_decorator.h</a></li>
+<li><a class="el" href="panda__decorator_8cpp_source.html">panda_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPanda__decorator__inherit__graph.map b/doc/html/classPanda__decorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..b0958c6314b9e5e0437bdbddafefc36cb76c202a
--- /dev/null
+++ b/doc/html/classPanda__decorator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Panda_decorator" name="Panda_decorator">
+<area shape="rect" id="node1" title=" " alt="" coords="33,155,164,181"/>
+<area shape="rect" id="node2" href="$classAbstract__robot__decorator.html" title=" " alt="" coords="5,80,192,107"/>
+<area shape="rect" id="node3" href="$classAbstract__robot.html" title=" " alt="" coords="40,5,157,32"/>
+</map>
diff --git a/doc/html/classPanda__decorator__inherit__graph.md5 b/doc/html/classPanda__decorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..5998028b2d9df98eea818c3ccc9473caeb08d09d
--- /dev/null
+++ b/doc/html/classPanda__decorator__inherit__graph.md5
@@ -0,0 +1 @@
+69c57a14867d26470763c0d0c2874305
\ No newline at end of file
diff --git a/doc/html/classPanda__decorator__inherit__graph.png b/doc/html/classPanda__decorator__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..75ad6f57e2f2f24874f851a4bcc28c782f9bc7b3
Binary files /dev/null and b/doc/html/classPanda__decorator__inherit__graph.png differ
diff --git a/doc/html/classPanel-members.html b/doc/html/classPanel-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..ef8de84dfaf9f58e57a9c87e70729bc5952cd6cc
--- /dev/null
+++ b/doc/html/classPanel-members.html
@@ -0,0 +1,59 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Panel Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPanel.html">Panel</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a>(std::string str)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a>(tf2::Vector3 &vec)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPanel.html b/doc/html/classPanel.html
new file mode 100644
index 0000000000000000000000000000000000000000..a91d4eea6ac46f6980eb394a7dc2926debe486d2
--- /dev/null
+++ b/doc/html/classPanel.html
@@ -0,0 +1,355 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Panel 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="classPanel-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Panel Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="panel_8h_source.html">panel.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Panel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPanel__inherit__graph.png" border="0" usemap="#Panel_inherit__map" alt="Inheritance graph"/></div>
+<map name="Panel_inherit__map" id="Panel_inherit__map">
+<area shape="rect" title=" " alt="" coords="94,80,153,107"/>
+<area shape="rect" href="classMoveit__panel.html" title=" " alt="" coords="5,155,116,181"/>
+<area shape="rect" href="classRviz__panel.html" title=" " alt="" coords="141,155,234,181"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="34,5,213,32"/>
+</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:af4477404926c93431f4c369d36e945d6"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a> () override</td></tr>
+<tr class="separator:af4477404926c93431f4c369d36e945d6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abc3a14b055ba9004fa5ebdb34cd5e583"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a> () override</td></tr>
+<tr class="separator:abc3a14b055ba9004fa5ebdb34cd5e583"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2f673224275e5ecb0db4d778f93e0bda"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a> (std::string <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>)</td></tr>
+<tr class="separator:a2f673224275e5ecb0db4d778f93e0bda"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a58081e744b584114f23b80c1f3cee22e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a> (std::string str)</td></tr>
+<tr class="separator:a58081e744b584114f23b80c1f3cee22e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af865f7bb6545e057fcb0a76fd774a497"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:af865f7bb6545e057fcb0a76fd774a497"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af6a63c29e5a5573b369482528c4b4818"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a> () override</td></tr>
+<tr class="separator:af6a63c29e5a5573b369482528c4b4818"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2a70a607d1521d4df2360891afd2106f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a2a70a607d1521d4df2360891afd2106f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aaa3899db59afd593ef4ec2eb343f71b7"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a> () override</td></tr>
+<tr class="separator:aaa3899db59afd593ef4ec2eb343f71b7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="panel_8h_source.html#l00007">7</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a2f673224275e5ecb0db4d778f93e0bda"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2f673224275e5ecb0db4d778f93e0bda">◆ </a></span>Panel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Panel::Panel </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</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="panel_8cpp_source.html#l00003">3</a> of file <a class="el" href="panel_8cpp_source.html">panel.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af4477404926c93431f4c369d36e945d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4477404926c93431f4c369d36e945d6">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Panel::bounds </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00016">16</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<a id="abc3a14b055ba9004fa5ebdb34cd5e583"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc3a14b055ba9004fa5ebdb34cd5e583">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Panel::name </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00018">18</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<a id="a58081e744b584114f23b80c1f3cee22e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58081e744b584114f23b80c1f3cee22e">◆ </a></span>set_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Panel::set_name </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>str</em></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 class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00011">11</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<a id="af865f7bb6545e057fcb0a76fd774a497"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af865f7bb6545e057fcb0a76fd774a497">◆ </a></span>set_set()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Panel::set_set </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>vec</em></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 class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00012">12</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<a id="af6a63c29e5a5573b369482528c4b4818"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6a63c29e5a5573b369482528c4b4818">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Panel::size </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00019">19</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<a id="a2a70a607d1521d4df2360891afd2106f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a70a607d1521d4df2360891afd2106f">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Panel::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00014">14</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<a id="aaa3899db59afd593ef4ec2eb343f71b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa3899db59afd593ef4ec2eb343f71b7">◆ </a></span>world_tf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& Panel::world_tf </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 class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panel_8h_source.html#l00017">17</a> of file <a class="el" href="panel_8h_source.html">panel.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="panel_8h_source.html">panel.h</a></li>
+<li><a class="el" href="panel_8cpp_source.html">panel.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPanel__inherit__graph.map b/doc/html/classPanel__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..9849e82dc6667873b72d980f840736f0077fc871
--- /dev/null
+++ b/doc/html/classPanel__inherit__graph.map
@@ -0,0 +1,6 @@
+<map id="Panel" name="Panel">
+<area shape="rect" id="node1" title=" " alt="" coords="94,80,153,107"/>
+<area shape="rect" id="node3" href="$classMoveit__panel.html" title=" " alt="" coords="5,155,116,181"/>
+<area shape="rect" id="node4" href="$classRviz__panel.html" title=" " alt="" coords="141,155,234,181"/>
+<area shape="rect" id="node2" href="$classAbstract__robot__element.html" title=" " alt="" coords="34,5,213,32"/>
+</map>
diff --git a/doc/html/classPanel__inherit__graph.md5 b/doc/html/classPanel__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..e8834e8d9e70666d55a4354bfdd4b64b984ce530
--- /dev/null
+++ b/doc/html/classPanel__inherit__graph.md5
@@ -0,0 +1 @@
+034850b78863ce80095680bb86cf744f
\ No newline at end of file
diff --git a/doc/html/classPanel__inherit__graph.png b/doc/html/classPanel__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..d41f17355743636afba0a1a0266e41bfcc0ede9b
Binary files /dev/null and b/doc/html/classPanel__inherit__graph.png differ
diff --git a/doc/html/classRobot-members.html b/doc/html/classRobot-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..6a8812278cf61a2227088c53c93e2482abe41ccd
--- /dev/null
+++ b/doc/html/classRobot-members.html
@@ -0,0 +1,83 @@
+<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">Robot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classRobot.html">Robot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">access_fields</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a></td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#ab333a4150395873d947c791996171510">add_coll_markers</a>(moveit_msgs::CollisionObject *marker)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">check_robot_collision</a>(Robot *R)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">check_single_object_collision</a>(tf2::Transform &obj, std::string &str) override</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">coll_markers</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a></td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">name</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>() override</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a></td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a>(Abstract_robot_element *wd)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a>()</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">robot_root_bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">root_tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a>(int i)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">size</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstract__robot.html">Abstract_robot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">workload_checker</a>(std::vector< int > &count_vector, tf2::Transform &obj) override</td><td class="entry"><a class="el" href="classRobot.html">Robot</a></td><td class="entry"><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRobot.html b/doc/html/classRobot.html
new file mode 100644
index 0000000000000000000000000000000000000000..d0deeb916099628987fc9a1da40b55cd3583b0aa
--- /dev/null
+++ b/doc/html/classRobot.html
@@ -0,0 +1,619 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Robot 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="classRobot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Robot Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="robot_8h_source.html">robot.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Robot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classRobot__inherit__graph.png" border="0" usemap="#Robot_inherit__map" alt="Inheritance graph"/></div>
+<map name="Robot_inherit__map" id="Robot_inherit__map">
+<area shape="rect" title=" " alt="" coords="34,80,94,107"/>
+<area shape="rect" href="classMoveit__robot.html" title=" " alt="" coords="10,155,118,181"/>
+<area shape="rect" href="classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
+</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:a1a73b8eaedcdab4b7defcedd81f8c713"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">access_fields</a> ()</td></tr>
+<tr class="separator:a1a73b8eaedcdab4b7defcedd81f8c713"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab333a4150395873d947c791996171510"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab333a4150395873d947c791996171510">add_coll_markers</a> (moveit_msgs::CollisionObject *marker)</td></tr>
+<tr class="separator:ab333a4150395873d947c791996171510"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0b60a38b7639a58095b3303052e4a801"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="separator:a0b60a38b7639a58095b3303052e4a801"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab57fc902b6e93336db5310abf05c8a92"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">check_robot_collision</a> (<a class="el" href="classRobot.html">Robot</a> *R)</td></tr>
+<tr class="separator:ab57fc902b6e93336db5310abf05c8a92"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab7bf74de30a186337b05cb05b74d0e73"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">check_single_object_collision</a> (tf2::Transform &obj, std::string &str) override</td></tr>
+<tr class="separator:ab7bf74de30a186337b05cb05b74d0e73"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a39fda5c987efad9c391bf4ce236e271f"><td class="memItemLeft" align="right" valign="top">std::vector< moveit_msgs::CollisionObject * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">coll_markers</a> ()</td></tr>
+<tr class="separator:a39fda5c987efad9c391bf4ce236e271f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9cec7ea9000ee388e058ba6bfbe7640d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</a> ()</td></tr>
+<tr class="separator:a9cec7ea9000ee388e058ba6bfbe7640d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab95c43650b9596fc2e9bc374abeeadf6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a> () override</td></tr>
+<tr class="separator:ab95c43650b9596fc2e9bc374abeeadf6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeb6c8c47edbcc561f15b00d551a045e6"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a> ()</td></tr>
+<tr class="separator:aeb6c8c47edbcc561f15b00d551a045e6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7eddff501a2c3a3d5feb6c2ec4b016e0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *wd)</td></tr>
+<tr class="separator:a7eddff501a2c3a3d5feb6c2ec4b016e0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af626880915da239eeb0793eb41ab7596"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a> ()</td></tr>
+<tr class="separator:af626880915da239eeb0793eb41ab7596"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0ad9bc06ae12dedaf6eb97bc4398c34a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a0ad9bc06ae12dedaf6eb97bc4398c34a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7e045dcd43e888a9e4cddc2a9e6abdc8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">workload_checker</a> (std::vector< int > &count_vector, tf2::Transform &obj) override</td></tr>
+<tr class="separator:a7e045dcd43e888a9e4cddc2a9e6abdc8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a> (std::string &<a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:a704bd9522c6fdaff61cc7584ef20850c inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a> (std::string <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</td></tr>
+<tr class="separator:ac94e9d3520fdbcd027682226f4b0be8f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">More...</a><br /></td></tr>
+<tr class="separator:a1402d06f3393679d585376716cc2a534 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a> ()</td></tr>
+<tr class="separator:a64ae098f7cadad8237e663658f038663 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a52c63e180b0a31cd9b97b824eb1b5c22 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">bounds</a> ()=0</td></tr>
+<tr class="separator:a52c63e180b0a31cd9b97b824eb1b5c22 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a> ()</td></tr>
+<tr class="separator:ad7080256737d26f2d4499d848e8c854a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1a5d8cd75f0aa634022f09d88066d313 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">name</a> ()=0</td></tr>
+<tr class="separator:a1a5d8cd75f0aa634022f09d88066d313 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a> ()</td></tr>
+<tr class="separator:a7befa194e7b39c8b9d60f1844f9d1a8b inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a> ()</td></tr>
+<tr class="separator:aef7449039e62cf8608dbd22222120289 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a62093041e9154e06ed573a42a76cc778 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">robot_root_bounds</a> ()=0</td></tr>
+<tr class="separator:a62093041e9154e06ed573a42a76cc778 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a> ()</td></tr>
+<tr class="separator:af29a9894b43fc8124de65712414168f4 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af7a230da2f4551f707557a4f5fa447ac inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">root_tf</a> ()=0</td></tr>
+<tr class="separator:af7a230da2f4551f707557a4f5fa447ac inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a> (float deg)</td></tr>
+<tr class="separator:a72694508ca6d5ada16236775402dd385 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a> (int i)</td></tr>
+<tr class="separator:a7f30d6f41a3f7cbdb9839c75b957b366 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:ab27017c6039446502704b443df934a2d inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a> ()</td></tr>
+<tr class="separator:aa3bfc2c32585c42ca88f5fc1e663eb93 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13949665d4f8ac53aadc357883b301da inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">size</a> ()=0</td></tr>
+<tr class="separator:a13949665d4f8ac53aadc357883b301da inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:abd68b299ae1d193e2c4d5ce89a7a2c61 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a> ()</td></tr>
+<tr class="separator:a4d636b2de764243b145577db70637d63 inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae3e4f92f97f4a55fe9cb7196024fe30a inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">tf</a> ()=0</td></tr>
+<tr class="separator:ae3e4f92f97f4a55fe9cb7196024fe30a inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a126e52a7696cf030f5697dd93439775f inherit pub_methods_classAbstract__robot"><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:aaeebeca358c747b158be2999664d4b6a"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a></td></tr>
+<tr class="separator:aaeebeca358c747b158be2999664d4b6a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a20984a642a92887a622d8e069884b8e8"><td class="memItemLeft" align="right" valign="top">std::vector< moveit_msgs::CollisionObject * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a></td></tr>
+<tr class="separator:a20984a642a92887a622d8e069884b8e8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6821b81b167e8bffbeca4beedc8033f8"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a></td></tr>
+<tr class="separator:a6821b81b167e8bffbeca4beedc8033f8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="memitem:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a></td></tr>
+<tr class="memdesc:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">More...</a><br /></td></tr>
+<tr class="separator:a28c13c43328a26f12659ff086d77394e inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a></td></tr>
+<tr class="memdesc:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">More...</a><br /></td></tr>
+<tr class="separator:a3dc156f9e7813fa5dfa0d9c8c7e7a36f inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a></td></tr>
+<tr class="separator:aae8fb853afa438433797b9cc5008f1f2 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">More...</a><br /></td></tr>
+<tr class="separator:a6d8ed98b1820134733f8d1a42eaa00c4 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a></td></tr>
+<tr class="memdesc:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> root on table top. <a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">More...</a><br /></td></tr>
+<tr class="separator:a598a8379918fbdaf44358be840f146b7 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a></td></tr>
+<tr class="memdesc:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">More...</a><br /></td></tr>
+<tr class="separator:af92f5538f28fbe61687d70f15e84fb82 inherit pro_attribs_classAbstract__robot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a></td></tr>
+<tr class="memdesc:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">More...</a><br /></td></tr>
+<tr class="separator:a854a3c8c740dcb60e0ee347fcd5447f6 inherit pro_attribs_classAbstract__robot"><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="robot_8h_source.html#l00019">19</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a0ad9bc06ae12dedaf6eb97bc4398c34a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ad9bc06ae12dedaf6eb97bc4398c34a">◆ </a></span>Robot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Robot::Robot </td>
+ <td>(</td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="robot_8h_source.html#l00027">27</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1a73b8eaedcdab4b7defcedd81f8c713"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a73b8eaedcdab4b7defcedd81f8c713">◆ </a></span>access_fields()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>*>& Robot::access_fields </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 class="definition">Definition at line <a class="el" href="robot_8h_source.html#l00030">30</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab333a4150395873d947c791996171510"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab333a4150395873d947c791996171510">◆ </a></span>add_coll_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot::add_coll_markers </td>
+ <td>(</td>
+ <td class="paramtype">moveit_msgs::CollisionObject * </td>
+ <td class="paramname"><em>marker</em></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 class="definition">Definition at line <a class="el" href="robot_8h_source.html#l00032">32</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a0b60a38b7639a58095b3303052e4a801"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b60a38b7639a58095b3303052e4a801">◆ </a></span>area_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">float Robot::area_calculation </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>A</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>B</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>C</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="robot_8cpp_source.html#l00031">31</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab57fc902b6e93336db5310abf05c8a92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab57fc902b6e93336db5310abf05c8a92">◆ </a></span>check_robot_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Robot::check_robot_collision </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classRobot.html">Robot</a> * </td>
+ <td class="paramname"><em>R</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00130">130</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab7bf74de30a186337b05cb05b74d0e73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7bf74de30a186337b05cb05b74d0e73">◆ </a></span>check_single_object_collision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Robot::check_single_object_collision </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::string & </td>
+ <td class="paramname"><em>str</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Implements <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00070">70</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a39fda5c987efad9c391bf4ce236e271f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39fda5c987efad9c391bf4ce236e271f">◆ </a></span>coll_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<moveit_msgs::CollisionObject*> Robot::coll_markers </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 class="definition">Definition at line <a class="el" href="robot_8h_source.html#l00033">33</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a9cec7ea9000ee388e058ba6bfbe7640d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9cec7ea9000ee388e058ba6bfbe7640d">◆ </a></span>generate_access_fields()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot::generate_access_fields </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="robot_8cpp_source.html#l00003">3</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab95c43650b9596fc2e9bc374abeeadf6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab95c43650b9596fc2e9bc374abeeadf6">◆ </a></span>notify()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot::notify </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>Implements <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00125">125</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aeb6c8c47edbcc561f15b00d551a045e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb6c8c47edbcc561f15b00d551a045e6">◆ </a></span>observers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>*>& Robot::observers </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 class="definition">Definition at line <a class="el" href="robot_8h_source.html#l00029">29</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a7eddff501a2c3a3d5feb6c2ec4b016e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7eddff501a2c3a3d5feb6c2ec4b016e0">◆ </a></span>register_observers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot::register_observers </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td>
+ <td class="paramname"><em>wd</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00182">182</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af626880915da239eeb0793eb41ab7596"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af626880915da239eeb0793eb41ab7596">◆ </a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot::reset </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="robot_8cpp_source.html#l00118">118</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a7e045dcd43e888a9e4cddc2a9e6abdc8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e045dcd43e888a9e4cddc2a9e6abdc8">◆ </a></span>workload_checker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot::workload_checker </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< int > & </td>
+ <td class="paramname"><em>count_vector</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>obj</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Implements <a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00038">38</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aaeebeca358c747b158be2999664d4b6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaeebeca358c747b158be2999664d4b6a">◆ </a></span>access_fields_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>*> Robot::access_fields_</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="robot_8h_source.html#l00022">22</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a20984a642a92887a622d8e069884b8e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20984a642a92887a622d8e069884b8e8">◆ </a></span>coll_markers_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<moveit_msgs::CollisionObject*> Robot::coll_markers_</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="robot_8h_source.html#l00023">23</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a6821b81b167e8bffbeca4beedc8033f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6821b81b167e8bffbeca4beedc8033f8">◆ </a></span>observers_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>*> Robot::observers_</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="robot_8h_source.html#l00021">21</a> of file <a class="el" href="robot_8h_source.html">robot.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="robot_8h_source.html">robot.h</a></li>
+<li><a class="el" href="robot_8cpp_source.html">robot.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRobot__inherit__graph.map b/doc/html/classRobot__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..66de339bda9598f2a5c81d4b6a1c3062d87f76ba
--- /dev/null
+++ b/doc/html/classRobot__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Robot" name="Robot">
+<area shape="rect" id="node1" title=" " alt="" coords="34,80,94,107"/>
+<area shape="rect" id="node3" href="$classMoveit__robot.html" title=" " alt="" coords="10,155,118,181"/>
+<area shape="rect" id="node2" href="$classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
+</map>
diff --git a/doc/html/classRobot__inherit__graph.md5 b/doc/html/classRobot__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..259fe21df92a8b18be45b41d650728e0cdf487b5
--- /dev/null
+++ b/doc/html/classRobot__inherit__graph.md5
@@ -0,0 +1 @@
+4540e6148b48d5e5ecfa06e3670199db
\ No newline at end of file
diff --git a/doc/html/classRobot__inherit__graph.png b/doc/html/classRobot__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa4ed2ed84593f953b4e2fad7aacb74031e8e37c
Binary files /dev/null and b/doc/html/classRobot__inherit__graph.png differ
diff --git a/doc/html/classRobot__reader-members.html b/doc/html/classRobot__reader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..47856732780b8be5eb7136d49e2fdd3339a23e15
--- /dev/null
+++ b/doc/html/classRobot__reader-members.html
@@ -0,0 +1,44 @@
+<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">Robot_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classRobot__reader.html">Robot_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">read</a>() override</td><td class="entry"><a class="el" href="classRobot__reader.html">Robot_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">robot_data</a>()</td><td class="entry"><a class="el" href="classRobot__reader.html">Robot_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">robot_data_</a></td><td class="entry"><a class="el" href="classRobot__reader.html">Robot_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classRobot__reader.html">Robot_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">set_robot_data</a>(std::vector< object_data > &robot_data)</td><td class="entry"><a class="el" href="classRobot__reader.html">Robot_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRobot__reader.html b/doc/html/classRobot__reader.html
new file mode 100644
index 0000000000000000000000000000000000000000..752b41676feea726a318ec4b225f10730a8f5de5
--- /dev/null
+++ b/doc/html/classRobot__reader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Robot_reader 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="classRobot__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Robot_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classRobot.html">Robot</a> reader.
+ <a href="classRobot__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="robot__reader_8h_source.html">robot_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Robot_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classRobot__reader__inherit__graph.png" border="0" usemap="#Robot__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Robot__reader_inherit__map" id="Robot__reader_inherit__map">
+<area shape="rect" title="Robot reader." alt="" coords="38,80,147,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:a2620c6e17656a19920d805e5583ea9f5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">read</a> () override</td></tr>
+<tr class="memdesc:a2620c6e17656a19920d805e5583ea9f5"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">More...</a><br /></td></tr>
+<tr class="separator:a2620c6e17656a19920d805e5583ea9f5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8d02ccd998930e139a17ec4c7db40226"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="structobject__data.html">object_data</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">robot_data</a> ()</td></tr>
+<tr class="memdesc:a8d02ccd998930e139a17ec4c7db40226"><td class="mdescLeft"> </td><td class="mdescRight">Get robot data. <a href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">More...</a><br /></td></tr>
+<tr class="separator:a8d02ccd998930e139a17ec4c7db40226"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:add641d9e981e357eb921ec42161fa692"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:add641d9e981e357eb921ec42161fa692"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> reader constructor. <a href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">More...</a><br /></td></tr>
+<tr class="separator:add641d9e981e357eb921ec42161fa692"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5679bf167d87e00d4f9ca30fdc3fc503"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">set_robot_data</a> (std::vector< <a class="el" href="structobject__data.html">object_data</a> > &<a class="el" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">robot_data</a>)</td></tr>
+<tr class="memdesc:a5679bf167d87e00d4f9ca30fdc3fc503"><td class="mdescLeft"> </td><td class="mdescRight">Set robot data. <a href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">More...</a><br /></td></tr>
+<tr class="separator:a5679bf167d87e00d4f9ca30fdc3fc503"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><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:a099c3894672f3bdfacb1e1c69f2d30a7"><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="structobject__data.html">object_data</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">robot_data_</a></td></tr>
+<tr class="memdesc:a099c3894672f3bdfacb1e1c69f2d30a7"><td class="mdescLeft"> </td><td class="mdescRight">Map of <a class="el" href="structobject__data.html">object_data</a> to robot. <a href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">More...</a><br /></td></tr>
+<tr class="separator:a099c3894672f3bdfacb1e1c69f2d30a7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classRobot.html">Robot</a> reader. </p>
+<p>Reads size and pose data for robot </p>
+
+<p class="definition">Definition at line <a class="el" href="robot__reader_8h_source.html#l00015">15</a> of file <a class="el" href="robot__reader_8h_source.html">robot_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="add641d9e981e357eb921ec42161fa692"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add641d9e981e357eb921ec42161fa692">◆ </a></span>Robot_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Robot_reader::Robot_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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><a class="el" href="classRobot.html">Robot</a> reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5" title="read implementatin">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="robot__reader_8h_source.html#l00025">25</a> of file <a class="el" href="robot__reader_8h_source.html">robot_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2620c6e17656a19920d805e5583ea9f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2620c6e17656a19920d805e5583ea9f5">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot_reader::read </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>read implementatin </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="robot__reader_8cpp_source.html#l00003">3</a> of file <a class="el" href="robot__reader_8cpp_source.html">robot_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a8d02ccd998930e139a17ec4c7db40226"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d02ccd998930e139a17ec4c7db40226">◆ </a></span>robot_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="structobject__data.html">object_data</a>> Robot_reader::robot_data </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 robot data. </p>
+<dl class="section return"><dt>Returns</dt><dd>Vector of object data </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="robot__reader_8h_source.html#l00037">37</a> of file <a class="el" href="robot__reader_8h_source.html">robot_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a5679bf167d87e00d4f9ca30fdc3fc503"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5679bf167d87e00d4f9ca30fdc3fc503">◆ </a></span>set_robot_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Robot_reader::set_robot_data </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< <a class="el" href="structobject__data.html">object_data</a> > & </td>
+ <td class="paramname"><em>robot_data</em></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>Set robot data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot_data</td><td>Vector of object data </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="robot__reader_8h_source.html#l00031">31</a> of file <a class="el" href="robot__reader_8h_source.html">robot_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a099c3894672f3bdfacb1e1c69f2d30a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a099c3894672f3bdfacb1e1c69f2d30a7">◆ </a></span>robot_data_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<<a class="el" href="structobject__data.html">object_data</a>> Robot_reader::robot_data_</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>Map of <a class="el" href="structobject__data.html">object_data</a> to robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="robot__reader_8h_source.html#l00017">17</a> of file <a class="el" href="robot__reader_8h_source.html">robot_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="robot__reader_8h_source.html">robot_reader.h</a></li>
+<li><a class="el" href="robot__reader_8cpp_source.html">robot_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRobot__reader__inherit__graph.map b/doc/html/classRobot__reader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..d5def08199f2abb2947a2b4250f3ffb15044b19e
--- /dev/null
+++ b/doc/html/classRobot__reader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Robot_reader" name="Robot_reader">
+<area shape="rect" id="node1" title="Robot reader." alt="" coords="38,80,147,107"/>
+<area shape="rect" id="node2" href="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</map>
diff --git a/doc/html/classRobot__reader__inherit__graph.md5 b/doc/html/classRobot__reader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..408769b26250b0eb551fa51695d2450b6895c1c1
--- /dev/null
+++ b/doc/html/classRobot__reader__inherit__graph.md5
@@ -0,0 +1 @@
+d59102655c58f5ba25ff30726a71e839
\ No newline at end of file
diff --git a/doc/html/classRobot__reader__inherit__graph.png b/doc/html/classRobot__reader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..b503d84e486709b472185d2605366e3bfde773eb
Binary files /dev/null and b/doc/html/classRobot__reader__inherit__graph.png differ
diff --git a/doc/html/classRviz__panel-members.html b/doc/html/classRviz__panel-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..1ee728bde841fa7c5d422179ca42c16686c25108
--- /dev/null
+++ b/doc/html/classRviz__panel-members.html
@@ -0,0 +1,62 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Rviz_panel Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classRviz__panel.html">Rviz_panel</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">marker</a>()</td><td class="entry"><a class="el" href="classRviz__panel.html">Rviz_panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a></td><td class="entry"><a class="el" href="classRviz__panel.html">Rviz_panel</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classRviz__panel.html">Rviz_panel</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a>(std::string str)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a>(tf2::Vector3 &vec)</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classRviz__panel.html">Rviz_panel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a>() override</td><td class="entry"><a class="el" href="classPanel.html">Panel</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRviz__panel.html b/doc/html/classRviz__panel.html
new file mode 100644
index 0000000000000000000000000000000000000000..730b12f1a635c980f68e8838a318998dab9883bd
--- /dev/null
+++ b/doc/html/classRviz__panel.html
@@ -0,0 +1,240 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Rviz_panel 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="classRviz__panel-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Rviz_panel Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="rviz__panel_8h_source.html">rviz_panel.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Rviz_panel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classRviz__panel__inherit__graph.png" border="0" usemap="#Rviz__panel_inherit__map" alt="Inheritance graph"/></div>
+<map name="Rviz__panel_inherit__map" id="Rviz__panel_inherit__map">
+<area shape="rect" title=" " alt="" coords="48,155,141,181"/>
+<area shape="rect" href="classPanel.html" title=" " alt="" coords="65,80,124,107"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:ac2665ca36d02e328703514b188a07cfc"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker & </td><td class="memItemRight" valign="bottom"><a class="el" href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">marker</a> ()</td></tr>
+<tr class="separator:ac2665ca36d02e328703514b188a07cfc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9e4b8809f51ef3e8a552f557c067d3d7"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</a> (std::string <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>)</td></tr>
+<tr class="separator:a9e4b8809f51ef3e8a552f557c067d3d7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2da4da9105d8662c0f7cb3409bb36e43"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a2da4da9105d8662c0f7cb3409bb36e43"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classPanel"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPanel')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classPanel.html">Panel</a></td></tr>
+<tr class="memitem:af4477404926c93431f4c369d36e945d6 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a> () override</td></tr>
+<tr class="separator:af4477404926c93431f4c369d36e945d6 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abc3a14b055ba9004fa5ebdb34cd5e583 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a> () override</td></tr>
+<tr class="separator:abc3a14b055ba9004fa5ebdb34cd5e583 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2f673224275e5ecb0db4d778f93e0bda inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a> (std::string <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>)</td></tr>
+<tr class="separator:a2f673224275e5ecb0db4d778f93e0bda inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a58081e744b584114f23b80c1f3cee22e inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a> (std::string str)</td></tr>
+<tr class="separator:a58081e744b584114f23b80c1f3cee22e inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af865f7bb6545e057fcb0a76fd774a497 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:af865f7bb6545e057fcb0a76fd774a497 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af6a63c29e5a5573b369482528c4b4818 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a> () override</td></tr>
+<tr class="separator:af6a63c29e5a5573b369482528c4b4818 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aaa3899db59afd593ef4ec2eb343f71b7 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a> () override</td></tr>
+<tr class="separator:aaa3899db59afd593ef4ec2eb343f71b7 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><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:a73b2f4c7b57f4d67e2b7f6b0b440ef8d"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker </td><td class="memItemRight" valign="bottom"><a class="el" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a></td></tr>
+<tr class="separator:a73b2f4c7b57f4d67e2b7f6b0b440ef8d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="rviz__panel_8h_source.html#l00010">10</a> of file <a class="el" href="rviz__panel_8h_source.html">rviz_panel.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a9e4b8809f51ef3e8a552f557c067d3d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e4b8809f51ef3e8a552f557c067d3d7">◆ </a></span>Rviz_panel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Rviz_panel::Rviz_panel </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</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="rviz__panel_8cpp_source.html#l00004">4</a> of file <a class="el" href="rviz__panel_8cpp_source.html">rviz_panel.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac2665ca36d02e328703514b188a07cfc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2665ca36d02e328703514b188a07cfc">◆ </a></span>marker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">visualization_msgs::Marker& Rviz_panel::marker </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 class="definition">Definition at line <a class="el" href="rviz__panel_8h_source.html#l00018">18</a> of file <a class="el" href="rviz__panel_8h_source.html">rviz_panel.h</a>.</p>
+
+</div>
+</div>
+<a id="a2da4da9105d8662c0f7cb3409bb36e43"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2da4da9105d8662c0f7cb3409bb36e43">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Rviz_panel::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Reimplemented from <a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="rviz__panel_8cpp_source.html#l00029">29</a> of file <a class="el" href="rviz__panel_8cpp_source.html">rviz_panel.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a73b2f4c7b57f4d67e2b7f6b0b440ef8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">◆ </a></span>marker_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">visualization_msgs::Marker Rviz_panel::marker_</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="rviz__panel_8h_source.html#l00012">12</a> of file <a class="el" href="rviz__panel_8h_source.html">rviz_panel.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="rviz__panel_8h_source.html">rviz_panel.h</a></li>
+<li><a class="el" href="rviz__panel_8cpp_source.html">rviz_panel.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRviz__panel__inherit__graph.map b/doc/html/classRviz__panel__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..b3fc17e39754feb9665a717a8bfb10298ef6a077
--- /dev/null
+++ b/doc/html/classRviz__panel__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="Rviz_panel" name="Rviz_panel">
+<area shape="rect" id="node1" title=" " alt="" coords="48,155,141,181"/>
+<area shape="rect" id="node2" href="$classPanel.html" title=" " alt="" coords="65,80,124,107"/>
+<area shape="rect" id="node3" href="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</map>
diff --git a/doc/html/classRviz__panel__inherit__graph.md5 b/doc/html/classRviz__panel__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..d97d2799bc182f3e4a5f1ff00e74710a47770c9c
--- /dev/null
+++ b/doc/html/classRviz__panel__inherit__graph.md5
@@ -0,0 +1 @@
+c69b79aece179193b98a2d6f32c357ca
\ No newline at end of file
diff --git a/doc/html/classRviz__panel__inherit__graph.png b/doc/html/classRviz__panel__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc760e9f6c5c19fc7b5f14ac0f1a24845039e794
Binary files /dev/null and b/doc/html/classRviz__panel__inherit__graph.png differ
diff --git a/doc/html/classSimple__base-members.html b/doc/html/classSimple__base-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..1c616fe4d6bdb025a7d25bb07fce176b1877202d
--- /dev/null
+++ b/doc/html/classSimple__base-members.html
@@ -0,0 +1,59 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Simple_base Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSimple__base.html">Simple_base</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">base_calculation</a>() override</td><td class="entry"><a class="el" href="classSimple__base.html">Simple_base</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">create_pcl_box</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">implementation</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">inv_map</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">map</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">map_reader_</a></td><td class="entry"><a class="el" href="classSimple__base.html">Simple_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">nh_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">set_implementation</a>(std::shared_ptr< Abstract_base_implementation > some_implememntation)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">set_inv_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">set_map</a>(std::vector< tf2::Transform > &list)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">set_target_cloud</a>(std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">set_task_space</a>(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans)</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classSimple__base.html">Simple_base</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">target_cloud</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">task_space</a>()</td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a></td><td class="entry"><a class="el" href="classAbstract__base.html">Abstract_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">task_space_reader_</a></td><td class="entry"><a class="el" href="classSimple__base.html">Simple_base</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">write_task</a>(Abstract_robot *robot) override</td><td class="entry"><a class="el" href="classSimple__base.html">Simple_base</a></td><td class="entry"><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classSimple__base.html b/doc/html/classSimple__base.html
new file mode 100644
index 0000000000000000000000000000000000000000..99e8578c5de69e96447c8d534d97b5a611bc1a57
--- /dev/null
+++ b/doc/html/classSimple__base.html
@@ -0,0 +1,297 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Simple_base 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="classSimple__base-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Simple_base Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>refiend base abstraction
+ <a href="classSimple__base.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="simple__base_8h_source.html">simple_base.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Simple_base:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSimple__base__inherit__graph.png" border="0" usemap="#Simple__base_inherit__map" alt="Inheritance graph"/></div>
+<map name="Simple__base_inherit__map" id="Simple__base_inherit__map">
+<area shape="rect" title="refiend base abstraction" alt="" coords="10,80,115,107"/>
+<area shape="rect" href="classAbstract__base.html" title="Abstract base class." alt="" coords="5,5,120,32"/>
+</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:a42768a7c6fcee691bb1699e08ead3ef6"><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="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">base_calculation</a> () override</td></tr>
+<tr class="memdesc:a42768a7c6fcee691bb1699e08ead3ef6"><td class="mdescLeft"> </td><td class="mdescRight">refined Template methode <a href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">More...</a><br /></td></tr>
+<tr class="separator:a42768a7c6fcee691bb1699e08ead3ef6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a81f95918750e1644484cbce9f41fd24e"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a81f95918750e1644484cbce9f41fd24e"><td class="mdescLeft"> </td><td class="mdescRight">Simple base constructor. <a href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">More...</a><br /></td></tr>
+<tr class="separator:a81f95918750e1644484cbce9f41fd24e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a095701db18bbccae201b96121b962e81"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">write_task</a> (<a class="el" href="classAbstract__robot.html">Abstract_robot</a> *robot) override</td></tr>
+<tr class="memdesc:a095701db18bbccae201b96121b962e81"><td class="mdescLeft"> </td><td class="mdescRight">write trask <a href="classSimple__base.html#a095701db18bbccae201b96121b962e81">More...</a><br /></td></tr>
+<tr class="separator:a095701db18bbccae201b96121b962e81"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__base')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__base.html">Abstract_base</a></td></tr>
+<tr class="memitem:a68300edaeff45edafe777bc4f7be2433 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a68300edaeff45edafe777bc4f7be2433 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base constructor. <a href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">More...</a><br /></td></tr>
+<tr class="separator:a68300edaeff45edafe777bc4f7be2433 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9fe29f317aeb7337c2eaeaefdc1d1ba9 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">implementation</a> ()</td></tr>
+<tr class="memdesc:a9fe29f317aeb7337c2eaeaefdc1d1ba9 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Get used implementation. <a href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">More...</a><br /></td></tr>
+<tr class="separator:a9fe29f317aeb7337c2eaeaefdc1d1ba9 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aebb83168a14d660a024240bfaad70a80 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">inv_map</a> ()</td></tr>
+<tr class="memdesc:aebb83168a14d660a024240bfaad70a80 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Get inverse map structure. <a href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">More...</a><br /></td></tr>
+<tr class="separator:aebb83168a14d660a024240bfaad70a80 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0a16c06aa3591c4daa7872dd0a1510d8 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">map</a> ()</td></tr>
+<tr class="memdesc:a0a16c06aa3591c4daa7872dd0a1510d8 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Get map structure. <a href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">More...</a><br /></td></tr>
+<tr class="separator:a0a16c06aa3591c4daa7872dd0a1510d8 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae41eb0b9891cdcfca4ae7df8234a9113 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">set_implementation</a> (std::shared_ptr< <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> > some_implememntation)</td></tr>
+<tr class="memdesc:ae41eb0b9891cdcfca4ae7df8234a9113 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Set used implementation. <a href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">More...</a><br /></td></tr>
+<tr class="separator:ae41eb0b9891cdcfca4ae7df8234a9113 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12b49689227a6dd6d0aa55fe273dfae2 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">set_inv_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="memdesc:a12b49689227a6dd6d0aa55fe273dfae2 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Set inverse map structure. <a href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">More...</a><br /></td></tr>
+<tr class="separator:a12b49689227a6dd6d0aa55fe273dfae2 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac83e7d3257c5cadc3285a90801f7a479 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">set_map</a> (std::vector< tf2::Transform > &list)</td></tr>
+<tr class="memdesc:ac83e7d3257c5cadc3285a90801f7a479 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Set map structure. <a href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">More...</a><br /></td></tr>
+<tr class="separator:ac83e7d3257c5cadc3285a90801f7a479 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a65784b6507975934712e2509e237680a inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">set_target_cloud</a> (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td></tr>
+<tr class="memdesc:a65784b6507975934712e2509e237680a inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Set task cloud. <a href="classAbstract__base.html#a65784b6507975934712e2509e237680a">More...</a><br /></td></tr>
+<tr class="separator:a65784b6507975934712e2509e237680a inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae2031dc21ac6416978f9fe854449287e inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">set_task_space</a> (std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> &s_trans)</td></tr>
+<tr class="memdesc:ae2031dc21ac6416978f9fe854449287e inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Set task space. <a href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">More...</a><br /></td></tr>
+<tr class="separator:ae2031dc21ac6416978f9fe854449287e inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab7c57b1ac4fb42ab400c0fc08e9aff61 inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">target_cloud</a> ()</td></tr>
+<tr class="memdesc:ab7c57b1ac4fb42ab400c0fc08e9aff61 inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Get task cloud. <a href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">More...</a><br /></td></tr>
+<tr class="separator:ab7c57b1ac4fb42ab400c0fc08e9aff61 inherit pub_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad4b63750f9b890cf99f9187624cc97be inherit pub_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion > > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">task_space</a> ()</td></tr>
+<tr class="memdesc:ad4b63750f9b890cf99f9187624cc97be inherit pub_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Get task space. <a href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">More...</a><br /></td></tr>
+<tr class="separator:ad4b63750f9b890cf99f9187624cc97be inherit pub_methods_classAbstract__base"><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:aca05b7bb4f422425e21872198598b6c5"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classMap__reader.html">Map_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">map_reader_</a></td></tr>
+<tr class="separator:aca05b7bb4f422425e21872198598b6c5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0eceb0eb9276b9289bfa10c88254ce7e"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTs__reader.html">Ts_reader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">task_space_reader_</a></td></tr>
+<tr class="separator:a0eceb0eb9276b9289bfa10c88254ce7e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__base')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__base.html">Abstract_base</a></td></tr>
+<tr class="memitem:ab73fdbf60e0d79d8ba4eeca3a894e39e inherit pro_attribs_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a></td></tr>
+<tr class="memdesc:ab73fdbf60e0d79d8ba4eeca3a894e39e inherit pro_attribs_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">refined implementation <a href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">More...</a><br /></td></tr>
+<tr class="separator:ab73fdbf60e0d79d8ba4eeca3a894e39e inherit pro_attribs_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b80b83e10a75f0421594e46c9b49381 inherit pro_attribs_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a></td></tr>
+<tr class="memdesc:a9b80b83e10a75f0421594e46c9b49381 inherit pro_attribs_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Inversion of reachability map structure. <a href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">More...</a><br /></td></tr>
+<tr class="separator:a9b80b83e10a75f0421594e46c9b49381 inherit pro_attribs_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a589f01126eab356919d97480e30b17ab inherit pro_attribs_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a></td></tr>
+<tr class="memdesc:a589f01126eab356919d97480e30b17ab inherit pro_attribs_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Reachability map structure of a robot. <a href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">More...</a><br /></td></tr>
+<tr class="separator:a589f01126eab356919d97480e30b17ab inherit pro_attribs_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a54d21fd6fe1217c1b065c5b500e3e8d0 inherit pro_attribs_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">nh_</a></td></tr>
+<tr class="memdesc:a54d21fd6fe1217c1b065c5b500e3e8d0 inherit pro_attribs_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Ros nodehandle object. <a href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">More...</a><br /></td></tr>
+<tr class="separator:a54d21fd6fe1217c1b065c5b500e3e8d0 inherit pro_attribs_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a20a272f916415c6d30d6c3af3eb75f33 inherit pro_attribs_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">target_cloud_</a></td></tr>
+<tr class="memdesc:a20a272f916415c6d30d6c3af3eb75f33 inherit pro_attribs_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Pointcloud structure, mapped to robot. <a href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">More...</a><br /></td></tr>
+<tr class="separator:a20a272f916415c6d30d6c3af3eb75f33 inherit pro_attribs_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8c32441b38f2cb24388e8d98fd8fe2bc inherit pro_attribs_classAbstract__base"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion > > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a></td></tr>
+<tr class="memdesc:a8c32441b38f2cb24388e8d98fd8fe2bc inherit pro_attribs_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">Drop-off locations with their grasp orientations, mapped to a robot. <a href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">More...</a><br /></td></tr>
+<tr class="separator:a8c32441b38f2cb24388e8d98fd8fe2bc inherit pro_attribs_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classAbstract__base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classAbstract__base')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classAbstract__base.html">Abstract_base</a></td></tr>
+<tr class="memitem:a4f721d18ef125fe286eeb7978fc499ba inherit pub_static_methods_classAbstract__base"><td class="memItemLeft" align="right" valign="top">static std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">create_pcl_box</a> ()</td></tr>
+<tr class="memdesc:a4f721d18ef125fe286eeb7978fc499ba inherit pub_static_methods_classAbstract__base"><td class="mdescLeft"> </td><td class="mdescRight">box discretization <a href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">More...</a><br /></td></tr>
+<tr class="separator:a4f721d18ef125fe286eeb7978fc499ba inherit pub_static_methods_classAbstract__base"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>refiend base abstraction </p>
+<p>A simple refined abstraction, which utilizes raeder objects to set upper member vaiables. </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8h_source.html#l00026">26</a> of file <a class="el" href="simple__base_8h_source.html">simple_base.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a81f95918750e1644484cbce9f41fd24e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a81f95918750e1644484cbce9f41fd24e">◆ </a></span>Simple_base()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Simple_base::Simple_base </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Simple base constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>Ros nodehandle to interact with ros </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8cpp_source.html#l00004">4</a> of file <a class="el" href="simple__base_8cpp_source.html">simple_base.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a42768a7c6fcee691bb1699e08ead3ef6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42768a7c6fcee691bb1699e08ead3ef6">◆ </a></span>base_calculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map< const std::string, std::vector< pcl::PointXYZ > > Simple_base::base_calculation </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>refined Template methode </p>
+<p>Overriden methide which calls necessary functions from implementation </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">var</td><td>store inversed reachability map data </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>map of base positions linked to robots </dd></dl>
+
+<p>Implements <a class="el" href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">Abstract_base</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8cpp_source.html#l00020">20</a> of file <a class="el" href="simple__base_8cpp_source.html">simple_base.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a095701db18bbccae201b96121b962e81"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a095701db18bbccae201b96121b962e81">◆ </a></span>write_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Simple_base::write_task </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot.html">Abstract_robot</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>write trask </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">Abstract_base</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8cpp_source.html#l00366">366</a> of file <a class="el" href="simple__base_8cpp_source.html">simple_base.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aca05b7bb4f422425e21872198598b6c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca05b7bb4f422425e21872198598b6c5">◆ </a></span>map_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="classMap__reader.html">Map_reader</a>> Simple_base::map_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>Reachability map reader object </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8h_source.html#l00029">29</a> of file <a class="el" href="simple__base_8h_source.html">simple_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a0eceb0eb9276b9289bfa10c88254ce7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0eceb0eb9276b9289bfa10c88254ce7e">◆ </a></span>task_space_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="classTs__reader.html">Ts_reader</a>> Simple_base::task_space_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>Task space reader object </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8h_source.html#l00028">28</a> of file <a class="el" href="simple__base_8h_source.html">simple_base.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="simple__base_8h_source.html">simple_base.h</a></li>
+<li><a class="el" href="simple__base_8cpp_source.html">simple_base.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classSimple__base__implementation-members.html b/doc/html/classSimple__base__implementation-members.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/classSimple__base__implementation-members.html
@@ -0,0 +1,42 @@
+<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">Simple_base_implementation Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSimple__base__implementation.html">Simple_base_implementation</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>()=default</td><td class="entry"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">inv_map_creation</a>(std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space) override</td><td class="entry"><a class="el" href="classSimple__base__implementation.html">Simple_base_implementation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">set_grasp_orientations</a>(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override</td><td class="entry"><a class="el" href="classSimple__base__implementation.html">Simple_base_implementation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">Simple_base_implementation</a>()=default</td><td class="entry"><a class="el" href="classSimple__base__implementation.html">Simple_base_implementation</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">~Abstract_base_implementation</a>()=default</td><td class="entry"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">~Simple_base_implementation</a>()=default</td><td class="entry"><a class="el" href="classSimple__base__implementation.html">Simple_base_implementation</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classSimple__base__implementation.html b/doc/html/classSimple__base__implementation.html
new file mode 100644
index 0000000000000000000000000000000000000000..f950387ac3ef0c68aacdbed513f7a4c8358ec0ba
--- /dev/null
+++ b/doc/html/classSimple__base__implementation.html
@@ -0,0 +1,232 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Simple_base_implementation 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="classSimple__base__implementation-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Simple_base_implementation Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>refined base implementation
+ <a href="classSimple__base__implementation.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="simple__base__implementation_8h_source.html">simple_base_implementation.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Simple_base_implementation:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSimple__base__implementation__inherit__graph.png" border="0" usemap="#Simple__base__implementation_inherit__map" alt="Inheritance graph"/></div>
+<map name="Simple__base__implementation_inherit__map" id="Simple__base__implementation_inherit__map">
+<area shape="rect" title="refined base implementation" alt="" coords="10,80,226,107"/>
+<area shape="rect" href="classAbstract__base__implementation.html" title="abstract base implementation" alt="" coords="5,5,231,32"/>
+</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:aaa52f0dfe523e71039f06c4a9d527b23"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">inv_map_creation</a> (std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> &task_space) override</td></tr>
+<tr class="memdesc:aaa52f0dfe523e71039f06c4a9d527b23"><td class="mdescLeft"> </td><td class="mdescRight">Create inversed reachability map. <a href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">More...</a><br /></td></tr>
+<tr class="separator:aaa52f0dfe523e71039f06c4a9d527b23"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a58568c1809b8d1e7d6d66ce09c5f1974"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">set_grasp_orientations</a> (std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> &var) override</td></tr>
+<tr class="memdesc:a58568c1809b8d1e7d6d66ce09c5f1974"><td class="mdescLeft"> </td><td class="mdescRight">Store grasp orientations as endeffector transforms. <a href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">More...</a><br /></td></tr>
+<tr class="separator:a58568c1809b8d1e7d6d66ce09c5f1974"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a434b134fd5a340a5fae0e2393e250462"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">Simple_base_implementation</a> ()=default</td></tr>
+<tr class="memdesc:a434b134fd5a340a5fae0e2393e250462"><td class="mdescLeft"> </td><td class="mdescRight">Default simple base implementation constructor. <a href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">More...</a><br /></td></tr>
+<tr class="separator:a434b134fd5a340a5fae0e2393e250462"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad027ee9cbdd95ec53b31369ca86e208d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">~Simple_base_implementation</a> ()=default</td></tr>
+<tr class="memdesc:ad027ee9cbdd95ec53b31369ca86e208d"><td class="mdescLeft"> </td><td class="mdescRight">Default simple base implementation destructor. <a href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">More...</a><br /></td></tr>
+<tr class="separator:ad027ee9cbdd95ec53b31369ca86e208d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__base__implementation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__base__implementation')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a></td></tr>
+<tr class="memitem:aefda2aa1684b1d8f5db48e999db2e05b inherit pub_methods_classAbstract__base__implementation"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a> ()=default</td></tr>
+<tr class="memdesc:aefda2aa1684b1d8f5db48e999db2e05b inherit pub_methods_classAbstract__base__implementation"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base implementation default constructor. <a href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">More...</a><br /></td></tr>
+<tr class="separator:aefda2aa1684b1d8f5db48e999db2e05b inherit pub_methods_classAbstract__base__implementation"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7e51334938ee2afa88fe37b6e9b75690 inherit pub_methods_classAbstract__base__implementation"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">~Abstract_base_implementation</a> ()=default</td></tr>
+<tr class="memdesc:a7e51334938ee2afa88fe37b6e9b75690 inherit pub_methods_classAbstract__base__implementation"><td class="mdescLeft"> </td><td class="mdescRight">Abstract base implementation default destructor. <a href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">More...</a><br /></td></tr>
+<tr class="separator:a7e51334938ee2afa88fe37b6e9b75690 inherit pub_methods_classAbstract__base__implementation"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>refined base implementation </p>
+<p>generel base calculation approach </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base__implementation_8h_source.html#l00012">12</a> of file <a class="el" href="simple__base__implementation_8h_source.html">simple_base_implementation.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a434b134fd5a340a5fae0e2393e250462"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a434b134fd5a340a5fae0e2393e250462">◆ </a></span>Simple_base_implementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Simple_base_implementation::Simple_base_implementation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Default simple base implementation constructor. </p>
+
+</div>
+</div>
+<a id="ad027ee9cbdd95ec53b31369ca86e208d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad027ee9cbdd95ec53b31369ca86e208d">◆ </a></span>~Simple_base_implementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Simple_base_implementation::~Simple_base_implementation </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Default simple base implementation destructor. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aaa52f0dfe523e71039f06c4a9d527b23"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa52f0dfe523e71039f06c4a9d527b23">◆ </a></span>inv_map_creation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Simple_base_implementation::inv_map_creation </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>map</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>inv_map</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> & </td>
+ <td class="paramname"><em>task_space</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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>Create inversed reachability map. </p>
+<p>Creating inversed reachability map by inverting reachability map if grasp orientations match reachability map entries </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">map</td><td>store inversed reachability map data </td></tr>
+ <tr><td class="paramname">inv_map</td><td>store inversed reachability map data </td></tr>
+ <tr><td class="paramname">task_space</td><td>store inversed reachability map data </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">Abstract_base_implementation</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base__implementation_8cpp_source.html#l00016">16</a> of file <a class="el" href="simple__base__implementation_8cpp_source.html">simple_base_implementation.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a58568c1809b8d1e7d6d66ce09c5f1974"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58568c1809b8d1e7d6d66ce09c5f1974">◆ </a></span>set_grasp_orientations()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Simple_base_implementation::set_grasp_orientations </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< std::pair< <a class="el" href="structobject__data.html">object_data</a>, std::vector< tf2::Quaternion >>>> & </td>
+ <td class="paramname"><em>var</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>Store grasp orientations as endeffector transforms. </p>
+<p>The 5 most basic Orientatations (x, -x, y, -y, z) for all graspable objects </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">var</td><td>manipulate grasp orienattions mapped to object and robot </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">Abstract_base_implementation</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base__implementation_8cpp_source.html#l00003">3</a> of file <a class="el" href="simple__base__implementation_8cpp_source.html">simple_base_implementation.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="simple__base__implementation_8h_source.html">simple_base_implementation.h</a></li>
+<li><a class="el" href="simple__base__implementation_8cpp_source.html">simple_base_implementation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -0,0 +1,41 @@
+<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">Task_space_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTask__space__reader.html">Task_space_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">read</a>() override</td><td class="entry"><a class="el" href="classTask__space__reader.html">Task_space_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classTask__space__reader.html">Task_space_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classTask__space__reader.html b/doc/html/classTask__space__reader.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/classTask__space__reader.html
@@ -0,0 +1,152 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Task_space_reader 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="classTask__space__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Task_space_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Task space reader.
+ <a href="classTask__space__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="task__space__reader_8h_source.html">task_space_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Task_space_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classTask__space__reader__inherit__graph.png" border="0" usemap="#Task__space__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Task__space__reader_inherit__map" id="Task__space__reader_inherit__map">
+<area shape="rect" title="Task space reader." alt="" coords="20,80,165,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:adc53046a1920b11614bc9e0532475f94"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">read</a> () override</td></tr>
+<tr class="memdesc:adc53046a1920b11614bc9e0532475f94"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">More...</a><br /></td></tr>
+<tr class="separator:adc53046a1920b11614bc9e0532475f94"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac522966d855d5e4f097265945d60456c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:ac522966d855d5e4f097265945d60456c"><td class="mdescLeft"> </td><td class="mdescRight">Task space reader constructor. <a href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">More...</a><br /></td></tr>
+<tr class="separator:ac522966d855d5e4f097265945d60456c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Task space reader. </p>
+<p>Reads task space information an writes them into file </p>
+
+<p class="definition">Definition at line <a class="el" href="task__space__reader_8h_source.html#l00015">15</a> of file <a class="el" href="task__space__reader_8h_source.html">task_space_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ac522966d855d5e4f097265945d60456c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac522966d855d5e4f097265945d60456c">◆ </a></span>Task_space_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Task_space_reader::Task_space_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>Task space reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94" title="read implementatin">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="task__space__reader_8h_source.html#l00022">22</a> of file <a class="el" href="task__space__reader_8h_source.html">task_space_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="adc53046a1920b11614bc9e0532475f94"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc53046a1920b11614bc9e0532475f94">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Task_space_reader::read </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>read implementatin </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="task__space__reader_8cpp_source.html#l00004">4</a> of file <a class="el" href="task__space__reader_8cpp_source.html">task_space_reader.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="task__space__reader_8h_source.html">task_space_reader.h</a></li>
+<li><a class="el" href="task__space__reader_8cpp_source.html">task_space_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+++ b/doc/html/classTs__reader-members.html
@@ -0,0 +1,44 @@
+<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">Ts_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTs__reader.html">Ts_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">drop_off_data</a>()</td><td class="entry"><a class="el" href="classTs__reader.html">Ts_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">drop_off_data_</a></td><td class="entry"><a class="el" href="classTs__reader.html">Ts_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">read</a>() override</td><td class="entry"><a class="el" href="classTs__reader.html">Ts_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">set_drop_off_data</a>(std::map< const std::string, std::vector< object_data >> &dod)</td><td class="entry"><a class="el" href="classTs__reader.html">Ts_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classTs__reader.html">Ts_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classTs__reader.html b/doc/html/classTs__reader.html
new file mode 100644
index 0000000000000000000000000000000000000000..f02968ea43e5c50fbdc200a2bb18ed95867ac00f
--- /dev/null
+++ b/doc/html/classTs__reader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Ts_reader 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="classTs__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Ts_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>TS reader.
+ <a href="classTs__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="ts__reader_8h_source.html">ts_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Ts_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classTs__reader__inherit__graph.png" border="0" usemap="#Ts__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Ts__reader_inherit__map" id="Ts__reader_inherit__map">
+<area shape="rect" title="TS reader." alt="" coords="51,80,135,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:a53d3f559a9b1d43b6bedf321849a81fe"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< <a class="el" href="structobject__data.html">object_data</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">drop_off_data</a> ()</td></tr>
+<tr class="memdesc:a53d3f559a9b1d43b6bedf321849a81fe"><td class="mdescLeft"> </td><td class="mdescRight">Get drop off data. <a href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">More...</a><br /></td></tr>
+<tr class="separator:a53d3f559a9b1d43b6bedf321849a81fe"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b724ab02280e36e71b3ac5515f2fed3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">read</a> () override</td></tr>
+<tr class="memdesc:a9b724ab02280e36e71b3ac5515f2fed3"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">More...</a><br /></td></tr>
+<tr class="separator:a9b724ab02280e36e71b3ac5515f2fed3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72a1b14426b9a5c4da570b5c4378c87"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">set_drop_off_data</a> (std::map< const std::string, std::vector< <a class="el" href="structobject__data.html">object_data</a> >> &dod)</td></tr>
+<tr class="memdesc:ae72a1b14426b9a5c4da570b5c4378c87"><td class="mdescLeft"> </td><td class="mdescRight">Set drop off data. <a href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">More...</a><br /></td></tr>
+<tr class="separator:ae72a1b14426b9a5c4da570b5c4378c87"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9b8ee9df3fd4477bb56b3a7c41eb5e0"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:ad9b8ee9df3fd4477bb56b3a7c41eb5e0"><td class="mdescLeft"> </td><td class="mdescRight">TS reader constructor. <a href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">More...</a><br /></td></tr>
+<tr class="separator:ad9b8ee9df3fd4477bb56b3a7c41eb5e0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><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:a74d617259a32c10da34cf8a664e48799"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< <a class="el" href="structobject__data.html">object_data</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">drop_off_data_</a></td></tr>
+<tr class="memdesc:a74d617259a32c10da34cf8a664e48799"><td class="mdescLeft"> </td><td class="mdescRight">Map of drop off data to robot. <a href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">More...</a><br /></td></tr>
+<tr class="separator:a74d617259a32c10da34cf8a664e48799"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>TS reader. </p>
+<p>Reads task space data </p>
+
+<p class="definition">Definition at line <a class="el" href="ts__reader_8h_source.html#l00015">15</a> of file <a class="el" href="ts__reader_8h_source.html">ts_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ad9b8ee9df3fd4477bb56b3a7c41eb5e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">◆ </a></span>Ts_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Ts_reader::Ts_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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>TS reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3" title="read implementatin">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ts__reader_8h_source.html#l00025">25</a> of file <a class="el" href="ts__reader_8h_source.html">ts_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a53d3f559a9b1d43b6bedf321849a81fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53d3f559a9b1d43b6bedf321849a81fe">◆ </a></span>drop_off_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map< const std::string, std::vector<<a class="el" href="structobject__data.html">object_data</a>> >& Ts_reader::drop_off_data </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 drop off data. </p>
+<dl class="section return"><dt>Returns</dt><dd>Map of drop off data to robot </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="ts__reader_8h_source.html#l00031">31</a> of file <a class="el" href="ts__reader_8h_source.html">ts_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a9b724ab02280e36e71b3ac5515f2fed3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b724ab02280e36e71b3ac5515f2fed3">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ts_reader::read </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>read implementatin </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ts__reader_8cpp_source.html#l00003">3</a> of file <a class="el" href="ts__reader_8cpp_source.html">ts_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ae72a1b14426b9a5c4da570b5c4378c87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae72a1b14426b9a5c4da570b5c4378c87">◆ </a></span>set_drop_off_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Ts_reader::set_drop_off_data </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< <a class="el" href="structobject__data.html">object_data</a> >> & </td>
+ <td class="paramname"><em>dod</em></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>Set drop off data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">dod</td><td>of drop off data to robot </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ts__reader_8h_source.html#l00037">37</a> of file <a class="el" href="ts__reader_8h_source.html">ts_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a74d617259a32c10da34cf8a664e48799"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74d617259a32c10da34cf8a664e48799">◆ </a></span>drop_off_data_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::vector<<a class="el" href="structobject__data.html">object_data</a>> > Ts_reader::drop_off_data_</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>Map of drop off data to robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="ts__reader_8h_source.html#l00017">17</a> of file <a class="el" href="ts__reader_8h_source.html">ts_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="ts__reader_8h_source.html">ts_reader.h</a></li>
+<li><a class="el" href="ts__reader_8cpp_source.html">ts_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classTs__reader__inherit__graph.map b/doc/html/classTs__reader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..4ceb5bbf04103be2cc8bb02cefa68af822fc7a7c
--- /dev/null
+++ b/doc/html/classTs__reader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Ts_reader" name="Ts_reader">
+<area shape="rect" id="node1" title="TS reader." alt="" coords="51,80,135,107"/>
+<area shape="rect" id="node2" href="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</map>
diff --git a/doc/html/classTs__reader__inherit__graph.md5 b/doc/html/classTs__reader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..21c827a96c145c2d1dd3ff82258bcd0653f18422
--- /dev/null
+++ b/doc/html/classTs__reader__inherit__graph.md5
@@ -0,0 +1 @@
+d7fe9d6e0ee88e335588b02e0e0bb748
\ No newline at end of file
diff --git a/doc/html/classTs__reader__inherit__graph.png b/doc/html/classTs__reader__inherit__graph.png
new file mode 100644
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Binary files /dev/null and b/doc/html/classTs__reader__inherit__graph.png differ
diff --git a/doc/html/classWing-members.html b/doc/html/classWing-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe1e2c81fc0589608bb156857cd9327e06b5ba
--- /dev/null
+++ b/doc/html/classWing-members.html
@@ -0,0 +1,61 @@
+<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">Wing Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classWing.html">Wing</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a></td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>()</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">name_</a></td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing.html#a59974ceb515b29cab964aba4314a8885">set_name</a>(std::string str)</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing.html#ad0765941cf4c23bc66b044d3583dd114">set_set</a>(tf2::Vector3 &vec)</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>()</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a></td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397">Wing</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">world_tf</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975">~Wing</a>()</td><td class="entry"><a class="el" href="classWing.html">Wing</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing.html b/doc/html/classWing.html
new file mode 100644
index 0000000000000000000000000000000000000000..f4700a191e3e9e3f7e15de243a283c6fe8a29136
--- /dev/null
+++ b/doc/html/classWing.html
@@ -0,0 +1,438 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Wing 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="classWing-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Wing Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="wing_8h_source.html">wing.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Wing:</div>
+<div class="dyncontent">
+<div class="center"><img src="classWing__inherit__graph.png" border="0" usemap="#Wing_inherit__map" alt="Inheritance graph"/></div>
+<map name="Wing_inherit__map" id="Wing_inherit__map">
+<area shape="rect" title=" " alt="" coords="67,80,122,107"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:ad8bf499109ae520a7dcd19afd564ff7b"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a> ()</td></tr>
+<tr class="separator:ad8bf499109ae520a7dcd19afd564ff7b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3dc2d8cffc9b50ff0a2333b68ea402cc"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a> ()</td></tr>
+<tr class="separator:a3dc2d8cffc9b50ff0a2333b68ea402cc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a59974ceb515b29cab964aba4314a8885"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a59974ceb515b29cab964aba4314a8885">set_name</a> (std::string str)</td></tr>
+<tr class="separator:a59974ceb515b29cab964aba4314a8885"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad0765941cf4c23bc66b044d3583dd114"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#ad0765941cf4c23bc66b044d3583dd114">set_set</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:ad0765941cf4c23bc66b044d3583dd114"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a166b6d0367d7218947e3b2321360c521"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a> ()</td></tr>
+<tr class="separator:a166b6d0367d7218947e3b2321360c521"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afc898c53233c825c8af1a74d0165f25d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:afc898c53233c825c8af1a74d0165f25d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a18f6b141738c6ed89fc115ee07a4d397"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397">Wing</a> (std::string <a class="el" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>, tf2::Transform tf, tf2::Vector3 <a class="el" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>)</td></tr>
+<tr class="separator:a18f6b141738c6ed89fc115ee07a4d397"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa9e78ec3662b1308a0d8676f79afc975"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975">~Wing</a> ()</td></tr>
+<tr class="separator:aa9e78ec3662b1308a0d8676f79afc975"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6886c5fcf4a701aaab12b93fef87e3a6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">world_tf</a> ()=0</td></tr>
+<tr class="separator:a6886c5fcf4a701aaab12b93fef87e3a6 inherit pub_methods_classAbstract__robot__element"><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:a3f6648e53c9033078f940633fb93b10d"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a></td></tr>
+<tr class="separator:a3f6648e53c9033078f940633fb93b10d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6c6cf155019a6910abbffb089eac9e05"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">name_</a></td></tr>
+<tr class="separator:a6c6cf155019a6910abbffb089eac9e05"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a895d92ca6fef5fdc5d2e60551199428c"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a></td></tr>
+<tr class="separator:a895d92ca6fef5fdc5d2e60551199428c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="wing_8h_source.html#l00007">7</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a18f6b141738c6ed89fc115ee07a4d397"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18f6b141738c6ed89fc115ee07a4d397">◆ </a></span>Wing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Wing::Wing </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Transform </td>
+ <td class="paramname"><em>tf</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 </td>
+ <td class="paramname"><em>size</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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 class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00014">14</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="aa9e78ec3662b1308a0d8676f79afc975"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9e78ec3662b1308a0d8676f79afc975">◆ </a></span>~Wing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual Wing::~Wing </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 class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00021">21</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad8bf499109ae520a7dcd19afd564ff7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8bf499109ae520a7dcd19afd564ff7b">◆ </a></span>bounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform>& Wing::bounds </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 class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00028">28</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="a3dc2d8cffc9b50ff0a2333b68ea402cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3dc2d8cffc9b50ff0a2333b68ea402cc">◆ </a></span>name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& Wing::name </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 class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00023">23</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="a59974ceb515b29cab964aba4314a8885"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59974ceb515b29cab964aba4314a8885">◆ </a></span>set_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing::set_name </td>
+ <td>(</td>
+ <td class="paramtype">std::string </td>
+ <td class="paramname"><em>str</em></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 class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00024">24</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="ad0765941cf4c23bc66b044d3583dd114"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0765941cf4c23bc66b044d3583dd114">◆ </a></span>set_set()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing::set_set </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>vec</em></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 class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00025">25</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="a166b6d0367d7218947e3b2321360c521"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a166b6d0367d7218947e3b2321360c521">◆ </a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3& Wing::size </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 class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00027">27</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="afc898c53233c825c8af1a74d0165f25d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc898c53233c825c8af1a74d0165f25d">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing_8h_source.html#l00029">29</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a3f6648e53c9033078f940633fb93b10d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f6648e53c9033078f940633fb93b10d">◆ </a></span>bounds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> Wing::bounds_</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="wing_8h_source.html#l00011">11</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="a6c6cf155019a6910abbffb089eac9e05"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c6cf155019a6910abbffb089eac9e05">◆ </a></span>name_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string Wing::name_</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="wing_8h_source.html#l00009">9</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<a id="a895d92ca6fef5fdc5d2e60551199428c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a895d92ca6fef5fdc5d2e60551199428c">◆ </a></span>size_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3 Wing::size_</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="wing_8h_source.html#l00010">10</a> of file <a class="el" href="wing_8h_source.html">wing.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="wing_8h_source.html">wing.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing__inherit__graph.map b/doc/html/classWing__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..151b737287f83efc51a7f434885a6de7f592e801
--- /dev/null
+++ b/doc/html/classWing__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Wing" name="Wing">
+<area shape="rect" id="node1" title=" " alt="" coords="67,80,122,107"/>
+<area shape="rect" id="node2" href="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</map>
diff --git a/doc/html/classWing__inherit__graph.md5 b/doc/html/classWing__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..99fcd4f88a5f6735e00bf937e874637bbcb2dd51
--- /dev/null
+++ b/doc/html/classWing__inherit__graph.md5
@@ -0,0 +1 @@
+44f6ce45cd928cfcfa7ee7335daaaa7a
\ No newline at end of file
diff --git a/doc/html/classWing__inherit__graph.png b/doc/html/classWing__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dacfb7d200a68651a7408594b18ecec57cd30ff
Binary files /dev/null and b/doc/html/classWing__inherit__graph.png differ
diff --git a/doc/html/classWing__moveit__decorator-members.html b/doc/html/classWing__moveit__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..427b2329702c9c3716f0484017a02f6288d13789
--- /dev/null
+++ b/doc/html/classWing__moveit__decorator-members.html
@@ -0,0 +1,70 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Wing_moveit_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a>(std::unique_ptr< Abstract_robot_element > next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__moveit__decorator.html#ac35f08c723f54f3d5d8946fb4e252ab2">input_filter</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>()</td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a></td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">output_filter</a>() override</td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602">set_markers</a>(moveit_msgs::CollisionObject *markers)</td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677">Wing_moveit_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing__moveit__decorator.html b/doc/html/classWing__moveit__decorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..9f4014af2b413f6194073146c8754f699e606b45
--- /dev/null
+++ b/doc/html/classWing__moveit__decorator.html
@@ -0,0 +1,341 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Wing_moveit_decorator 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="#pri-attribs">Private Attributes</a> |
+<a href="classWing__moveit__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Wing_moveit_decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Wing_moveit_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classWing__moveit__decorator__inherit__graph.png" border="0" usemap="#Wing__moveit__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Wing__moveit__decorator_inherit__map" id="Wing__moveit__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="6,169,183,196"/>
+<area shape="rect" href="classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:ac35f08c723f54f3d5d8946fb4e252ab2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#ac35f08c723f54f3d5d8946fb4e252ab2">input_filter</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:ac35f08c723f54f3d5d8946fb4e252ab2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a94dee8fbe873155ed5ed8b65c6189d90"><td class="memItemLeft" align="right" valign="top">moveit_msgs::CollisionObject * </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a> ()</td></tr>
+<tr class="separator:a94dee8fbe873155ed5ed8b65c6189d90"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9654fdfeffcf5f1f1fd2f87b267c562b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">output_filter</a> () override</td></tr>
+<tr class="separator:a9654fdfeffcf5f1f1fd2f87b267c562b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9abb8884e7960d839647f77c78b27602"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602">set_markers</a> (moveit_msgs::CollisionObject *<a class="el" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>)</td></tr>
+<tr class="separator:a9abb8884e7960d839647f77c78b27602"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ade982b05a137aa3f80b229f02211105e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:ade982b05a137aa3f80b229f02211105e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acd889db54302763f1e578fc2c0b80677"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677">Wing_moveit_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:acd889db54302763f1e578fc2c0b80677"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a> () override</td></tr>
+<tr class="separator:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae6a83bd61665cc4e3692143e84f091e8 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a> ()=0</td></tr>
+<tr class="separator:ae6a83bd61665cc4e3692143e84f091e8 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a> () override</td></tr>
+<tr class="separator:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a> ()</td></tr>
+<tr class="separator:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a> () override</td></tr>
+<tr class="separator:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:addab3f179d202bea3da80887206c8048 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:addab3f179d202bea3da80887206c8048 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> ()</td></tr>
+<tr class="separator:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a> () override</td></tr>
+<tr class="separator:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a0a10fa719ce7c2fc4d637f3b7efe2e6c"><td class="memItemLeft" align="right" valign="top">moveit_msgs::CollisionObject * </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a> = new moveit_msgs::CollisionObject()</td></tr>
+<tr class="separator:a0a10fa719ce7c2fc4d637f3b7efe2e6c"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td></tr>
+<tr class="separator:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td></tr>
+<tr class="separator:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td></tr>
+<tr class="separator:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="wing__moveit__decorator_8h_source.html#l00013">13</a> of file <a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="acd889db54302763f1e578fc2c0b80677"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd889db54302763f1e578fc2c0b80677">◆ </a></span>Wing_moveit_decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Wing_moveit_decorator::Wing_moveit_decorator </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td>
+ <td class="paramname"><em>next</em></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 class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8h_source.html#l00019">19</a> of file <a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac35f08c723f54f3d5d8946fb4e252ab2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac35f08c723f54f3d5d8946fb4e252ab2">◆ </a></span>input_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_moveit_decorator::input_filter </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8cpp_source.html#l00008">8</a> of file <a class="el" href="wing__moveit__decorator_8cpp_source.html">wing_moveit_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a94dee8fbe873155ed5ed8b65c6189d90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94dee8fbe873155ed5ed8b65c6189d90">◆ </a></span>markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit_msgs::CollisionObject* Wing_moveit_decorator::markers </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 class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8h_source.html#l00021">21</a> of file <a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9654fdfeffcf5f1f1fd2f87b267c562b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9654fdfeffcf5f1f1fd2f87b267c562b">◆ </a></span>output_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_moveit_decorator::output_filter </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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8cpp_source.html#l00010">10</a> of file <a class="el" href="wing__moveit__decorator_8cpp_source.html">wing_moveit_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a9abb8884e7960d839647f77c78b27602"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9abb8884e7960d839647f77c78b27602">◆ </a></span>set_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_moveit_decorator::set_markers </td>
+ <td>(</td>
+ <td class="paramtype">moveit_msgs::CollisionObject * </td>
+ <td class="paramname"><em>markers</em></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 class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8h_source.html#l00020">20</a> of file <a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ade982b05a137aa3f80b229f02211105e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade982b05a137aa3f80b229f02211105e">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_moveit_decorator::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Reimplemented from <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8cpp_source.html#l00003">3</a> of file <a class="el" href="wing__moveit__decorator_8cpp_source.html">wing_moveit_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0a10fa719ce7c2fc4d637f3b7efe2e6c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a10fa719ce7c2fc4d637f3b7efe2e6c">◆ </a></span>markers_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit_msgs::CollisionObject* Wing_moveit_decorator::markers_ = new moveit_msgs::CollisionObject()</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="wing__moveit__decorator_8h_source.html#l00015">15</a> of file <a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="wing__moveit__decorator_8h_source.html">wing_moveit_decorator.h</a></li>
+<li><a class="el" href="wing__moveit__decorator_8cpp_source.html">wing_moveit_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing__moveit__decorator__inherit__graph.map b/doc/html/classWing__moveit__decorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..4b90d49e964e684ccee8b104d641e2e2c1e51e6d
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+++ b/doc/html/classWing__moveit__decorator__inherit__graph.map
@@ -0,0 +1,5 @@
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+<area shape="rect" id="node2" href="$classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
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new file mode 100644
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diff --git a/doc/html/classWing__reader-members.html b/doc/html/classWing__reader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..1a6c2959b6a746cfffd023baa1a1d4f5f3139fc5
--- /dev/null
+++ b/doc/html/classWing__reader-members.html
@@ -0,0 +1,44 @@
+<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">Wing_reader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classWing__reader.html">Wing_reader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td><td class="entry"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">read</a>() override</td><td class="entry"><a class="el" href="classWing__reader.html">Wing_reader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">set_wing_data</a>(std::map< const std::string, std::pair< std::vector< object_data >, int >> &wing_data)</td><td class="entry"><a class="el" href="classWing__reader.html">Wing_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">wing_data</a>()</td><td class="entry"><a class="el" href="classWing__reader.html">Wing_reader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">wing_data_</a></td><td class="entry"><a class="el" href="classWing__reader.html">Wing_reader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classWing__reader.html">Wing_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing__reader.html b/doc/html/classWing__reader.html
new file mode 100644
index 0000000000000000000000000000000000000000..8b3a9d25ee184c0b370dc1dff8f27d01e717ad88
--- /dev/null
+++ b/doc/html/classWing__reader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Wing_reader 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="classWing__reader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Wing_reader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classWing.html">Wing</a> reader.
+ <a href="classWing__reader.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="wing__reader_8h_source.html">wing_reader.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Wing_reader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classWing__reader__inherit__graph.png" border="0" usemap="#Wing__reader_inherit__map" alt="Inheritance graph"/></div>
+<map name="Wing__reader_inherit__map" id="Wing__reader_inherit__map">
+<area shape="rect" title="Wing reader." alt="" coords="41,80,145,107"/>
+<area shape="rect" href="classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</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:a5176dcdf48c2f44bdab3cfedd6e94c4c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">read</a> () override</td></tr>
+<tr class="memdesc:a5176dcdf48c2f44bdab3cfedd6e94c4c"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">More...</a><br /></td></tr>
+<tr class="separator:a5176dcdf48c2f44bdab3cfedd6e94c4c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3e05444708c755a2aefe43a0bc8fb04a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">set_wing_data</a> (std::map< const std::string, std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &<a class="el" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">wing_data</a>)</td></tr>
+<tr class="memdesc:a3e05444708c755a2aefe43a0bc8fb04a"><td class="mdescLeft"> </td><td class="mdescRight">Set wing data. <a href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">More...</a><br /></td></tr>
+<tr class="separator:a3e05444708c755a2aefe43a0bc8fb04a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a248e697daf6a744470b310338f790ebc"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">wing_data</a> ()</td></tr>
+<tr class="memdesc:a248e697daf6a744470b310338f790ebc"><td class="mdescLeft"> </td><td class="mdescRight">Get wing data. <a href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">More...</a><br /></td></tr>
+<tr class="separator:a248e697daf6a744470b310338f790ebc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a98abb7d49525f6a3832bdd1a8d4e3e3c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a98abb7d49525f6a3832bdd1a8d4e3e3c"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classWing.html">Wing</a> reader constructor. <a href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">More...</a><br /></td></tr>
+<tr class="separator:a98abb7d49525f6a3832bdd1a8d4e3e3c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Abstract param reader constructor. <a href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">More...</a><br /></td></tr>
+<tr class="separator:a734c0833347f6d686f280031b3219de0 inherit pub_methods_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">More...</a><br /></td></tr>
+<tr class="separator:a107d1be3e232087e003820c9a924b2dd inherit pub_methods_classAbstract__param__reader"><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:af5dbd133afcbd8f2f929d94b93ac0e0b"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">wing_data_</a></td></tr>
+<tr class="memdesc:af5dbd133afcbd8f2f929d94b93ac0e0b"><td class="mdescLeft"> </td><td class="mdescRight">Mask and object data mapped to robot. <a href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">More...</a><br /></td></tr>
+<tr class="separator:af5dbd133afcbd8f2f929d94b93ac0e0b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__param__reader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__param__reader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a></td></tr>
+<tr class="memitem:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a></td></tr>
+<tr class="memdesc:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">More...</a><br /></td></tr>
+<tr class="separator:ac68dac5298b2c065773ba8412a134949 inherit pro_attribs_classAbstract__param__reader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classWing.html">Wing</a> reader. </p>
+<p>Reads panel data </p>
+
+<p class="definition">Definition at line <a class="el" href="wing__reader_8h_source.html#l00014">14</a> of file <a class="el" href="wing__reader_8h_source.html">wing_reader.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a98abb7d49525f6a3832bdd1a8d4e3e3c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98abb7d49525f6a3832bdd1a8d4e3e3c">◆ </a></span>Wing_reader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Wing_reader::Wing_reader </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>d</em></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><a class="el" href="classWing.html">Wing</a> reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c" title="read implementatin">read()</a> methode </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">d</td><td>ROS nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="wing__reader_8h_source.html#l00024">24</a> of file <a class="el" href="wing__reader_8h_source.html">wing_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5176dcdf48c2f44bdab3cfedd6e94c4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5176dcdf48c2f44bdab3cfedd6e94c4c">◆ </a></span>read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_reader::read </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>read implementatin </p>
+
+<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__reader_8cpp_source.html#l00003">3</a> of file <a class="el" href="wing__reader_8cpp_source.html">wing_reader.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a3e05444708c755a2aefe43a0bc8fb04a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e05444708c755a2aefe43a0bc8fb04a">◆ </a></span>set_wing_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_reader::set_wing_data </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> & </td>
+ <td class="paramname"><em>wing_data</em></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>Set wing data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">wing_data</td><td>Mask and object data mapped to robot </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="wing__reader_8h_source.html#l00030">30</a> of file <a class="el" href="wing__reader_8h_source.html">wing_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a248e697daf6a744470b310338f790ebc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a248e697daf6a744470b310338f790ebc">◆ </a></span>wing_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::pair<std::vector<<a class="el" href="structobject__data.html">object_data</a>>, int> >& Wing_reader::wing_data </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 wing data. </p>
+<dl class="section return"><dt>Returns</dt><dd>wing_data Mask and object data mapped to robot </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="wing__reader_8h_source.html#l00036">36</a> of file <a class="el" href="wing__reader_8h_source.html">wing_reader.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="af5dbd133afcbd8f2f929d94b93ac0e0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5dbd133afcbd8f2f929d94b93ac0e0b">◆ </a></span>wing_data_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::map<const std::string, std::pair<std::vector<<a class="el" href="structobject__data.html">object_data</a>>, int> > Wing_reader::wing_data_</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>Mask and object data mapped to robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="wing__reader_8h_source.html#l00016">16</a> of file <a class="el" href="wing__reader_8h_source.html">wing_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="wing__reader_8h_source.html">wing_reader.h</a></li>
+<li><a class="el" href="wing__reader_8cpp_source.html">wing_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing__reader__inherit__graph.map b/doc/html/classWing__reader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..d67e0b2b829cabd1828684118d803bd92382e93c
--- /dev/null
+++ b/doc/html/classWing__reader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Wing_reader" name="Wing_reader">
+<area shape="rect" id="node1" title="Wing reader." alt="" coords="41,80,145,107"/>
+<area shape="rect" id="node2" href="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
+</map>
diff --git a/doc/html/classWing__reader__inherit__graph.md5 b/doc/html/classWing__reader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..9f00c3bdd6e73fe830281f99ec587a740da3c45e
--- /dev/null
+++ b/doc/html/classWing__reader__inherit__graph.md5
@@ -0,0 +1 @@
+a322412d4e48dc019e063e1cd05a5fed
\ No newline at end of file
diff --git a/doc/html/classWing__reader__inherit__graph.png b/doc/html/classWing__reader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fb74a4a3dd254660c772b1a3fe18b25b3588a55
Binary files /dev/null and b/doc/html/classWing__reader__inherit__graph.png differ
diff --git a/doc/html/classWing__rviz__decorator-members.html b/doc/html/classWing__rviz__decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..6c416e42b92e10ef8be44dfc81e5ad2779815a54
--- /dev/null
+++ b/doc/html/classWing__rviz__decorator-members.html
@@ -0,0 +1,70 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">Wing_rviz_decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>()=default</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a>(std::unique_ptr< Abstract_robot_element > next)</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__rviz__decorator.html#a1a96d6aa2f86b5b187b7a55a8c604722">input_filter</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a>()=0</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a></td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>()</td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">output_filter</a>() override</td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507">set_markers</a>(visualization_msgs::Marker *markers)</td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator</a>(Abstract_robot_element *next)</td><td class="entry"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>() override</td><td class="entry"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td><td class="entry"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWing__rviz__decorator.html b/doc/html/classWing__rviz__decorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..ab1c5292efda433e1048173053b52e11c4fae5e1
--- /dev/null
+++ b/doc/html/classWing__rviz__decorator.html
@@ -0,0 +1,341 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Wing_rviz_decorator 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="#pri-attribs">Private Attributes</a> |
+<a href="classWing__rviz__decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Wing_rviz_decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Wing_rviz_decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classWing__rviz__decorator__inherit__graph.png" border="0" usemap="#Wing__rviz__decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Wing__rviz__decorator_inherit__map" id="Wing__rviz__decorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="17,169,172,196"/>
+<area shape="rect" href="classAbstract__robot__element__decorator.html" title=" " alt="" coords="5,80,184,121"/>
+<area shape="rect" href="classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
+</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:a1a96d6aa2f86b5b187b7a55a8c604722"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#a1a96d6aa2f86b5b187b7a55a8c604722">input_filter</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:a1a96d6aa2f86b5b187b7a55a8c604722"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7f27d708e22c72dae7ec90c2f1f699b2"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker * </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a> ()</td></tr>
+<tr class="separator:a7f27d708e22c72dae7ec90c2f1f699b2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac2a0e83684cdab21c225699fab4b56f7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">output_filter</a> () override</td></tr>
+<tr class="separator:ac2a0e83684cdab21c225699fab4b56f7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab14def4c2e63ce9036488b894e74c507"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507">set_markers</a> (visualization_msgs::Marker *<a class="el" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>)</td></tr>
+<tr class="separator:ab14def4c2e63ce9036488b894e74c507"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af5dce35a8439a2f1c5037cc3dc6d434e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:af5dce35a8439a2f1c5037cc3dc6d434e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13ffcd407511d8812150f26b9b257806"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:a13ffcd407511d8812150f26b9b257806"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a> (<a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> *<a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:ae8e0dfe6a805942ddc5bd8d335b279a7 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a> (std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)</td></tr>
+<tr class="separator:a2c76b8c0d4e487517e8c874e75613162 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a> () override</td></tr>
+<tr class="separator:ac06ca3833192af0e719c22419c07ccbb inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae6a83bd61665cc4e3692143e84f091e8 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a> ()=0</td></tr>
+<tr class="separator:ae6a83bd61665cc4e3692143e84f091e8 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a> () override</td></tr>
+<tr class="separator:afa68bc27f679beb896722f0eebe6d719 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a> ()</td></tr>
+<tr class="separator:a87d8de36475ce19034a9728f545eb03e inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a> () override</td></tr>
+<tr class="separator:abe4aed220334766bd4ec903429006830 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:addab3f179d202bea3da80887206c8048 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:addab3f179d202bea3da80887206c8048 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> ()</td></tr>
+<tr class="separator:a9138c650f2148d515802a89f079ace2f inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a> () override</td></tr>
+<tr class="separator:ad077cbfa7a43d1212b78cd61bcbf37a6 inherit pub_methods_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a> ()=default</td></tr>
+<tr class="separator:a2c9540782c6450c15aaa20c20b677a9a inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a> (tf2::Transform tf, std::string <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</td></tr>
+<tr class="separator:ab63f250226570c92077ef4555d6f5890 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a19e094e1639e2c72ead481a3c6c9ec24 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a> ()</td></tr>
+<tr class="separator:ad3ee9aff6d4fb1e4e90775e943e65861 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a12e6954b51765e18a7f0c2d8c4eca0c6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa7ee89ce290dd2e6408a9d2118af93f8 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a> ()</td></tr>
+<tr class="separator:a99d0cb9e273cdfb373d4c974529b1ad6 inherit pub_methods_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a9b7cdc7830647d8c6005414b2694cdf5"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker * </td><td class="memItemRight" valign="bottom"><a class="el" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a> = new visualization_msgs::Marker()</td></tr>
+<tr class="separator:a9b7cdc7830647d8c6005414b2694cdf5"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element__decorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element__decorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></td></tr>
+<tr class="memitem:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a></td></tr>
+<tr class="separator:ab7fe1d6234cc937bf72a2f951781329b inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a></td></tr>
+<tr class="separator:ad46c4941160e802f67afa20b4a85d08e inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a></td></tr>
+<tr class="separator:a3594b46365559d7304942f983bddab03 inherit pro_attribs_classAbstract__robot__element__decorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstract__robot__element"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstract__robot__element')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a></td></tr>
+<tr class="memitem:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a></td></tr>
+<tr class="separator:a4d44edf1d412564ef916f16ee9035116 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a></td></tr>
+<tr class="separator:adcaadf1f399625d67747ce746a0cc928 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a></td></tr>
+<tr class="separator:a83f046bb2fb1009832091cf8502af956 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a></td></tr>
+<tr class="separator:a432662f8ece3c1e08739bd36a4c155d6 inherit pro_attribs_classAbstract__robot__element"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a></td></tr>
+<tr class="separator:ad42d8ba185583e644e00af1c2298a38d inherit pro_attribs_classAbstract__robot__element"><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="wing__rviz__decorator_8h_source.html#l00009">9</a> of file <a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a13ffcd407511d8812150f26b9b257806"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13ffcd407511d8812150f26b9b257806">◆ </a></span>Wing_rviz_decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Wing_rviz_decorator::Wing_rviz_decorator </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a> * </td>
+ <td class="paramname"><em>next</em></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 class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8h_source.html#l00015">15</a> of file <a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1a96d6aa2f86b5b187b7a55a8c604722"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a96d6aa2f86b5b187b7a55a8c604722">◆ </a></span>input_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_rviz_decorator::input_filter </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8cpp_source.html#l00009">9</a> of file <a class="el" href="wing__rviz__decorator_8cpp_source.html">wing_rviz_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a7f27d708e22c72dae7ec90c2f1f699b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f27d708e22c72dae7ec90c2f1f699b2">◆ </a></span>markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">visualization_msgs::Marker* Wing_rviz_decorator::markers </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 class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8h_source.html#l00017">17</a> of file <a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac2a0e83684cdab21c225699fab4b56f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2a0e83684cdab21c225699fab4b56f7">◆ </a></span>output_filter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_rviz_decorator::output_filter </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>Implements <a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8cpp_source.html#l00036">36</a> of file <a class="el" href="wing__rviz__decorator_8cpp_source.html">wing_rviz_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab14def4c2e63ce9036488b894e74c507"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab14def4c2e63ce9036488b894e74c507">◆ </a></span>set_markers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_rviz_decorator::set_markers </td>
+ <td>(</td>
+ <td class="paramtype">visualization_msgs::Marker * </td>
+ <td class="paramname"><em>markers</em></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 class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8h_source.html#l00016">16</a> of file <a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="af5dce35a8439a2f1c5037cc3dc6d434e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5dce35a8439a2f1c5037cc3dc6d434e">◆ </a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Wing_rviz_decorator::update </td>
+ <td>(</td>
+ <td class="paramtype">tf2::Transform & </td>
+ <td class="paramname"><em>tf</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>Reimplemented from <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8cpp_source.html#l00003">3</a> of file <a class="el" href="wing__rviz__decorator_8cpp_source.html">wing_rviz_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9b7cdc7830647d8c6005414b2694cdf5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b7cdc7830647d8c6005414b2694cdf5">◆ </a></span>marker_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">visualization_msgs::Marker* Wing_rviz_decorator::marker_ = new visualization_msgs::Marker()</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="wing__rviz__decorator_8h_source.html#l00011">11</a> of file <a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="wing__rviz__decorator_8h_source.html">wing_rviz_decorator.h</a></li>
+<li><a class="el" href="wing__rviz__decorator_8cpp_source.html">wing_rviz_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
index 0000000000000000000000000000000000000000..e8047672cf3c0c9ac629c7d3ca406b3189e61155
--- /dev/null
+++ b/doc/html/classes.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Index</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">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_f">f</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_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 class="ah">  a  </div></td></tr></table>
+</td>
+<td valign="top"><a class="el" href="classBase__calculation__mediator.html">Base_calculation_mediator</a>   </td>
+<td rowspan="2" valign="bottom"><a name="letter_l"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  l  </div></td></tr></table>
+</td>
+<td rowspan="2" valign="bottom"><a name="letter_p"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  p  </div></td></tr></table>
+</td>
+<td valign="top"><a class="el" href="classTs__reader.html">Ts_reader</a>   </td>
+</tr>
+<tr><td rowspan="2" valign="bottom"><a name="letter_c"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  c  </div></td></tr></table>
+</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="classAbstract__base.html">Abstract_base</a>   </td>
+<td valign="top"><a class="el" href="classLog__decorator.html">Log_decorator</a>   </td>
+<td valign="top"><a class="el" href="classPanda__decorator.html">Panda_decorator</a>   </td>
+</tr>
+<tr><td valign="top"><a class="el" href="classAbstract__base__implementation.html">Abstract_base_implementation</a>   </td>
+<td valign="top"><a class="el" href="classCeti__robot.html">Ceti_robot</a>   </td>
+<td rowspan="2" valign="bottom"><a name="letter_m"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  m  </div></td></tr></table>
+</td>
+<td valign="top"><a class="el" href="classPanel.html">Panel</a>   </td>
+<td valign="top"><a class="el" href="classWing.html">Wing</a>   </td>
+</tr>
+<tr><td valign="top"><a class="el" href="classAbstract__map__loader.html">Abstract_map_loader</a>   </td>
+<td valign="top"><a class="el" href="classCollision__helper.html">Collision_helper</a>   </td>
+<td rowspan="2" valign="bottom"><a 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="structwing__BP.html">wing_BP</a>   </td>
+</tr>
+<tr><td valign="top"><a class="el" href="classAbstract__mediator.html">Abstract_mediator</a>   </td>
+<td valign="top"><a class="el" href="classCuboid__reader.html">Cuboid_reader</a>   </td>
+<td valign="top"><a class="el" href="classMap__loader.html">Map_loader</a>   </td>
+<td valign="top"><a class="el" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a>   </td>
+</tr>
+<tr><td valign="top"><a class="el" href="classAbstract__param__reader.html">Abstract_param_reader</a>   </td>
+<td rowspan="2" valign="bottom"><a name="letter_f"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  f  </div></td></tr></table>
+</td>
+<td valign="top"><a class="el" href="classMap__reader.html">Map_reader</a>   </td>
+<td valign="top"><a class="el" href="classRobot.html">Robot</a>   </td>
+<td valign="top"><a class="el" href="classWing__reader.html">Wing_reader</a>   </td>
+</tr>
+<tr><td valign="top"><a class="el" href="classAbstract__robot.html">Abstract_robot</a>   </td>
+<td valign="top"><a class="el" href="classMediator.html">Mediator</a>   </td>
+<td valign="top"><a class="el" href="classRobot__reader.html">Robot_reader</a>   </td>
+<td valign="top"><a class="el" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>   </td>
+</tr>
+<tr><td valign="top"><a class="el" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a>   </td>
+<td valign="top"><a class="el" href="classField.html">Field</a>   </td>
+<td valign="top"><a class="el" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a>   </td>
+<td valign="top"><a class="el" href="classRviz__panel.html">Rviz_panel</a>   </td>
+<td></td></tr>
+<tr><td valign="top"><a class="el" href="classAbstract__robot__element.html">Abstract_robot_element</a>   </td>
+<td valign="top"><a class="el" href="classField__rviz__decorator.html">Field_rviz_decorator</a>   </td>
+<td valign="top"><a class="el" href="classMoveit__mediator.html">Moveit_mediator</a>   </td>
+<td rowspan="2" valign="bottom"><a name="letter_s"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  s  </div></td></tr></table>
+</td>
+<td></td></tr>
+<tr><td valign="top"><a class="el" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>   </td>
+<td rowspan="2" valign="bottom"><a name="letter_j"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  j  </div></td></tr></table>
+</td>
+<td valign="top"><a class="el" href="classMoveit__panel.html">Moveit_panel</a>   </td>
+<td></td></tr>
+<tr><td valign="top"><a class="el" href="classAbstract__strategy.html">Abstract_strategy</a>   </td>
+<td valign="top"><a class="el" href="classMoveit__robot.html">Moveit_robot</a>   </td>
+<td valign="top"><a class="el" href="classSimple__base.html">Simple_base</a>   </td>
+<td></td></tr>
+<tr><td rowspan="2" valign="bottom"><a name="letter_b"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  b  </div></td></tr></table>
+</td>
+<td valign="top"><a class="el" href="structjob__data.html">job_data</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="classSimple__base__implementation.html">Simple_base_implementation</a>   </td>
+<td></td></tr>
+<tr><td valign="top"><a class="el" href="classJob__reader.html">Job_reader</a>   </td>
+<td rowspan="2" valign="bottom"><a name="letter_t"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">  t  </div></td></tr></table>
+</td>
+<td></td></tr>
+<tr><td valign="top"><a class="el" href="classBase__by__rotation.html">Base_by_rotation</a>   </td>
+<td></td><td valign="top"><a class="el" href="structobject__data.html">object_data</a>   </td>
+<td></td></tr>
+<tr><td></td><td></td><td></td><td valign="top"><a class="el" href="classTask__space__reader.html">Task_space_reader</a>   </td>
+<td></td></tr>
+<tr><td></td><td></td><td></td><td></td><td></td></tr>
+</table>
+<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_f">f</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_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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: collision_helper.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 -->
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+ 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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">collision_helper.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="collision__helper_8h_source.html">impl/collision_helper.h</a>"</code><br />
+<code>#include <moveit/collision_detection/collision_common.h></code><br />
+<code>#include <fcl/broadphase/broadphase_dynamic_AABB_tree.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for collision_helper.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="collision__helper_8cpp__incl.png" border="0" usemap="#collision__helper_8cpp" alt=""/></div>
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+</div>
+</div>
+<p><a href="collision__helper_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: collision_helper.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>
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+<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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">collision_helper.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="collision__helper_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="collision__helper_8h.html">impl/collision_helper.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <moveit/collision_detection/collision_common.h></span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <fcl/broadphase/broadphase_dynamic_AABB_tree.h></span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
+<div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec"> 5</a></span> <span class="keywordtype">bool</span> <a class="code" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper::collision_detector</a>(<span class="keyword">const</span> std::string& object1_name, <span class="keyword">const</span> std::string& object2_name){ </div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <span class="keywordflow">for</span> (std::map<std::string, collision_detection::FCLObject>::const_iterator it = fcl_objs_.begin(); it != fcl_objs_.end(); ++it){</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  std::string obj = it->first;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  ROS_INFO(<span class="stringliteral">"object %s"</span>, obj.c_str());</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> auto objA = fcl_objs_.at(object1_name);</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> auto objB = fcl_objs_.at(object2_name);</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> auto manager1 = std::make_unique<fcl::DynamicAABBTreeCollisionManagerd>();</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> auto manager2 = std::make_unique<fcl::DynamicAABBTreeCollisionManagerd>();</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> objA.registerTo(manager1.get());</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> objB.registerTo(manager2.get());</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> // Perform collision detection</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> collision_detection::CollisionRequest req;</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> collision_detection::CollisionResult res;</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> collision_detection::CollisionData cd;</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> cd.req_ = &req;</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> cd.res_ = &res;</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> manager1->collide(manager2.get(), &cd, &collision_detection::collisionCallback);</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="comment">//ROS_INFO("läuft %i", fcl_objs_.size());</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassCollision__helper_html_a0969d2a29f043ad3509bf174ecc103ec"><div class="ttname"><a href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper::collision_detector</a></div><div class="ttdeci">bool collision_detector(const std::string &object1_name, const std::string &object2_name)</div><div class="ttdef"><b>Definition:</b> <a href="collision__helper_8cpp_source.html#l00005">collision_helper.cpp:5</a></div></div>
+<div class="ttc" id="acollision__helper_8h_html"><div class="ttname"><a href="collision__helper_8h.html">collision_helper.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: collision_helper.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">collision_helper.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <moveit/collision_detection/collision_env.h></code><br />
+<code>#include <moveit/collision_detection_fcl/collision_env_fcl.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for collision_helper.h:</div>
+<div class="dyncontent">
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+<p><a href="collision__helper_8h_source.html">Go to the source code of this file.</a></p>
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+<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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: collision_helper.h 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>
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+<body onload='searchBox.OnSelectItem(0);'>
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">collision_helper.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="collision__helper_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 COLLISION_HELPER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define COLLISION_HELPER_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <moveit/collision_detection/collision_env.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <moveit/collision_detection_fcl/collision_env_fcl.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>  </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="classCollision__helper.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classCollision__helper.html">Collision_helper</a> : <span class="keyword">public</span> collision_detection::CollisionEnvFCL{</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classCollision__helper.html#a3578a1bf2e59c1f5e55fc396ce966e9b">~Collision_helper</a>()= <span class="keywordflow">default</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"> 15</span>  <span class="keywordtype">bool</span> <a class="code" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">collision_detector</a>(<span class="keyword">const</span> std::string& object1_name, <span class="keyword">const</span> std::string& object2_name);</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"> 18</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassCollision__helper_html"><div class="ttname"><a href="classCollision__helper.html">Collision_helper</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__helper_8h_source.html#l00010">collision_helper.h:10</a></div></div>
+<div class="ttc" id="aclassCollision__helper_html_a0969d2a29f043ad3509bf174ecc103ec"><div class="ttname"><a href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper::collision_detector</a></div><div class="ttdeci">bool collision_detector(const std::string &object1_name, const std::string &object2_name)</div><div class="ttdef"><b>Definition:</b> <a href="collision__helper_8cpp_source.html#l00005">collision_helper.cpp:5</a></div></div>
+<div class="ttc" id="aclassCollision__helper_html_a3578a1bf2e59c1f5e55fc396ce966e9b"><div class="ttname"><a href="classCollision__helper.html#a3578a1bf2e59c1f5e55fc396ce966e9b">Collision_helper::~Collision_helper</a></div><div class="ttdeci">~Collision_helper()=default</div></div>
+<div class="ttc" id="aclassCollision__helper_html_a1637a6d6db9a3a3458ab0eec053c5d9a"><div class="ttname"><a href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper::Collision_helper</a></div><div class="ttdeci">Collision_helper()=default</div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
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+ <div class="headertitle">
+<div class="title">cuboid_reader.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="cuboid__reader_8h_source.html">reader/cuboid_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for cuboid_reader.cpp:</div>
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+<p><a href="cuboid__reader_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: cuboid_reader.cpp Source File</title>
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+/* @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_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">cuboid_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="cuboid__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 "<a class="code" href="cuboid__reader_8h.html">reader/cuboid_reader.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="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">Cuboid_reader::read</a>(){</div>
+<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="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</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="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassCuboid__reader_html_af8a5a286ea79d157c294d0f1efc9ce8a"><div class="ttname"><a href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">Cuboid_reader::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="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassCuboid__reader_html_aa9fb23e8916e3288d8172725b8cd1842"><div class="ttname"><a href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">Cuboid_reader::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="aclassCuboid__reader_html_ae02b31c6baf83e5d957170a7d454224b"><div class="ttname"><a href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">Cuboid_reader::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="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: cuboid_reader.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">cuboid_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <gb_grasp/Cuboid.h></code><br />
+<code>#include "<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for cuboid_reader.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="cuboid__reader_8h__incl.png" border="0" usemap="#cuboid__reader_8h" alt=""/></div>
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+<div class="dyncontent">
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+</map>
+</div>
+</div>
+<p><a href="cuboid__reader_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="classCuboid__reader.html">Cuboid_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Cuboid reader. <a href="classCuboid__reader.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: cuboid_reader.h 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);'>
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+});
+/* @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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">cuboid_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="cuboid__reader_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 CUBOID_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define CUBOID_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <gb_grasp/Cuboid.h></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"> 9</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</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="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="l00014"></a><span class="lineno"> 14</span>  </div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classCuboid__reader.html"> 17</a></span> <span class="keyword">class </span><a class="code" href="classCuboid__reader.html">Cuboid_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>{</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b"> 19</a></span>  std::vector<Cuboid> <a class="code" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">cuboid_box_</a>; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a"> 20</a></span>  std::vector<Cuboid> <a class="code" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">cuboid_obstacle_</a>; </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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f"> 28</a></span>  <a class="code" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d){<a class="code" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">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="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e"> 34</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">set_cuboid_bin_data</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">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="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d"> 40</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">set_cuboid_obstacle_data</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">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="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670"> 46</a></span>  <span class="keyword">inline</span> std::vector<Cuboid> <a class="code" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">cuboid_bin</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">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="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b"> 52</a></span>  <span class="keyword">inline</span> std::vector<Cuboid> <a class="code" href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">cuboid_obstacle</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">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="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">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="aclassCuboid__reader_html_af8a5a286ea79d157c294d0f1efc9ce8a"><div class="ttname"><a href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">Cuboid_reader::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="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="aclassCuboid__reader_html_ace0ace01df2eeb0607e8ad9d2764200d"><div class="ttname"><a href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">Cuboid_reader::set_cuboid_obstacle_data</a></div><div class="ttdeci">void set_cuboid_obstacle_data(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="aclassCuboid__reader_html"><div class="ttname"><a href="classCuboid__reader.html">Cuboid_reader</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="aclassCuboid__reader_html_a3f80a47bd3b32eb3daaa7ee4c9dbd670"><div class="ttname"><a href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">Cuboid_reader::cuboid_bin</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_bin()</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="aclassCuboid__reader_html_a79e976d81d68adfc6b15d5b6879a726e"><div class="ttname"><a href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">Cuboid_reader::set_cuboid_bin_data</a></div><div class="ttdeci">void set_cuboid_bin_data(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="aclassCuboid__reader_html_aa9fb23e8916e3288d8172725b8cd1842"><div class="ttname"><a href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">Cuboid_reader::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="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassCuboid__reader_html_ae02b31c6baf83e5d957170a7d454224b"><div class="ttname"><a href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">Cuboid_reader::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="aclassCuboid__reader_html_a499edb06157aac6287cdf683b0316a8b"><div class="ttname"><a href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">Cuboid_reader::cuboid_obstacle</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_obstacle()</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="aclassCuboid__reader_html_a23a0d80e92f06c576ee242239f27a68f"><div class="ttname"><a href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader::Cuboid_reader</a></div><div class="ttdeci">Cuboid_reader(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>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000001_000008.html b/doc/html/dir_000001_000008.html
new file mode 100644
index 0000000000000000000000000000000000000000..c915596025c2b5c32040f30506c9600b812e9477
--- /dev/null
+++ b/doc/html/dir_000001_000008.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: bridge -> reader 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>bridge → reader Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/bridge</th><th class="dirtab">Includes file in include/reader</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__base_8h.html">abstract_base.h</a></td><td class="dirtab"><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="simple__base_8h.html">simple_base.h</a></td><td class="dirtab"><a class="el" href="map__reader_8h.html">map_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="simple__base_8h.html">simple_base.h</a></td><td class="dirtab"><a class="el" href="ts__reader_8h.html">ts_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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000001_000010.html b/doc/html/dir_000001_000010.html
new file mode 100644
index 0000000000000000000000000000000000000000..97cd032d24880b371aa3a22d2f0b5275bcafe57c
--- /dev/null
+++ b/doc/html/dir_000001_000010.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: bridge -> robot 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>bridge → robot Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/bridge</th><th class="dirtab">Includes file in include/robot</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__base_8h.html">abstract_base.h</a></td><td class="dirtab"><a class="el" href="robot_2abstract__robot_8h.html">robot/abstract_robot.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000002_000008.html b/doc/html/dir_000002_000008.html
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa145c8977e0cc76800150dc7fe88e23ec9416
--- /dev/null
+++ b/doc/html/dir_000002_000008.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: impl -> reader 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>impl → reader Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/impl</th><th class="dirtab">Includes file in include/reader</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="impl_2abstract__mediator_8h.html">impl/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="moveit__grasp__mediator_8h.html">moveit_grasp_mediator.h</a></td><td class="dirtab"><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="moveit__grasp__mediator_8h.html">moveit_grasp_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__grasp__mediator_8h.html">moveit_grasp_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__grasp__mediator_8h.html">moveit_grasp_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="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></table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000004_000000.html b/doc/html/dir_000004_000000.html
new file mode 100644
index 0000000000000000000000000000000000000000..dda64cde9b71f6de9e3d9ed830a491a2bd003af3
--- /dev/null
+++ b/doc/html/dir_000004_000000.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: impl -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>impl → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/impl</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__by__rotation_8cpp.html">base_by_rotation.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="base__by__rotation_8h.html">base_by_rotation.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="collision__helper_8cpp.html">collision_helper.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="collision__helper_8h.html">collision_helper.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="field__rviz__decorator_8cpp.html">field_rviz_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="field__rviz__decorator_8h.html">field_rviz_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="impl_2abstract__mediator_8cpp.html">impl/abstract_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="map__loader_8cpp.html">map_loader.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="map__loader_8h.html">map_loader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="mediator_8cpp.html">mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="mediator_8h.html">mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="mediator_8cpp.html">mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="wing__rviz__decorator_8h.html">wing_rviz_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__grasp__mediator_8cpp.html">moveit_grasp_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="moveit__grasp__mediator_8h.html">moveit_grasp_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__grasp__mediator_8cpp.html">moveit_grasp_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="wing__moveit__decorator_8h.html">wing_moveit_decorator.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_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="robot_8cpp.html">robot.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="robot_8h.html">robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="wing__moveit__decorator_8cpp.html">wing_moveit_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="wing__moveit__decorator_8h.html">wing_moveit_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="wing__rviz__decorator_8cpp.html">wing_rviz_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a> / <a class="el" href="wing__rviz__decorator_8h.html">wing_rviz_decorator.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000005_000000.html b/doc/html/dir_000005_000000.html
new file mode 100644
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator -> 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>
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+});
+/* @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="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="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="mediator_2abstract__mediator_8cpp.html">mediator/abstract_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="mediator_2abstract__mediator_8h.html">mediator/abstract_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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator -> reader 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>
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+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<div id="nav-path" class="navpath">
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+<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="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="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="mediator_2abstract__mediator_8h.html">mediator/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="mediator_2abstract__mediator_8h.html">mediator/abstract_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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator -> robot 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>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+ 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="contents">
+<h3>mediator → robot Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/mediator</th><th class="dirtab">Includes file in include/robot</th></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="ceti__robot_8h.html">ceti_robot.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_2abstract__robot_8h.html">robot/abstract_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="mediator_2abstract__mediator_8h.html">mediator/abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a> / <a class="el" href="abstract__robot__decorator_8h.html">abstract_robot_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="mediator_2abstract__mediator_8h.html">mediator/abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="ceti__robot_8h.html">ceti_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="mediator_2abstract__mediator_8h.html">mediator/abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="robot_2abstract__robot_8h.html">robot/abstract_robot.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator -> robot_element 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>
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+/* @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="contents">
+<h3>mediator → robot_element Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/mediator</th><th class="dirtab">Includes file in include/robot_element</th></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="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a> / <a class="el" href="log__decorator_8h.html">log_decorator.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="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="rviz__panel_8h.html">rviz_panel.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="mediator_2abstract__mediator_8h.html">mediator/abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_af89b2be539cdaaafaad341d1e56977e.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 src/reader</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__param__reader_8cpp.html">abstract_param_reader.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="cuboid__reader_8cpp.html">cuboid_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="job__reader_8cpp.html">job_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="map__reader_8cpp.html">map_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="robot__reader_8cpp.html">robot_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><tr class="dirtab"><td class="dirtab"><a class="el" href="task__space__reader_8cpp.html">task_space_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="task__space__reader_8h.html">task_space_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ts__reader_8cpp.html">ts_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <a class="el" href="ts__reader_8h.html">ts_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="wing__reader_8cpp.html">wing_reader.cpp</a></td><td class="dirtab"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a> / <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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>robot → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/robot</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__robot_8cpp.html">abstract_robot.cpp</a></td><td class="dirtab"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a> / <a class="el" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ceti__robot_8cpp.html">ceti_robot.cpp</a></td><td class="dirtab"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a> / <a class="el" href="ceti__robot_8h.html">ceti_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dir_213ed5268c3d3b5adb84b79e310ac6b7.html">decorators</a> / <a class="el" href="panda__decorator_8cpp.html">panda_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a> / <a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a> / <a class="el" href="panda__decorator_8h.html">panda_decorator.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000010_000012.html b/doc/html/dir_000010_000012.html
new file mode 100644
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+++ b/doc/html/dir_000010_000012.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot -> robot_element 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>
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+ 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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>robot → robot_element Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/robot</th><th class="dirtab">Includes file in include/robot_element</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ceti__robot_8h.html">ceti_robot.h</a></td><td class="dirtab"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="panel_8h.html">panel.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ceti__robot_8h.html">ceti_robot.h</a></td><td class="dirtab"><a class="el" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ceti__robot_8h.html">ceti_robot.h</a></td><td class="dirtab"><a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a> / <a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">robot_element/decorators/abstract_robot_element_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ceti__robot_8h.html">ceti_robot.h</a></td><td class="dirtab"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="robot__element_2observers_2field_8h.html">robot_element/observers/field.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a></td><td class="dirtab"><a class="el" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000013_000000.html b/doc/html/dir_000013_000000.html
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+++ b/doc/html/dir_000013_000000.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_element -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>robot_element → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/robot_element</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a> / <a class="el" href="field_8cpp.html">field.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="robot__element_2observers_2field_8h.html">robot_element/observers/field.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dir_129dfe63f339df39af9b29f455952c18.html">decorators</a> / <a class="el" href="log__decorator_8cpp.html">log_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a> / <a class="el" href="log__decorator_8h.html">log_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a> / <a class="el" href="moveit__panel_8cpp.html">moveit_panel.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="moveit__panel_8h.html">moveit_panel.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a> / <a class="el" href="panel_8cpp.html">panel.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="panel_8h.html">panel.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a> / <a class="el" href="rviz__panel_8cpp.html">rviz_panel.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="rviz__panel_8h.html">rviz_panel.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000014_000000.html b/doc/html/dir_000014_000000.html
new file mode 100644
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+++ b/doc/html/dir_000014_000000.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: decorators -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_129dfe63f339df39af9b29f455952c18.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>decorators → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/robot_element/decorators</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="log__decorator_8cpp.html">log_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a> / <a class="el" href="log__decorator_8h.html">log_decorator.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000016_000000.html b/doc/html/dir_000016_000000.html
new file mode 100644
index 0000000000000000000000000000000000000000..baa5c3488eab320b51c1cd1a92c0a52f15372f86
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+++ b/doc/html/dir_000016_000000.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: observers -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>observers → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/robot_element/observers</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="field_8cpp.html">field.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="robot__element_2observers_2field_8h.html">robot_element/observers/field.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__panel_8cpp.html">moveit_panel.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="moveit__panel_8h.html">moveit_panel.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="panel_8cpp.html">panel.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="panel_8h.html">panel.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="rviz__panel_8cpp.html">rviz_panel.cpp</a></td><td class="dirtab"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a> / <a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="rviz__panel_8h.html">rviz_panel.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000018_000000.html b/doc/html/dir_000018_000000.html
new file mode 100644
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+++ b/doc/html/dir_000018_000000.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: decorators -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li><li class="navelem"><a class="el" href="dir_213ed5268c3d3b5adb84b79e310ac6b7.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>decorators → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/robot/decorators</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="panda__decorator_8cpp.html">panda_decorator.cpp</a></td><td class="dirtab"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a> / <a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a> / <a class="el" href="panda__decorator_8h.html">panda_decorator.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000019_000000.html b/doc/html/dir_000019_000000.html
new file mode 100644
index 0000000000000000000000000000000000000000..d928fb4cd4819ab09f601f4103e9db776b8bd1c5
--- /dev/null
+++ b/doc/html/dir_000019_000000.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: base_bridge -> 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_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_bff0e0394a2452d575b35258352fd8fb.html">base_bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>base_bridge → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/base_bridge</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="simple__base_8cpp.html">simple_base.cpp</a></td><td class="dirtab"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a> / <a class="el" href="abstract__base__implementation_8h.html">abstract_base_implementation.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="simple__base_8cpp.html">simple_base.cpp</a></td><td class="dirtab"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a> / <a class="el" href="simple__base_8h.html">simple_base.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="simple__base__implementation_8cpp.html">simple_base_implementation.cpp</a></td><td class="dirtab"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a> / <a class="el" href="simple__base__implementation_8h.html">simple_base_implementation.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html
@@ -0,0 +1,56 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator 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_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">mediator Directory Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Directory dependency graph for mediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="dir_0197a5d81791167ca90f243ba28e7f5e_dep.png" border="0" usemap="#dir__0197a5d81791167ca90f243ba28e7f5e__dep" alt="mediator"/></div>
+<map name="dir__0197a5d81791167ca90f243ba28e7f5e__dep" id="dir__0197a5d81791167ca90f243ba28e7f5e__dep">
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+<table class="memberdecls">
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+ color: #000080;
+ font-weight: normal;
+ background-color: #e8eef2;
+}
+*/
+
+td.tiny {
+ font-size: 75%;
+}
+
+.dirtab {
+ padding: 4px;
+ border-collapse: collapse;
+ border: 1px solid #A3B4D7;
+}
+
+th.dirtab {
+ background: #EBEFF6;
+ font-weight: bold;
+}
+
+hr {
+ height: 0px;
+ border: none;
+ border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+ height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+ border-spacing: 0px;
+ padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+ -webkit-transition-property: background-color, box-shadow;
+ -webkit-transition-duration: 0.5s;
+ -moz-transition-property: background-color, box-shadow;
+ -moz-transition-duration: 0.5s;
+ -ms-transition-property: background-color, box-shadow;
+ -ms-transition-duration: 0.5s;
+ -o-transition-property: background-color, box-shadow;
+ -o-transition-duration: 0.5s;
+ transition-property: background-color, box-shadow;
+ transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+ background-color: cyan;
+ box-shadow: 0 0 15px cyan;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+ background-color: #F9FAFC;
+ border: none;
+ margin: 4px;
+ padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+ padding: 0px 8px 4px 8px;
+ color: #555;
+}
+
+.memSeparator {
+ border-bottom: 1px solid #DEE4F0;
+ line-height: 1px;
+ margin: 0px;
+ padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+ white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+ width: 100%;
+}
+
+.memTemplParams {
+ color: #4665A2;
+ white-space: nowrap;
+ font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+ padding: 8px;
+ border-top: 1px solid #A8B8D9;
+ border-left: 1px solid #A8B8D9;
+ border-right: 1px solid #A8B8D9;
+ border-top-right-radius: 4px;
+ border-top-left-radius: 4px;
+ margin-bottom: -1px;
+ background-image: url('nav_f.png');
+ background-repeat: repeat-x;
+ background-color: #E2E8F2;
+ line-height: 1.25;
+ font-weight: 300;
+ float:left;
+}
+
+.permalink
+{
+ font-size: 65%;
+ display: inline-block;
+ vertical-align: middle;
+}
+
+.memtemplate {
+ font-size: 80%;
+ color: #4665A2;
+ font-weight: normal;
+ margin-left: 9px;
+}
+
+.memnav {
+ background-color: #EBEFF6;
+ border: 1px solid #A3B4D7;
+ text-align: center;
+ margin: 2px;
+ margin-right: 15px;
+ padding: 2px;
+}
+
+.mempage {
+ width: 100%;
+}
+
+.memitem {
+ padding: 0;
+ margin-bottom: 10px;
+ margin-right: 5px;
+ -webkit-transition: box-shadow 0.5s linear;
+ -moz-transition: box-shadow 0.5s linear;
+ -ms-transition: box-shadow 0.5s linear;
+ -o-transition: box-shadow 0.5s linear;
+ transition: box-shadow 0.5s linear;
+ display: table !important;
+ width: 100%;
+}
+
+.memitem.glow {
+ box-shadow: 0 0 15px cyan;
+}
+
+.memname {
+ font-weight: 400;
+ margin-left: 6px;
+}
+
+.memname td {
+ vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+ border-top: 1px solid #A8B8D9;
+ border-left: 1px solid #A8B8D9;
+ border-right: 1px solid #A8B8D9;
+ padding: 6px 0px 6px 0px;
+ color: #253555;
+ font-weight: bold;
+ text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+ background-color: #DFE5F1;
+ /* opera specific markup */
+ box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ border-top-right-radius: 4px;
+ /* firefox specific markup */
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+ -moz-border-radius-topright: 4px;
+ /* webkit specific markup */
+ -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ -webkit-border-top-right-radius: 4px;
+
+}
+
+.overload {
+ font-family: "courier new",courier,monospace;
+ font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+ border-bottom: 1px solid #A8B8D9;
+ border-left: 1px solid #A8B8D9;
+ border-right: 1px solid #A8B8D9;
+ padding: 6px 10px 2px 10px;
+ background-color: #FBFCFD;
+ border-top-width: 0;
+ background-image:url('nav_g.png');
+ background-repeat:repeat-x;
+ background-color: #FFFFFF;
+ /* opera specific markup */
+ border-bottom-left-radius: 4px;
+ border-bottom-right-radius: 4px;
+ box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ /* firefox specific markup */
+ -moz-border-radius-bottomleft: 4px;
+ -moz-border-radius-bottomright: 4px;
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+ /* webkit specific markup */
+ -webkit-border-bottom-left-radius: 4px;
+ -webkit-border-bottom-right-radius: 4px;
+ -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+ padding: 5px;
+}
+
+dl.reflist dd {
+ margin: 0px 0px 10px 0px;
+ padding: 5px;
+}
+
+.paramkey {
+ text-align: right;
+}
+
+.paramtype {
+ white-space: nowrap;
+}
+
+.paramname {
+ color: #602020;
+ white-space: nowrap;
+}
+.paramname em {
+ font-style: normal;
+}
+.paramname code {
+ line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+ margin-left: 0px;
+ padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+ font-weight: bold;
+ vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+ font-style: italic;
+ vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+ font-family: "courier new",courier,monospace;
+ vertical-align: top;
+}
+
+table.mlabels {
+ border-spacing: 0px;
+}
+
+td.mlabels-left {
+ width: 100%;
+ padding: 0px;
+}
+
+td.mlabels-right {
+ vertical-align: bottom;
+ padding: 0px;
+ white-space: nowrap;
+}
+
+span.mlabels {
+ margin-left: 8px;
+}
+
+span.mlabel {
+ background-color: #728DC1;
+ border-top:1px solid #5373B4;
+ border-left:1px solid #5373B4;
+ border-right:1px solid #C4CFE5;
+ border-bottom:1px solid #C4CFE5;
+ text-shadow: none;
+ color: white;
+ margin-right: 4px;
+ padding: 2px 3px;
+ border-radius: 3px;
+ font-size: 7pt;
+ white-space: nowrap;
+ vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+ margin: 10px 0px;
+ border-top: 1px solid #9CAFD4;
+ border-bottom: 1px solid #9CAFD4;
+ width: 100%;
+}
+
+.directory table {
+ border-collapse:collapse;
+}
+
+.directory td {
+ margin: 0px;
+ padding: 0px;
+ vertical-align: top;
+}
+
+.directory td.entry {
+ white-space: nowrap;
+ padding-right: 6px;
+ padding-top: 3px;
+}
+
+.directory td.entry a {
+ outline:none;
+}
+
+.directory td.entry a img {
+ border: none;
+}
+
+.directory td.desc {
+ width: 100%;
+ padding-left: 6px;
+ padding-right: 6px;
+ padding-top: 3px;
+ border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+ padding-left: 6px;
+ background-color: #F7F8FB;
+}
+
+.directory img {
+ vertical-align: -30%;
+}
+
+.directory .levels {
+ white-space: nowrap;
+ width: 100%;
+ text-align: right;
+ font-size: 9pt;
+}
+
+.directory .levels span {
+ cursor: pointer;
+ padding-left: 2px;
+ padding-right: 2px;
+ color: #3D578C;
+}
+
+.arrow {
+ color: #9CAFD4;
+ -webkit-user-select: none;
+ -khtml-user-select: none;
+ -moz-user-select: none;
+ -ms-user-select: none;
+ user-select: none;
+ cursor: pointer;
+ font-size: 80%;
+ display: inline-block;
+ width: 16px;
+ height: 22px;
+}
+
+.icon {
+ font-family: Arial, Helvetica;
+ font-weight: bold;
+ font-size: 12px;
+ height: 14px;
+ width: 16px;
+ display: inline-block;
+ background-color: #728DC1;
+ color: white;
+ text-align: center;
+ border-radius: 4px;
+ margin-left: 2px;
+ margin-right: 2px;
+}
+
+.icona {
+ width: 24px;
+ height: 22px;
+ display: inline-block;
+}
+
+.iconfopen {
+ width: 24px;
+ height: 18px;
+ margin-bottom: 4px;
+ background-image:url('folderopen.png');
+ background-position: 0px -4px;
+ background-repeat: repeat-y;
+ vertical-align:top;
+ display: inline-block;
+}
+
+.iconfclosed {
+ width: 24px;
+ height: 18px;
+ margin-bottom: 4px;
+ background-image:url('folderclosed.png');
+ background-position: 0px -4px;
+ background-repeat: repeat-y;
+ vertical-align:top;
+ display: inline-block;
+}
+
+.icondoc {
+ width: 24px;
+ height: 18px;
+ margin-bottom: 4px;
+ background-image:url('doc.png');
+ background-position: 0px -4px;
+ background-repeat: repeat-y;
+ vertical-align:top;
+ display: inline-block;
+}
+
+table.directory {
+ font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+ margin-top: 8px;
+ -webkit-touch-callout: none;
+ -webkit-user-select: none;
+ -khtml-user-select: none;
+ -moz-user-select: none;
+ -ms-user-select: none;
+ user-select: none;
+}
+
+address {
+ font-style: normal;
+ color: #2A3D61;
+}
+
+table.doxtable caption {
+ caption-side: top;
+}
+
+table.doxtable {
+ border-collapse:collapse;
+ margin-top: 4px;
+ margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+ border: 1px solid #2D4068;
+ padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+ background-color: #374F7F;
+ color: #FFFFFF;
+ font-size: 110%;
+ padding-bottom: 4px;
+ padding-top: 5px;
+}
+
+table.fieldtable {
+ /*width: 100%;*/
+ margin-bottom: 10px;
+ border: 1px solid #A8B8D9;
+ border-spacing: 0px;
+ -moz-border-radius: 4px;
+ -webkit-border-radius: 4px;
+ border-radius: 4px;
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+ -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+ box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+ padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+ white-space: nowrap;
+ border-right: 1px solid #A8B8D9;
+ border-bottom: 1px solid #A8B8D9;
+ vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+ padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+ border-bottom: 1px solid #A8B8D9;
+ /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+ margin-top: 0px;
+}
+
+.fieldtable td.fielddoc p:last-child {
+ margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+ border-bottom: none;
+}
+
+.fieldtable th {
+ background-image:url('nav_f.png');
+ background-repeat:repeat-x;
+ background-color: #E2E8F2;
+ font-size: 90%;
+ color: #253555;
+ padding-bottom: 4px;
+ padding-top: 5px;
+ text-align:left;
+ font-weight: 400;
+ -moz-border-radius-topleft: 4px;
+ -moz-border-radius-topright: 4px;
+ -webkit-border-top-left-radius: 4px;
+ -webkit-border-top-right-radius: 4px;
+ border-top-left-radius: 4px;
+ border-top-right-radius: 4px;
+ border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+ top: 0px;
+ left: 10px;
+ height: 36px;
+ background-image: url('tab_b.png');
+ z-index: 101;
+ overflow: hidden;
+ font-size: 13px;
+}
+
+.navpath ul
+{
+ font-size: 11px;
+ background-image:url('tab_b.png');
+ background-repeat:repeat-x;
+ background-position: 0 -5px;
+ height:30px;
+ line-height:30px;
+ color:#8AA0CC;
+ border:solid 1px #C2CDE4;
+ overflow:hidden;
+ margin:0px;
+ padding:0px;
+}
+
+.navpath li
+{
+ list-style-type:none;
+ float:left;
+ padding-left:10px;
+ padding-right:15px;
+ background-image:url('bc_s.png');
+ background-repeat:no-repeat;
+ background-position:right;
+ color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+ height:32px;
+ display:block;
+ text-decoration: none;
+ outline: none;
+ color: #283A5D;
+ font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+ text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+ text-decoration: none;
+}
+
+.navpath li.navelem a:hover
+{
+ color:#6884BD;
+}
+
+.navpath li.footer
+{
+ list-style-type:none;
+ float:right;
+ padding-left:10px;
+ padding-right:15px;
+ background-image:none;
+ background-repeat:no-repeat;
+ background-position:right;
+ color:#364D7C;
+ font-size: 8pt;
+}
+
+
+div.summary
+{
+ float: right;
+ font-size: 8pt;
+ padding-right: 5px;
+ width: 50%;
+ text-align: right;
+}
+
+div.summary a
+{
+ white-space: nowrap;
+}
+
+table.classindex
+{
+ margin: 10px;
+ white-space: nowrap;
+ margin-left: 3%;
+ margin-right: 3%;
+ width: 94%;
+ border: 0;
+ border-spacing: 0;
+ padding: 0;
+}
+
+div.ingroups
+{
+ font-size: 8pt;
+ width: 50%;
+ text-align: left;
+}
+
+div.ingroups a
+{
+ white-space: nowrap;
+}
+
+div.header
+{
+ background-image:url('nav_h.png');
+ background-repeat:repeat-x;
+ background-color: #F9FAFC;
+ margin: 0px;
+ border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+ padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+ text-align: right;
+ direction: rtl;
+}
+
+dl {
+ padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+ margin-left: 0px;
+ padding-left: 0px;
+}
+
+dl.section.DocNodeRTL {
+ margin-right: 0px;
+ padding-right: 0px;
+}
+
+dl.note {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #D0C000;
+}
+
+dl.note.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #FF0000;
+}
+
+dl.warning.DocNodeRTL, dl.attention.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #00D000;
+}
+
+dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #00D000;
+}
+
+dl.deprecated {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #505050;
+}
+
+dl.deprecated.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #505050;
+}
+
+dl.todo {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #00C0E0;
+}
+
+dl.todo.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #00C0E0;
+}
+
+dl.test {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #3030E0;
+}
+
+dl.test.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #3030E0;
+}
+
+dl.bug {
+ margin-left: -7px;
+ padding-left: 3px;
+ border-left: 4px solid;
+ border-color: #C08050;
+}
+
+dl.bug.DocNodeRTL {
+ margin-left: 0;
+ padding-left: 0;
+ border-left: 0;
+ margin-right: -7px;
+ padding-right: 3px;
+ border-right: 4px solid;
+ border-color: #C08050;
+}
+
+dl.section dd {
+ margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+ text-align: center;
+ vertical-align: bottom;
+ border-collapse: separate;
+}
+
+#projectlogo img
+{
+ border: 0px none;
+}
+
+#projectalign
+{
+ vertical-align: middle;
+}
+
+#projectname
+{
+ font: 300% Tahoma, Arial,sans-serif;
+ margin: 0px;
+ padding: 2px 0px;
+}
+
+#projectbrief
+{
+ font: 120% Tahoma, Arial,sans-serif;
+ margin: 0px;
+ padding: 0px;
+}
+
+#projectnumber
+{
+ font: 50% Tahoma, Arial,sans-serif;
+ margin: 0px;
+ padding: 0px;
+}
+
+#titlearea
+{
+ padding: 0px;
+ margin: 0px;
+ width: 100%;
+ border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+ text-align: center;
+}
+
+.dotgraph
+{
+ text-align: center;
+}
+
+.mscgraph
+{
+ text-align: center;
+}
+
+.plantumlgraph
+{
+ text-align: center;
+}
+
+.diagraph
+{
+ text-align: center;
+}
+
+.caption
+{
+ font-weight: bold;
+}
+
+div.zoom
+{
+ border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+ margin-bottom:50px;
+}
+
+dl.citelist dt {
+ color:#334975;
+ float:left;
+ font-weight:bold;
+ margin-right:10px;
+ padding:5px;
+}
+
+dl.citelist dd {
+ margin:2px 0;
+ padding:5px 0;
+}
+
+div.toc {
+ padding: 14px 25px;
+ background-color: #F4F6FA;
+ border: 1px solid #D8DFEE;
+ border-radius: 7px 7px 7px 7px;
+ float: right;
+ height: auto;
+ margin: 0 8px 10px 10px;
+ width: 200px;
+}
+
+.PageDocRTL-title div.toc {
+ float: left !important;
+ text-align: right;
+}
+
+div.toc li {
+ background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+ font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
+ margin-top: 5px;
+ padding-left: 10px;
+ padding-top: 2px;
+}
+
+.PageDocRTL-title div.toc li {
+ background-position-x: right !important;
+ padding-left: 0 !important;
+ padding-right: 10px;
+}
+
+div.toc h3 {
+ font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+ color: #4665A2;
+ border-bottom: 0 none;
+ margin: 0;
+}
+
+div.toc ul {
+ list-style: none outside none;
+ border: medium none;
+ padding: 0px;
+}
+
+div.toc li.level1 {
+ margin-left: 0px;
+}
+
+div.toc li.level2 {
+ margin-left: 15px;
+}
+
+div.toc li.level3 {
+ margin-left: 30px;
+}
+
+div.toc li.level4 {
+ margin-left: 45px;
+}
+
+.PageDocRTL-title div.toc li.level1 {
+ margin-left: 0 !important;
+ margin-right: 0;
+}
+
+.PageDocRTL-title div.toc li.level2 {
+ margin-left: 0 !important;
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field.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>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a></li> </ul>
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+ <div class="headertitle">
+<div class="title">field.cpp File Reference</div> </div>
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+<div class="textblock"><code>#include "<a class="el" href="robot__element_2observers_2field_8h_source.html">robot_element/observers/field.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
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+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+ <div class="headertitle">
+<div class="title">field.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="field_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="robot__element_2observers_2field_8h.html">robot_element/observers/field.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"> 3</span> <a class="code" href="classField.html#a3937b0953056acede15814ada1053f9a">Field::Field</a>(tf2::Transform tf) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> : <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>(tf, <span class="stringliteral">""</span>, tf2::Vector3(0,0,0)){}</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassField_html_a3937b0953056acede15814ada1053f9a"><div class="ttname"><a href="classField.html#a3937b0953056acede15814ada1053f9a">Field::Field</a></div><div class="ttdeci">Field(tf2::Transform tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00009">impl/field.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="arobot__element_2observers_2field_8h_html"><div class="ttname"><a href="robot__element_2observers_2field_8h.html">field.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/field__rviz__decorator_8cpp.html b/doc/html/field__rviz__decorator_8cpp.html
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+/* @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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">field_rviz_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="field__rviz__decorator_8h_source.html">impl/field_rviz_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for field_rviz_decorator.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="field__rviz__decorator_8cpp__incl.png" border="0" usemap="#field__rviz__decorator_8cpp" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="field__rviz__decorator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field_rviz_decorator.cpp Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
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+$(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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">field_rviz_decorator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="field__rviz__decorator_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="field__rviz__decorator_8h.html">impl/field_rviz_decorator.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="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator::update</a>(tf2::Transform& tf) {</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  <a class="code" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a>(tf);</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">output_filter</a>();</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="classField__rviz__decorator.html#a3b79225f014c0d1081080891d332187b"> 8</a></span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Field_rviz_decorator::input_filter</a>(tf2::Transform& tf) {}</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="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6"> 10</a></span> <span class="keywordtype">void</span> <a class="code" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator::output_filter</a>() {</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classField.html">Field</a>* field = <span class="keyword">dynamic_cast<</span><a class="code" href="classField.html">Field</a>*<span class="keyword">></span> (<a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  tf2::Vector3 world_origin = field-><a class="code" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">world_tf</a>().getOrigin();</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  tf2::Quaternion world_quat = field-><a class="code" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">world_tf</a>().getRotation().normalized();</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>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  marker.ns = <span class="stringliteral">"fiels"</span>;</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  marker.id = *((<span class="keywordtype">int</span>*)(&<a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>));</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  marker.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  marker.pose.position.x = world_origin.getX();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  marker.pose.position.y = world_origin.getY();</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  marker.pose.position.z = 0;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  marker.pose.orientation.x = world_quat.getX();</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  marker.pose.orientation.y = world_quat.getY();</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  marker.pose.orientation.z = world_quat.getZ();</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  marker.pose.orientation.w = world_quat.getW();</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  marker.scale.x = 0.4f;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  marker.scale.y = 0.4f;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  marker.scale.z = 0.01f;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  marker.color.r = 0.7;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  marker.color.g = 0.7;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  marker.color.b = 0.7;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  marker.color.a = 1.0; <span class="comment">// Don't forget to set the alpha!</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>  <a class="code" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a>->markers.push_back(marker);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassField_html_a769e61adfbb8e8b261da88fab1190f4d"><div class="ttname"><a href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">Field::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00017">robot_element/observers/field.h:17</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_a9ea2d91d648a270d3a3a1853d14ccfe6"><div class="ttname"><a href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8cpp_source.html#l00010">field_rviz_decorator.cpp:10</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_ad524be1ab9385b0f0e1a91c794ce2a94"><div class="ttname"><a href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">Field_rviz_decorator::markers_</a></div><div class="ttdeci">visualization_msgs::MarkerArray * markers_</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8h_source.html#l00011">field_rviz_decorator.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_addab3f179d202bea3da80887206c8048"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00017">impl/abstract_robot_element_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ab7fe1d6234cc937bf72a2f951781329b"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">Abstract_robot_element * next_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00009">impl/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="afield__rviz__decorator_8h_html"><div class="ttname"><a href="field__rviz__decorator_8h.html">field_rviz_decorator.h</a></div></div>
+<div class="ttc" id="aclassField_html"><div class="ttname"><a href="classField.html">Field</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00007">impl/field.h:7</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_abf15c56ecefe976950818f7418ad47d4"><div class="ttname"><a href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8cpp_source.html#l00003">field_rviz_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/field__rviz__decorator_8h.html b/doc/html/field__rviz__decorator_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..ae19730f75563ccebf3964893797f2f3ec11e6ab
--- /dev/null
+++ b/doc/html/field__rviz__decorator_8h.html
@@ -0,0 +1,76 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field_rviz_decorator.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">field_rviz_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "visualization_msgs/Marker.h"</code><br />
+<code>#include "<a class="el" href="impl_2field_8h_source.html">impl/field.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for field_rviz_decorator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="field__rviz__decorator_8h__incl.png" border="0" usemap="#field__rviz__decorator_8h" alt=""/></div>
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+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="field__rviz__decorator_8h__dep__incl.png" border="0" usemap="#field__rviz__decorator_8hdep" alt=""/></div>
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+<area shape="rect" title=" " alt="" coords="80,5,243,32"/>
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+<area shape="rect" href="field__rviz__decorator_8cpp.html" title=" " alt="" coords="163,80,341,107"/>
+</map>
+</div>
+</div>
+<p><a href="field__rviz__decorator_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="classField__rviz__decorator.html">Field_rviz_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/field__rviz__decorator_8h__dep__incl.map b/doc/html/field__rviz__decorator_8h__dep__incl.map
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field_rviz_decorator.h 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">field_rviz_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="field__rviz__decorator_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 FIELD_RVIZ_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define FIELD_RVIZ_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "visualization_msgs/Marker.h"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2field_8h.html">impl/field.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.h</a>"</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="classField__rviz__decorator.html"> 9</a></span> <span class="keyword">class </span><a class="code" href="classField__rviz__decorator.html">Field_rviz_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>{</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94"> 11</a></span>  visualization_msgs::MarkerArray* <a class="code" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a>;</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c"> 15</a></span>  <a class="code" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator</a>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>, visualization_msgs::MarkerArray* <a class="code" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>) : <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>(<a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>), <a class="code" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a>(<a class="code" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>){};</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="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7"> 17</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7">set_markers</a>(visualization_msgs::MarkerArray* <a class="code" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>) { <a class="code" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a>= <a class="code" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>;}</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3"> 18</a></span>  <span class="keyword">inline</span> visualization_msgs::MarkerArray* <a class="code" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">markers</a>() { <span class="keywordflow">return</span> <a class="code" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">markers_</a>;}</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="keywordtype">void</span> <a class="code" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">update</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordtype">void</span> <a class="code" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">output_filter</a>() <span class="keyword">override</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="l00025"></a><span class="lineno"> 25</span>  </div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aimpl_2field_8h_html"><div class="ttname"><a href="impl_2field_8h.html">field.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_a9ea2d91d648a270d3a3a1853d14ccfe6"><div class="ttname"><a href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8cpp_source.html#l00010">field_rviz_decorator.cpp:10</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_ad524be1ab9385b0f0e1a91c794ce2a94"><div class="ttname"><a href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">Field_rviz_decorator::markers_</a></div><div class="ttdeci">visualization_msgs::MarkerArray * markers_</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8h_source.html#l00011">field_rviz_decorator.h:11</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_aa88d9d5da860369d94420f6db716016c"><div class="ttname"><a href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator::Field_rviz_decorator</a></div><div class="ttdeci">Field_rviz_decorator(Abstract_robot_element *next, visualization_msgs::MarkerArray *markers)</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8h_source.html#l00015">field_rviz_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a87d8de36475ce19034a9728f545eb03e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator::next</a></div><div class="ttdeci">Abstract_robot_element * next()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">robot_element/decorators/abstract_robot_element_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_a16d7d4e68c53db336c4d2a9f032adff7"><div class="ttname"><a href="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7">Field_rviz_decorator::set_markers</a></div><div class="ttdeci">void set_markers(visualization_msgs::MarkerArray *markers)</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8h_source.html#l00017">field_rviz_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html"><div class="ttname"><a href="classField__rviz__decorator.html">Field_rviz_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8h_source.html#l00009">field_rviz_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_abf6af7cbe66c0fc31443bbdba78005b3"><div class="ttname"><a href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">Field_rviz_decorator::markers</a></div><div class="ttdeci">visualization_msgs::MarkerArray * markers()</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8h_source.html#l00018">field_rviz_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="aclassField__rviz__decorator_html_abf15c56ecefe976950818f7418ad47d4"><div class="ttname"><a href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="field__rviz__decorator_8cpp_source.html#l00003">field_rviz_decorator.cpp:3</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/files.html b/doc/html/files.html
new file mode 100644
index 0000000000000000000000000000000000000000..36b49593a2110db2754a22fbaf19bfea13f2c458
--- /dev/null
+++ b/doc/html/files.html
@@ -0,0 +1,118 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File 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">File List</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all files with brief descriptions:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__base_8h_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__base_8h.html" target="_self">abstract_base.h</a></td><td class="desc"></td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__base__implementation_8h_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__base__implementation_8h.html" target="_self">abstract_base_implementation.h</a></td><td class="desc"></td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__map__loader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__map__loader_8h.html" target="_self">abstract_map_loader.h</a></td><td class="desc"></td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="impl_2abstract__mediator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="impl_2abstract__mediator_8cpp.html" target="_self">impl/abstract_mediator.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="mediator_2abstract__mediator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="mediator_2abstract__mediator_8cpp.html" target="_self">mediator/abstract_mediator.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="impl_2abstract__mediator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="impl_2abstract__mediator_8h.html" target="_self">impl/abstract_mediator.h</a></td><td class="desc"></td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="mediator_2abstract__mediator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="mediator_2abstract__mediator_8h.html" target="_self">mediator/abstract_mediator.h</a></td><td class="desc"></td></tr>
+<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__param__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__param__reader_8cpp.html" target="_self">abstract_param_reader.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__param__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__param__reader_8h.html" target="_self">abstract_param_reader.h</a></td><td class="desc"></td></tr>
+<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__robot_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__robot_8cpp.html" target="_self">abstract_robot.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="impl_2abstract__robot_8h_source.html"><span class="icondoc"></span></a><a class="el" href="impl_2abstract__robot_8h.html" target="_self">impl/abstract_robot.h</a></td><td class="desc"></td></tr>
+<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="robot_2abstract__robot_8h_source.html"><span class="icondoc"></span></a><a class="el" href="robot_2abstract__robot_8h.html" target="_self">robot/abstract_robot.h</a></td><td class="desc"></td></tr>
+<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="abstract__robot__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="abstract__robot__decorator_8h.html" target="_self">abstract_robot_decorator.h</a></td><td class="desc"></td></tr>
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+<tr id="row_80_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="wing__rviz__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="wing__rviz__decorator_8h.html" target="_self">wing_rviz_decorator.h</a></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/folderclosed.png b/doc/html/folderclosed.png
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index 0000000000000000000000000000000000000000..93f2051e36c21542cac991c126d556768f306073
--- /dev/null
+++ b/doc/html/functions.html
@@ -0,0 +1,86 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>Abstract_base()
+: <a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a>
+</li>
+<li>Abstract_base_implementation()
+: <a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>
+</li>
+<li>Abstract_map_loader()
+: <a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>
+</li>
+<li>Abstract_mediator()
+: <a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>
+</li>
+<li>Abstract_param_reader()
+: <a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>
+</li>
+<li>Abstract_robot()
+: <a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>
+</li>
+<li>Abstract_robot_decorator()
+: <a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>
+</li>
+<li>Abstract_robot_element()
+: <a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>
+</li>
+<li>Abstract_robot_element_decorator()
+: <a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>
+</li>
+<li>Abstract_strategy()
+: <a class="el" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a>
+</li>
+<li>access_fields()
+: <a class="el" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">Robot</a>
+</li>
+<li>access_fields_
+: <a class="el" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">Ceti_robot</a>
+, <a class="el" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">Robot</a>
+</li>
+<li>acm_
+: <a class="el" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">Moveit_mediator</a>
+</li>
+<li>add_coll_markers()
+: <a class="el" href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">Ceti_robot</a>
+, <a class="el" href="classRobot.html#ab333a4150395873d947c791996171510">Robot</a>
+</li>
+<li>approximation()
+: <a class="el" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">Mediator</a>
+</li>
+<li>area_calculation()
+: <a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">Abstract_robot</a>
+, <a class="el" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">Robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_b.html b/doc/html/functions_b.html
new file mode 100644
index 0000000000000000000000000000000000000000..d6873a8a2019ef08cabfb8d7996e4a16b7744b89
--- /dev/null
+++ b/doc/html/functions_b.html
@@ -0,0 +1,66 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>Base_by_rotation()
+: <a class="el" href="classBase__by__rotation.html#aaf73fbd91908d8b3681e0d6c595bb858">Base_by_rotation</a>
+</li>
+<li>base_calculation()
+: <a class="el" href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">Abstract_map_loader</a>
+, <a class="el" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader</a>
+, <a class="el" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base</a>
+</li>
+<li>Base_calculation_mediator()
+: <a class="el" href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator</a>
+</li>
+<li>bounds()
+: <a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">Abstract_robot_element_decorator</a>
+, <a class="el" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">Ceti_robot</a>
+, <a class="el" href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">Field</a>
+, <a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">Panel</a>
+, <a class="el" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">Wing</a>
+</li>
+<li>bounds_
+: <a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">Abstract_robot_element</a>
+, <a class="el" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">Wing</a>
+</li>
+<li>build_wings()
+: <a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_c.html b/doc/html/functions_c.html
new file mode 100644
index 0000000000000000000000000000000000000000..b0a4538003310e9b5f2293b0ec266fab5c86255b
--- /dev/null
+++ b/doc/html/functions_c.html
@@ -0,0 +1,112 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>calc_world_tf()
+: <a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element</a>
+</li>
+<li>calculate()
+: <a class="el" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">Mediator</a>
+</li>
+<li>cartesian_planner_
+: <a class="el" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">Moveit_mediator</a>
+</li>
+<li>Ceti_robot()
+: <a class="el" href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot</a>
+</li>
+<li>check_collision()
+: <a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator</a>
+, <a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator</a>
+</li>
+<li>check_robot_collision()
+: <a class="el" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">Robot</a>
+</li>
+<li>check_single_object_collision()
+: <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot</a>
+, <a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot</a>
+</li>
+<li>cloud_calculation()
+: <a class="el" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">Abstract_strategy</a>
+, <a class="el" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">Base_by_rotation</a>
+</li>
+<li>coll_markers()
+: <a class="el" href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">Robot</a>
+</li>
+<li>coll_markers_
+: <a class="el" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">Robot</a>
+</li>
+<li>collision_detector()
+: <a class="el" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper</a>
+</li>
+<li>Collision_helper()
+: <a class="el" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a>
+</li>
+<li>connect_robots()
+: <a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">Mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">Moveit_mediator</a>
+</li>
+<li>create_pcl_box()
+: <a class="el" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">Abstract_map_loader</a>
+</li>
+<li>create_Task()
+: <a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator</a>
+</li>
+<li>cuboid_bin()
+: <a class="el" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">Cuboid_reader</a>
+</li>
+<li>cuboid_box_
+: <a class="el" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">Cuboid_reader</a>
+</li>
+<li>cuboid_obstacle()
+: <a class="el" href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">Cuboid_reader</a>
+</li>
+<li>cuboid_obstacle_
+: <a class="el" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">Cuboid_reader</a>
+</li>
+<li>Cuboid_reader()
+: <a class="el" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader</a>
+</li>
+<li>cuboid_reader_
+: <a class="el" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">Moveit_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_d.html b/doc/html/functions_d.html
new file mode 100644
index 0000000000000000000000000000000000000000..53eee2ff80c5a360a792caad470d8f3a8594eb0f
--- /dev/null
+++ b/doc/html/functions_d.html
@@ -0,0 +1,45 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>dirname()
+: <a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">Abstract_mediator</a>
+</li>
+<li>dirname_
+: <a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">Abstract_mediator</a>
+</li>
+<li>drop_off_data()
+: <a class="el" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">Ts_reader</a>
+</li>
+<li>drop_off_data_
+: <a class="el" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">Ts_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_f.html b/doc/html/functions_f.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc93b2792f7743ff9250c287a1e8fcade73b0f60
--- /dev/null
+++ b/doc/html/functions_f.html
@@ -0,0 +1,42 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>Field()
+: <a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>
+</li>
+<li>Field_rviz_decorator()
+: <a class="el" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator</a>
+</li>
+<li>float_of()
+: <a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func.html b/doc/html/functions_func.html
new file mode 100644
index 0000000000000000000000000000000000000000..5a71c18fc6b1b0411d3b0d6a152fce2570a6ca31
--- /dev/null
+++ b/doc/html/functions_func.html
@@ -0,0 +1,79 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>Abstract_base()
+: <a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a>
+</li>
+<li>Abstract_base_implementation()
+: <a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>
+</li>
+<li>Abstract_map_loader()
+: <a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>
+</li>
+<li>Abstract_mediator()
+: <a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>
+</li>
+<li>Abstract_param_reader()
+: <a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>
+</li>
+<li>Abstract_robot()
+: <a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>
+</li>
+<li>Abstract_robot_decorator()
+: <a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>
+</li>
+<li>Abstract_robot_element()
+: <a class="el" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>
+</li>
+<li>Abstract_robot_element_decorator()
+: <a class="el" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>
+</li>
+<li>Abstract_strategy()
+: <a class="el" href="classAbstract__strategy.html#accc89e872cb004dc89a51996b8038f5a">Abstract_strategy</a>
+</li>
+<li>access_fields()
+: <a class="el" href="classCeti__robot.html#a4ad187750675fbe7ba8ded55f2c0e3b7">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">Robot</a>
+</li>
+<li>add_coll_markers()
+: <a class="el" href="classCeti__robot.html#a85afa4e99b4d31282a0b1e7cba45176c">Ceti_robot</a>
+, <a class="el" href="classRobot.html#ab333a4150395873d947c791996171510">Robot</a>
+</li>
+<li>approximation()
+: <a class="el" href="classBase__calculation__mediator.html#aa03bb145649933b2b362dfc8966f63c8">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">Mediator</a>
+</li>
+<li>area_calculation()
+: <a class="el" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">Abstract_robot</a>
+, <a class="el" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">Robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_b.html b/doc/html/functions_func_b.html
new file mode 100644
index 0000000000000000000000000000000000000000..c596ff5a44736612c3532fbc5a1795ceaa9b7c76
--- /dev/null
+++ b/doc/html/functions_func_b.html
@@ -0,0 +1,61 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>Base_by_rotation()
+: <a class="el" href="classBase__by__rotation.html#aaf73fbd91908d8b3681e0d6c595bb858">Base_by_rotation</a>
+</li>
+<li>base_calculation()
+: <a class="el" href="classAbstract__base.html#a205a26b0fb0e75b2ea3a442cdc0926b2">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a9fdca9d4a86d66a712194e409d799eff">Abstract_map_loader</a>
+, <a class="el" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader</a>
+, <a class="el" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base</a>
+</li>
+<li>Base_calculation_mediator()
+: <a class="el" href="classBase__calculation__mediator.html#acf5ce9f5f854708b8b2a7008d75d0330">Base_calculation_mediator</a>
+</li>
+<li>bounds()
+: <a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a889edd0d57abce0f6c2a6bc14bcbee6e">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">Abstract_robot_element_decorator</a>
+, <a class="el" href="classCeti__robot.html#a2bca93f0ea688ce45a50b06edae104df">Ceti_robot</a>
+, <a class="el" href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">Field</a>
+, <a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">Panel</a>
+, <a class="el" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">Wing</a>
+</li>
+<li>build_wings()
+: <a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#aff019cc13f25228abaf99b4a3fe72c38">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_c.html b/doc/html/functions_func_c.html
new file mode 100644
index 0000000000000000000000000000000000000000..3be843449be7f1cd094f638b613ae0643e780b41
--- /dev/null
+++ b/doc/html/functions_func_c.html
@@ -0,0 +1,95 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>calc_world_tf()
+: <a class="el" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element</a>
+</li>
+<li>calculate()
+: <a class="el" href="classBase__calculation__mediator.html#a55975e58dfc863db246224217367c645">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">Mediator</a>
+</li>
+<li>Ceti_robot()
+: <a class="el" href="classCeti__robot.html#ade0920ab43886af89a431f7808207efd">Ceti_robot</a>
+</li>
+<li>check_collision()
+: <a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a2f29ef22d330020bf276cb709c8c8238">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator</a>
+, <a class="el" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator</a>
+</li>
+<li>check_robot_collision()
+: <a class="el" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">Robot</a>
+</li>
+<li>check_single_object_collision()
+: <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#ad0c58aab1a4758916e8b448f83b1eec7">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a128b5891d5519855c387dd0fd3b04384">Ceti_robot</a>
+, <a class="el" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot</a>
+</li>
+<li>cloud_calculation()
+: <a class="el" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">Abstract_strategy</a>
+, <a class="el" href="classBase__by__rotation.html#a910ed8dac159764f4b045f07c7ac2372">Base_by_rotation</a>
+</li>
+<li>coll_markers()
+: <a class="el" href="classCeti__robot.html#aa12e1de6f139604143bb19b34abbfaeb">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">Robot</a>
+</li>
+<li>collision_detector()
+: <a class="el" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper</a>
+</li>
+<li>Collision_helper()
+: <a class="el" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a>
+</li>
+<li>connect_robots()
+: <a class="el" href="classAbstract__mediator.html#aec722e2a7493b29b04b613b800883cf9">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">Mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">Moveit_mediator</a>
+</li>
+<li>create_pcl_box()
+: <a class="el" href="classAbstract__base.html#a4f721d18ef125fe286eeb7978fc499ba">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">Abstract_map_loader</a>
+</li>
+<li>create_Task()
+: <a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator</a>
+</li>
+<li>cuboid_bin()
+: <a class="el" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">Cuboid_reader</a>
+</li>
+<li>cuboid_obstacle()
+: <a class="el" href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">Cuboid_reader</a>
+</li>
+<li>Cuboid_reader()
+: <a class="el" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_d.html b/doc/html/functions_func_d.html
new file mode 100644
index 0000000000000000000000000000000000000000..74bf655c85929976687df2719777ba69d8c341fd
--- /dev/null
+++ b/doc/html/functions_func_d.html
@@ -0,0 +1,39 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>dirname()
+: <a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">Abstract_mediator</a>
+</li>
+<li>drop_off_data()
+: <a class="el" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">Ts_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_f.html b/doc/html/functions_func_f.html
new file mode 100644
index 0000000000000000000000000000000000000000..c0cd800fbdf21468f6186644faf33f3b7cda622b
--- /dev/null
+++ b/doc/html/functions_func_f.html
@@ -0,0 +1,42 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ 
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>Field()
+: <a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>
+</li>
+<li>Field_rviz_decorator()
+: <a class="el" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator</a>
+</li>
+<li>float_of()
+: <a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader</a>
+</li>
+</ul>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_g.html b/doc/html/functions_func_g.html
new file mode 100644
index 0000000000000000000000000000000000000000..8b632268f4fd76d3607bd8c69fea0537ab3b244e
--- /dev/null
+++ b/doc/html/functions_func_g.html
@@ -0,0 +1,53 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ 
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>generate_access_fields()
+: <a class="el" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">Robot</a>
+</li>
+<li>generate_Ground()
+: <a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator</a>
+, <a class="el" href="classMediator.html#a5fe305318a23ed8967b76f897dfb6659">Mediator</a>
+</li>
+<li>generate_grounds()
+: <a class="el" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">Base_calculation_mediator</a>
+</li>
+<li>generateRandomCuboid()
+: <a class="el" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">Moveit_grasp_mediator</a>
+</li>
+<li>getIKSolution()
+: <a class="el" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">Moveit_grasp_mediator</a>
+</li>
+<li>grasp_map_generator()
+: <a class="el" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">Moveit_robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_i.html b/doc/html/functions_func_i.html
new file mode 100644
index 0000000000000000000000000000000000000000..e86580fbfcf74680bdbf358998f60f40e4538449
--- /dev/null
+++ b/doc/html/functions_func_i.html
@@ -0,0 +1,59 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>implementation()
+: <a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">Abstract_base</a>
+</li>
+<li>in_collision()
+: <a class="el" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot</a>
+</li>
+<li>input_filter()
+: <a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField__rviz__decorator.html#a3b79225f014c0d1081080891d332187b">Field_rviz_decorator</a>
+, <a class="el" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#ac35f08c723f54f3d5d8946fb4e252ab2">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#a1a96d6aa2f86b5b187b7a55a8c604722">Wing_rviz_decorator</a>
+</li>
+<li>inv_map()
+: <a class="el" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">Abstract_map_loader</a>
+</li>
+<li>inv_map_creation()
+: <a class="el" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">Abstract_base_implementation</a>
+, <a class="el" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">Abstract_strategy</a>
+, <a class="el" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">Base_by_rotation</a>
+, <a class="el" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">Simple_base_implementation</a>
+</li>
+<li>isStateValid()
+: <a class="el" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_j.html b/doc/html/functions_func_j.html
new file mode 100644
index 0000000000000000000000000000000000000000..1cf31e5f4a2d45302c804278e80802c6b4ca35ac
--- /dev/null
+++ b/doc/html/functions_func_j.html
@@ -0,0 +1,36 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>Job_reader()
+: <a class="el" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_l.html b/doc/html/functions_func_l.html
new file mode 100644
index 0000000000000000000000000000000000000000..c278f75451a3fcf8e147c618dca48e52daf3f494
--- /dev/null
+++ b/doc/html/functions_func_l.html
@@ -0,0 +1,36 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ 
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>Log_decorator()
+: <a class="el" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator</a>
+</li>
+</ul>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_m.html b/doc/html/functions_func_m.html
new file mode 100644
index 0000000000000000000000000000000000000000..73c99f11bd1738f2dac6bd5e43487e8d39275dd5
--- /dev/null
+++ b/doc/html/functions_func_m.html
@@ -0,0 +1,97 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ 
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>manipulate_grasp_data()
+: <a class="el" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">Moveit_grasp_mediator</a>
+</li>
+<li>manipulate_mapspace()
+: <a class="el" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">Moveit_grasp_mediator</a>
+</li>
+<li>map()
+: <a class="el" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">Abstract_map_loader</a>
+, <a class="el" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">Moveit_robot</a>
+</li>
+<li>map_data()
+: <a class="el" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">Map_reader</a>
+</li>
+<li>Map_loader()
+: <a class="el" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a>
+</li>
+<li>Map_reader()
+: <a class="el" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a>
+</li>
+<li>marker()
+: <a class="el" href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406">Moveit_panel</a>
+, <a class="el" href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">Rviz_panel</a>
+</li>
+<li>markers()
+: <a class="el" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">Field_rviz_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">Wing_rviz_decorator</a>
+</li>
+<li>mediate()
+: <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator</a>
+</li>
+<li>Mediator()
+: <a class="el" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a>
+</li>
+<li>merge_acm()
+: <a class="el" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">Moveit_mediator</a>
+</li>
+<li>merge_ps()
+: <a class="el" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">Moveit_mediator</a>
+</li>
+<li>mgi()
+: <a class="el" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">Moveit_mediator</a>
+, <a class="el" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">Moveit_robot</a>
+</li>
+<li>mgi_hand()
+: <a class="el" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">Moveit_robot</a>
+</li>
+<li>Moveit_grasp_mediator()
+: <a class="el" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator</a>
+</li>
+<li>Moveit_mediator()
+: <a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>
+</li>
+<li>Moveit_panel()
+: <a class="el" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a>
+</li>
+<li>Moveit_robot()
+: <a class="el" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_n.html b/doc/html/functions_func_n.html
new file mode 100644
index 0000000000000000000000000000000000000000..cbfce6822d0a3e091ec77f72f734bbf91da7ddaf
--- /dev/null
+++ b/doc/html/functions_func_n.html
@@ -0,0 +1,53 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>name()
+: <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">Abstract_robot_element_decorator</a>
+, <a class="el" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">Ceti_robot</a>
+, <a class="el" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">Field</a>
+, <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel</a>
+, <a class="el" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">Wing</a>
+</li>
+<li>next()
+: <a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator</a>
+</li>
+<li>notify()
+: <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot</a>
+, <a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_o.html b/doc/html/functions_func_o.html
new file mode 100644
index 0000000000000000000000000000000000000000..cadfbe4833b96a37294548e4fc57a17a9b7bffc8
--- /dev/null
+++ b/doc/html/functions_func_o.html
@@ -0,0 +1,48 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>observer_mask()
+: <a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">Abstract_robot</a>
+, <a class="el" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">Ceti_robot</a>
+</li>
+<li>observers()
+: <a class="el" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot</a>
+, <a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot</a>
+</li>
+<li>output_filter()
+: <a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator</a>
+, <a class="el" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_p.html b/doc/html/functions_func_p.html
new file mode 100644
index 0000000000000000000000000000000000000000..37448585ea23cca4648087a2495bb017d264b725
--- /dev/null
+++ b/doc/html/functions_func_p.html
@@ -0,0 +1,55 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>Panda_decorator()
+: <a class="el" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator</a>
+</li>
+<li>Panel()
+: <a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a>
+</li>
+<li>parallel_exec()
+: <a class="el" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">Moveit_mediator</a>
+</li>
+<li>planFullGrasp()
+: <a class="el" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator</a>
+</li>
+<li>planPreApproach()
+: <a class="el" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">Moveit_grasp_mediator</a>
+</li>
+<li>publish()
+: <a class="el" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">Mediator</a>
+</li>
+<li>publish_tables()
+: <a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_r.html b/doc/html/functions_func_r.html
new file mode 100644
index 0000000000000000000000000000000000000000..fa3740b4177a2d13562558ee272909a24b5a7bd5
--- /dev/null
+++ b/doc/html/functions_func_r.html
@@ -0,0 +1,92 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read()
+: <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>
+, <a class="el" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">Cuboid_reader</a>
+, <a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">Job_reader</a>
+, <a class="el" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">Map_reader</a>
+, <a class="el" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">Robot_reader</a>
+, <a class="el" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">Task_space_reader</a>
+, <a class="el" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">Ts_reader</a>
+, <a class="el" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">Wing_reader</a>
+</li>
+<li>register_observers()
+: <a class="el" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot</a>
+</li>
+<li>relative_tf()
+: <a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">Abstract_robot_element</a>
+</li>
+<li>reset()
+: <a class="el" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">Ceti_robot</a>
+, <a class="el" href="classRobot.html#af626880915da239eeb0793eb41ab7596">Robot</a>
+</li>
+<li>result_vector()
+: <a class="el" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">Abstract_mediator</a>
+</li>
+<li>rewrite_task_template()
+: <a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator</a>
+</li>
+<li>Robot()
+: <a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>
+</li>
+<li>robot_data()
+: <a class="el" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">Job_reader</a>
+, <a class="el" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">Robot_reader</a>
+</li>
+<li>robot_reader()
+: <a class="el" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">Base_calculation_mediator</a>
+</li>
+<li>Robot_reader()
+: <a class="el" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a>
+</li>
+<li>robot_root_bounds()
+: <a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">Ceti_robot</a>
+</li>
+<li>robots()
+: <a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">Abstract_mediator</a>
+</li>
+<li>root_tf()
+: <a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">Ceti_robot</a>
+</li>
+<li>rotate()
+: <a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot</a>
+</li>
+<li>Rviz_panel()
+: <a class="el" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_s.html b/doc/html/functions_func_s.html
new file mode 100644
index 0000000000000000000000000000000000000000..03c4ef107cc9e1459b39e41330ebd70790d5373c
--- /dev/null
+++ b/doc/html/functions_func_s.html
@@ -0,0 +1,170 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>scene_setup()
+: <a class="el" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">Moveit_grasp_mediator</a>
+</li>
+<li>set_cuboid_bin_data()
+: <a class="el" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">Cuboid_reader</a>
+</li>
+<li>set_cuboid_obstacle_data()
+: <a class="el" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">Cuboid_reader</a>
+</li>
+<li>set_dirname()
+: <a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator</a>
+</li>
+<li>set_drop_off_data()
+: <a class="el" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">Ts_reader</a>
+</li>
+<li>set_grasp_map_generator()
+: <a class="el" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">Moveit_robot</a>
+</li>
+<li>set_grasp_orientations()
+: <a class="el" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">Abstract_base_implementation</a>
+, <a class="el" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">Simple_base_implementation</a>
+</li>
+<li>set_implementation()
+: <a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">Abstract_base</a>
+</li>
+<li>set_inv_map()
+: <a class="el" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">Abstract_map_loader</a>
+</li>
+<li>set_job_data()
+: <a class="el" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">Job_reader</a>
+</li>
+<li>set_map()
+: <a class="el" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">Abstract_map_loader</a>
+</li>
+<li>set_map_data()
+: <a class="el" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">Map_reader</a>
+</li>
+<li>set_markers()
+: <a class="el" href="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7">Field_rviz_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507">Wing_rviz_decorator</a>
+</li>
+<li>set_name()
+: <a class="el" href="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2">Field</a>
+, <a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">Panel</a>
+, <a class="el" href="classWing.html#a59974ceb515b29cab964aba4314a8885">Wing</a>
+</li>
+<li>set_observer_mask()
+: <a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">Abstract_robot</a>
+, <a class="el" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">Ceti_robot</a>
+</li>
+<li>set_panel()
+: <a class="el" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator</a>
+</li>
+<li>set_relative_tf()
+: <a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">Abstract_robot_element</a>
+</li>
+<li>set_result_vector()
+: <a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">Abstract_mediator</a>
+</li>
+<li>set_robot_data()
+: <a class="el" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">Robot_reader</a>
+</li>
+<li>set_set()
+: <a class="el" href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb">Field</a>
+, <a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">Panel</a>
+, <a class="el" href="classWing.html#ad0765941cf4c23bc66b044d3583dd114">Wing</a>
+</li>
+<li>set_strategy()
+: <a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">Abstract_map_loader</a>
+</li>
+<li>set_target_cloud()
+: <a class="el" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">Abstract_map_loader</a>
+</li>
+<li>set_target_rot()
+: <a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">Abstract_map_loader</a>
+</li>
+<li>set_task_grasps()
+: <a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">Abstract_map_loader</a>
+</li>
+<li>set_task_space()
+: <a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">Abstract_base</a>
+</li>
+<li>set_tasks()
+: <a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">Moveit_mediator</a>
+</li>
+<li>set_tf()
+: <a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot</a>
+</li>
+<li>set_wing_data()
+: <a class="el" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">Wing_reader</a>
+</li>
+<li>set_wings()
+: <a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">Abstract_mediator</a>
+, <a class="el" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">Mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">Moveit_mediator</a>
+</li>
+<li>set_world_tf()
+: <a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">Abstract_robot_element</a>
+</li>
+<li>setup_rviz()
+: <a class="el" href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">Mediator</a>
+</li>
+<li>setup_task()
+: <a class="el" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">Moveit_mediator</a>
+</li>
+<li>Simple_base()
+: <a class="el" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base</a>
+</li>
+<li>Simple_base_implementation()
+: <a class="el" href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">Simple_base_implementation</a>
+</li>
+<li>size()
+: <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">Abstract_robot_element_decorator</a>
+, <a class="el" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">Ceti_robot</a>
+, <a class="el" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">Field</a>
+, <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel</a>
+, <a class="el" href="classWing.html#a166b6d0367d7218947e3b2321360c521">Wing</a>
+</li>
+<li>spezifie_robot_groups()
+: <a class="el" href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">Abstract_robot_decorator</a>
+, <a class="el" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">Panda_decorator</a>
+</li>
+<li>spezifie_root_bounds()
+: <a class="el" href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">Abstract_robot_decorator</a>
+, <a class="el" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">Panda_decorator</a>
+</li>
+<li>strategy()
+: <a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">Abstract_map_loader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_t.html b/doc/html/functions_func_t.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc29c12c790f5445021651244808b6edc951e2ce
--- /dev/null
+++ b/doc/html/functions_func_t.html
@@ -0,0 +1,66 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>target_cloud()
+: <a class="el" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">Abstract_map_loader</a>
+</li>
+<li>target_rot()
+: <a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">Abstract_map_loader</a>
+</li>
+<li>task_grasps()
+: <a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader</a>
+</li>
+<li>task_map()
+: <a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">Moveit_mediator</a>
+</li>
+<li>task_planner()
+: <a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">Moveit_mediator</a>
+</li>
+<li>task_space()
+: <a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">Abstract_base</a>
+</li>
+<li>Task_space_reader()
+: <a class="el" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader</a>
+</li>
+<li>tf()
+: <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">Ceti_robot</a>
+</li>
+<li>translate()
+: <a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">Abstract_robot</a>
+</li>
+<li>Ts_reader()
+: <a class="el" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_u.html b/doc/html/functions_func_u.html
new file mode 100644
index 0000000000000000000000000000000000000000..4ddfd284d79c0e05b90116231f820e212e82ef68
--- /dev/null
+++ b/doc/html/functions_func_u.html
@@ -0,0 +1,46 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>update()
+: <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field</a>
+, <a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator</a>
+, <a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator</a>
+, <a class="el" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel</a>
+, <a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel</a>
+, <a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel</a>
+, <a class="el" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">Wing</a>
+, <a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_v.html b/doc/html/functions_func_v.html
new file mode 100644
index 0000000000000000000000000000000000000000..bccd8890454ebfc3e80cd024595c2375dddd019b
--- /dev/null
+++ b/doc/html/functions_func_v.html
@@ -0,0 +1,40 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>vector_to_cloud()
+: <a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator</a>
+, <a class="el" href="classMediator.html#accf269f067ad74db3e291289a96a71cc">Mediator</a>
+</li>
+<li>visualizePick()
+: <a class="el" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">Moveit_grasp_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_w.html b/doc/html/functions_func_w.html
new file mode 100644
index 0000000000000000000000000000000000000000..75c57aaf6e46a580e9d269e2762312e7fd59cb09
--- /dev/null
+++ b/doc/html/functions_func_w.html
@@ -0,0 +1,82 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>waitForNextStep()
+: <a class="el" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">Moveit_grasp_mediator</a>
+</li>
+<li>wing()
+: <a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator</a>
+</li>
+<li>Wing()
+: <a class="el" href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397">Wing</a>
+</li>
+<li>wing_data()
+: <a class="el" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">Wing_reader</a>
+</li>
+<li>Wing_moveit_decorator()
+: <a class="el" href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677">Wing_moveit_decorator</a>
+</li>
+<li>wing_reader()
+: <a class="el" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">Base_calculation_mediator</a>
+</li>
+<li>Wing_reader()
+: <a class="el" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader</a>
+</li>
+<li>Wing_rviz_decorator()
+: <a class="el" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator</a>
+</li>
+<li>wings()
+: <a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">Abstract_mediator</a>
+</li>
+<li>workload_checker()
+: <a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot</a>
+</li>
+<li>world_tf()
+: <a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">Field</a>
+, <a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">Panel</a>
+</li>
+<li>write_file()
+: <a class="el" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">Mediator</a>
+</li>
+<li>write_task()
+: <a class="el" href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">Abstract_map_loader</a>
+, <a class="el" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">Map_loader</a>
+, <a class="el" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">Simple_base</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_~.html b/doc/html/functions_func_~.html
new file mode 100644
index 0000000000000000000000000000000000000000..c063b7355bbebe1642f3c05ea8f8e2bfeb41a0c2
--- /dev/null
+++ b/doc/html/functions_func_~.html
@@ -0,0 +1,54 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</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="contents">
+ 
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~Abstract_base_implementation()
+: <a class="el" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">Abstract_base_implementation</a>
+</li>
+<li>~Abstract_map_loader()
+: <a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">Abstract_map_loader</a>
+</li>
+<li>~Abstract_strategy()
+: <a class="el" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">Abstract_strategy</a>
+</li>
+<li>~Base_by_rotation()
+: <a class="el" href="classBase__by__rotation.html#a63a6ed1a606880c99c0bc96f666d83ba">Base_by_rotation</a>
+</li>
+<li>~Collision_helper()
+: <a class="el" href="classCollision__helper.html#a3578a1bf2e59c1f5e55fc396ce966e9b">Collision_helper</a>
+</li>
+<li>~Simple_base_implementation()
+: <a class="el" href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">Simple_base_implementation</a>
+</li>
+<li>~Wing()
+: <a class="el" href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975">Wing</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_g.html b/doc/html/functions_g.html
new file mode 100644
index 0000000000000000000000000000000000000000..bc0f0954b91735158747cd5ac445fdbb02a75b1c
--- /dev/null
+++ b/doc/html/functions_g.html
@@ -0,0 +1,66 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>generate_access_fields()
+: <a class="el" href="classCeti__robot.html#ace21ef0128109d49de07e1fe675b595d">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">Robot</a>
+</li>
+<li>generate_Ground()
+: <a class="el" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator</a>
+, <a class="el" href="classMediator.html#a5fe305318a23ed8967b76f897dfb6659">Mediator</a>
+</li>
+<li>generate_grounds()
+: <a class="el" href="classBase__calculation__mediator.html#a6c5b26e596ed3c7fb4d226fa10183c51">Base_calculation_mediator</a>
+</li>
+<li>generateRandomCuboid()
+: <a class="el" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">Moveit_grasp_mediator</a>
+</li>
+<li>getIKSolution()
+: <a class="el" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">Moveit_grasp_mediator</a>
+</li>
+<li>grasp_map_generator()
+: <a class="el" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">Moveit_robot</a>
+</li>
+<li>grasp_map_generator_
+: <a class="el" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">Moveit_robot</a>
+</li>
+<li>grasp_maps_
+: <a class="el" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">Moveit_grasp_mediator</a>
+</li>
+<li>grasp_ns_
+: <a class="el" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">Moveit_grasp_mediator</a>
+</li>
+<li>grounds_
+: <a class="el" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">Base_calculation_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_i.html b/doc/html/functions_i.html
new file mode 100644
index 0000000000000000000000000000000000000000..f315b6621cb8e26914c4690933dfb8dc7b4fff91
--- /dev/null
+++ b/doc/html/functions_i.html
@@ -0,0 +1,66 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>implementation()
+: <a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">Abstract_base</a>
+</li>
+<li>implementation_
+: <a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">Abstract_base</a>
+</li>
+<li>in_collision()
+: <a class="el" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot</a>
+</li>
+<li>input_filter()
+: <a class="el" href="classAbstract__robot__element__decorator.html#aa43d886a91e05c76c2cad7695d1662ff">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField__rviz__decorator.html#a3b79225f014c0d1081080891d332187b">Field_rviz_decorator</a>
+, <a class="el" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#ac35f08c723f54f3d5d8946fb4e252ab2">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#a1a96d6aa2f86b5b187b7a55a8c604722">Wing_rviz_decorator</a>
+</li>
+<li>inv_map()
+: <a class="el" href="classAbstract__base.html#aebb83168a14d660a024240bfaad70a80">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#af4f75fbdda254f2a506770969cc46d8e">Abstract_map_loader</a>
+</li>
+<li>inv_map_
+: <a class="el" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">Abstract_map_loader</a>
+</li>
+<li>inv_map_creation()
+: <a class="el" href="classAbstract__base__implementation.html#a33d38400729ffe7b9e60cca9c3ddc12f">Abstract_base_implementation</a>
+, <a class="el" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">Abstract_strategy</a>
+, <a class="el" href="classBase__by__rotation.html#ad3d528929f1ec7bd2ddeed2c68a9fbc4">Base_by_rotation</a>
+, <a class="el" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">Simple_base_implementation</a>
+</li>
+<li>isStateValid()
+: <a class="el" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_j.html b/doc/html/functions_j.html
new file mode 100644
index 0000000000000000000000000000000000000000..7a6d0fe66a1ff2cd175f57857d3cdc9fea8f66e6
--- /dev/null
+++ b/doc/html/functions_j.html
@@ -0,0 +1,46 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>job_data_
+: <a class="el" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">Job_reader</a>
+</li>
+<li>Job_reader()
+: <a class="el" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader</a>
+</li>
+<li>job_reader_
+: <a class="el" href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">Moveit_mediator</a>
+</li>
+<li>jobs_
+: <a class="el" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_l.html b/doc/html/functions_l.html
new file mode 100644
index 0000000000000000000000000000000000000000..e990a97496b5e049d5929963b9819b7e623b93dc
--- /dev/null
+++ b/doc/html/functions_l.html
@@ -0,0 +1,36 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>Log_decorator()
+: <a class="el" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_m.html b/doc/html/functions_m.html
new file mode 100644
index 0000000000000000000000000000000000000000..e605321fdc69708d5b560c687cf5f0ce638a1dd1
--- /dev/null
+++ b/doc/html/functions_m.html
@@ -0,0 +1,127 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>manipulate_grasp_data()
+: <a class="el" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">Moveit_grasp_mediator</a>
+</li>
+<li>manipulate_mapspace()
+: <a class="el" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">Moveit_grasp_mediator</a>
+</li>
+<li>map()
+: <a class="el" href="classAbstract__base.html#a0a16c06aa3591c4daa7872dd0a1510d8">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">Abstract_map_loader</a>
+, <a class="el" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">Moveit_robot</a>
+</li>
+<li>map_
+: <a class="el" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">Abstract_map_loader</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">Moveit_robot</a>
+</li>
+<li>map_data()
+: <a class="el" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">Map_reader</a>
+</li>
+<li>map_data_
+: <a class="el" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">Map_reader</a>
+</li>
+<li>Map_loader()
+: <a class="el" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a>
+</li>
+<li>Map_reader()
+: <a class="el" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a>
+</li>
+<li>map_reader_
+: <a class="el" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">Simple_base</a>
+</li>
+<li>marker()
+: <a class="el" href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406">Moveit_panel</a>
+, <a class="el" href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">Rviz_panel</a>
+</li>
+<li>marker_
+: <a class="el" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">Moveit_panel</a>
+, <a class="el" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">Rviz_panel</a>
+, <a class="el" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">Wing_rviz_decorator</a>
+</li>
+<li>markers()
+: <a class="el" href="classField__rviz__decorator.html#abf6af7cbe66c0fc31443bbdba78005b3">Field_rviz_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">Wing_rviz_decorator</a>
+</li>
+<li>markers_
+: <a class="el" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">Field_rviz_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">Wing_moveit_decorator</a>
+</li>
+<li>mediate()
+: <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#af175bafdf327cc397ce1c9f42913c83a">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator</a>
+</li>
+<li>Mediator()
+: <a class="el" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a>
+</li>
+<li>merge_acm()
+: <a class="el" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">Moveit_mediator</a>
+</li>
+<li>merge_ps()
+: <a class="el" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">Moveit_mediator</a>
+</li>
+<li>mgi()
+: <a class="el" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">Moveit_mediator</a>
+, <a class="el" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">Moveit_robot</a>
+</li>
+<li>mgi_
+: <a class="el" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">Moveit_mediator</a>
+, <a class="el" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">Moveit_robot</a>
+</li>
+<li>mgi_hand()
+: <a class="el" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">Moveit_robot</a>
+</li>
+<li>mgi_hand_
+: <a class="el" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">Moveit_robot</a>
+</li>
+<li>Moveit_grasp_mediator()
+: <a class="el" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator</a>
+</li>
+<li>Moveit_mediator()
+: <a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>
+</li>
+<li>Moveit_panel()
+: <a class="el" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a>
+</li>
+<li>Moveit_robot()
+: <a class="el" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_n.html b/doc/html/functions_n.html
new file mode 100644
index 0000000000000000000000000000000000000000..71f4782eccc896de73187df92ec9ee7bd52b3bb3
--- /dev/null
+++ b/doc/html/functions_n.html
@@ -0,0 +1,71 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>name()
+: <a class="el" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a93929b117f84e353f322d353ad762d61">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">Abstract_robot_element_decorator</a>
+, <a class="el" href="classCeti__robot.html#ac5776cb1039f39138f46c3a13799ee3b">Ceti_robot</a>
+, <a class="el" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">Field</a>
+, <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel</a>
+, <a class="el" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">Wing</a>
+</li>
+<li>name_
+: <a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element</a>
+, <a class="el" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">object_data</a>
+, <a class="el" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">Wing</a>
+, <a class="el" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">wing_BP</a>
+</li>
+<li>next()
+: <a class="el" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator</a>
+</li>
+<li>next_
+: <a class="el" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator</a>
+</li>
+<li>nh_
+: <a class="el" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">Abstract_base</a>
+, <a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">Abstract_mediator</a>
+, <a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">Abstract_robot_element_decorator</a>
+, <a class="el" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">Moveit_mediator</a>
+</li>
+<li>notify()
+: <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a9a1d6aa0f1bdeeabe95517b0408e0cf8">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a50602f1990429a31148ec90369c8b390">Ceti_robot</a>
+, <a class="el" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_o.html b/doc/html/functions_o.html
new file mode 100644
index 0000000000000000000000000000000000000000..e74c249aa27665d2a0facd7c96208939d2b49705
--- /dev/null
+++ b/doc/html/functions_o.html
@@ -0,0 +1,59 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>objects_
+: <a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">Abstract_mediator</a>
+</li>
+<li>observer_mask()
+: <a class="el" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">Abstract_robot</a>
+, <a class="el" href="classCeti__robot.html#afeb11427714da34b8203de2d094dd536">Ceti_robot</a>
+</li>
+<li>observer_mask_
+: <a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">Abstract_robot</a>
+, <a class="el" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">Ceti_robot</a>
+</li>
+<li>observers()
+: <a class="el" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot</a>
+, <a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot</a>
+</li>
+<li>observers_
+: <a class="el" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">Robot</a>
+</li>
+<li>output_filter()
+: <a class="el" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField__rviz__decorator.html#a9ea2d91d648a270d3a3a1853d14ccfe6">Field_rviz_decorator</a>
+, <a class="el" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_p.html b/doc/html/functions_p.html
new file mode 100644
index 0000000000000000000000000000000000000000..3fa38827c8fd547e5f8784751d8579eb9790780e
--- /dev/null
+++ b/doc/html/functions_p.html
@@ -0,0 +1,80 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>Panda_decorator()
+: <a class="el" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator</a>
+</li>
+<li>Panel()
+: <a class="el" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a>
+</li>
+<li>parallel_exec()
+: <a class="el" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">Moveit_mediator</a>
+</li>
+<li>planFullGrasp()
+: <a class="el" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator</a>
+</li>
+<li>planning_pipeline_
+: <a class="el" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">Moveit_grasp_mediator</a>
+</li>
+<li>planning_scene_diff_publisher_
+: <a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">Moveit_mediator</a>
+</li>
+<li>planning_scene_monitor_
+: <a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">Moveit_mediator</a>
+</li>
+<li>planPreApproach()
+: <a class="el" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">Moveit_grasp_mediator</a>
+</li>
+<li>pos_
+: <a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP</a>
+</li>
+<li>pose_
+: <a class="el" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">object_data</a>
+</li>
+<li>ps_
+: <a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">Moveit_mediator</a>
+</li>
+<li>psi_
+: <a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator</a>
+</li>
+<li>pub_
+: <a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">Base_calculation_mediator</a>
+</li>
+<li>publish()
+: <a class="el" href="classBase__calculation__mediator.html#a62cee1d422407a72223fcee53dbba5ba">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">Mediator</a>
+</li>
+<li>publish_tables()
+: <a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_r.html b/doc/html/functions_r.html
new file mode 100644
index 0000000000000000000000000000000000000000..74d86263dd21bc7863b2cc97ee752f2e437283ca
--- /dev/null
+++ b/doc/html/functions_r.html
@@ -0,0 +1,120 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read()
+: <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>
+, <a class="el" href="classCuboid__reader.html#aa9fb23e8916e3288d8172725b8cd1842">Cuboid_reader</a>
+, <a class="el" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">Job_reader</a>
+, <a class="el" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">Map_reader</a>
+, <a class="el" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">Robot_reader</a>
+, <a class="el" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">Task_space_reader</a>
+, <a class="el" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">Ts_reader</a>
+, <a class="el" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">Wing_reader</a>
+</li>
+<li>register_observers()
+: <a class="el" href="classCeti__robot.html#ac28cfaf3ea80e2d3271c0c8ca634dc77">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot</a>
+</li>
+<li>relative_bounds_
+: <a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">Abstract_mediator</a>
+</li>
+<li>relative_tf()
+: <a class="el" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">Abstract_robot_element</a>
+</li>
+<li>relative_tf_
+: <a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element</a>
+</li>
+<li>reset()
+: <a class="el" href="classCeti__robot.html#a9db994a08373f0c75bd69226855f2b54">Ceti_robot</a>
+, <a class="el" href="classRobot.html#af626880915da239eeb0793eb41ab7596">Robot</a>
+</li>
+<li>result_vector()
+: <a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">Abstract_mediator</a>
+</li>
+<li>result_vector_
+: <a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator</a>
+</li>
+<li>rewrite_task_template()
+: <a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator</a>
+</li>
+<li>Robot()
+: <a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>
+</li>
+<li>robot_data()
+: <a class="el" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">Job_reader</a>
+, <a class="el" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">Robot_reader</a>
+</li>
+<li>robot_data_
+: <a class="el" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">Robot_reader</a>
+</li>
+<li>robot_model_
+: <a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator</a>
+</li>
+<li>robot_reader()
+: <a class="el" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">Base_calculation_mediator</a>
+</li>
+<li>Robot_reader()
+: <a class="el" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a>
+</li>
+<li>robot_reader_
+: <a class="el" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">Base_calculation_mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">Moveit_grasp_mediator</a>
+</li>
+<li>robot_root_bounds()
+: <a class="el" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#ae7c7ebc6cbf26f5e99649ffaabf7e419">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a31ba978529d6f3039ff7223f90d864ec">Ceti_robot</a>
+</li>
+<li>robot_root_bounds_
+: <a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot</a>
+</li>
+<li>robots()
+: <a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">Abstract_mediator</a>
+</li>
+<li>robots_
+: <a class="el" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">Abstract_mediator</a>
+</li>
+<li>root_tf()
+: <a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a4c9612f7a87974aa64622fd4acd8123e">Ceti_robot</a>
+</li>
+<li>root_tf_
+: <a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot</a>
+</li>
+<li>rotate()
+: <a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot</a>
+</li>
+<li>Rviz_panel()
+: <a class="el" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_s.html b/doc/html/functions_s.html
new file mode 100644
index 0000000000000000000000000000000000000000..a213cf87d5292a3caf5eebdf2af6356f4a70e68e
--- /dev/null
+++ b/doc/html/functions_s.html
@@ -0,0 +1,183 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>sampling_planner_
+: <a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">Moveit_mediator</a>
+</li>
+<li>scene_setup()
+: <a class="el" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">Moveit_grasp_mediator</a>
+</li>
+<li>set_cuboid_bin_data()
+: <a class="el" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">Cuboid_reader</a>
+</li>
+<li>set_cuboid_obstacle_data()
+: <a class="el" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">Cuboid_reader</a>
+</li>
+<li>set_dirname()
+: <a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator</a>
+</li>
+<li>set_drop_off_data()
+: <a class="el" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">Ts_reader</a>
+</li>
+<li>set_grasp_map_generator()
+: <a class="el" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">Moveit_robot</a>
+</li>
+<li>set_grasp_orientations()
+: <a class="el" href="classAbstract__base__implementation.html#a4c2ee065ff500f9d588ab967d55d3677">Abstract_base_implementation</a>
+, <a class="el" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">Simple_base_implementation</a>
+</li>
+<li>set_implementation()
+: <a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">Abstract_base</a>
+</li>
+<li>set_inv_map()
+: <a class="el" href="classAbstract__base.html#a12b49689227a6dd6d0aa55fe273dfae2">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a297e8f8fa66f70678d19d321033eea4d">Abstract_map_loader</a>
+</li>
+<li>set_job_data()
+: <a class="el" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">Job_reader</a>
+</li>
+<li>set_map()
+: <a class="el" href="classAbstract__base.html#ac83e7d3257c5cadc3285a90801f7a479">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">Abstract_map_loader</a>
+</li>
+<li>set_map_data()
+: <a class="el" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">Map_reader</a>
+</li>
+<li>set_markers()
+: <a class="el" href="classField__rviz__decorator.html#a16d7d4e68c53db336c4d2a9f032adff7">Field_rviz_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507">Wing_rviz_decorator</a>
+</li>
+<li>set_name()
+: <a class="el" href="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2">Field</a>
+, <a class="el" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">Panel</a>
+, <a class="el" href="classWing.html#a59974ceb515b29cab964aba4314a8885">Wing</a>
+</li>
+<li>set_observer_mask()
+: <a class="el" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">Abstract_robot</a>
+, <a class="el" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">Ceti_robot</a>
+</li>
+<li>set_panel()
+: <a class="el" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator</a>
+</li>
+<li>set_relative_tf()
+: <a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">Abstract_robot_element</a>
+</li>
+<li>set_result_vector()
+: <a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">Abstract_mediator</a>
+</li>
+<li>set_robot_data()
+: <a class="el" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">Robot_reader</a>
+</li>
+<li>set_set()
+: <a class="el" href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb">Field</a>
+, <a class="el" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">Panel</a>
+, <a class="el" href="classWing.html#ad0765941cf4c23bc66b044d3583dd114">Wing</a>
+</li>
+<li>set_strategy()
+: <a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">Abstract_map_loader</a>
+</li>
+<li>set_target_cloud()
+: <a class="el" href="classAbstract__base.html#a65784b6507975934712e2509e237680a">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a2945aff76228233abb3a89477c013d8a">Abstract_map_loader</a>
+</li>
+<li>set_target_rot()
+: <a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">Abstract_map_loader</a>
+</li>
+<li>set_task_grasps()
+: <a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">Abstract_map_loader</a>
+</li>
+<li>set_task_space()
+: <a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">Abstract_base</a>
+</li>
+<li>set_tasks()
+: <a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">Moveit_mediator</a>
+</li>
+<li>set_tf()
+: <a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot</a>
+</li>
+<li>set_wing_data()
+: <a class="el" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">Wing_reader</a>
+</li>
+<li>set_wings()
+: <a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">Abstract_mediator</a>
+, <a class="el" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">Mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">Moveit_mediator</a>
+</li>
+<li>set_world_tf()
+: <a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">Abstract_robot_element</a>
+</li>
+<li>setup_rviz()
+: <a class="el" href="classBase__calculation__mediator.html#a1e5a579ea6a516ec8537b4b3d506e4ae">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">Mediator</a>
+</li>
+<li>setup_task()
+: <a class="el" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">Moveit_mediator</a>
+</li>
+<li>Simple_base()
+: <a class="el" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base</a>
+</li>
+<li>Simple_base_implementation()
+: <a class="el" href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">Simple_base_implementation</a>
+</li>
+<li>size()
+: <a class="el" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a70a76cf36cdbe1179340b533b238151b">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">Abstract_robot_element_decorator</a>
+, <a class="el" href="classCeti__robot.html#aafdcb4ce7d655b291170818c43162aa7">Ceti_robot</a>
+, <a class="el" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">Field</a>
+, <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel</a>
+, <a class="el" href="classWing.html#a166b6d0367d7218947e3b2321360c521">Wing</a>
+</li>
+<li>size_
+: <a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element</a>
+, <a class="el" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">object_data</a>
+, <a class="el" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">Wing</a>
+, <a class="el" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">wing_BP</a>
+</li>
+<li>spezifie_robot_groups()
+: <a class="el" href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">Abstract_robot_decorator</a>
+, <a class="el" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">Panda_decorator</a>
+</li>
+<li>spezifie_root_bounds()
+: <a class="el" href="classAbstract__robot__decorator.html#a2a2ac64bad39febde6685135822c2597">Abstract_robot_decorator</a>
+, <a class="el" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">Panda_decorator</a>
+</li>
+<li>strategy()
+: <a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">Abstract_map_loader</a>
+</li>
+<li>strategy_
+: <a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">Abstract_map_loader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_t.html b/doc/html/functions_t.html
new file mode 100644
index 0000000000000000000000000000000000000000..6d379c91123263e4b534efd257bb285f64875b68
--- /dev/null
+++ b/doc/html/functions_t.html
@@ -0,0 +1,92 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>target_cloud()
+: <a class="el" href="classAbstract__base.html#ab7c57b1ac4fb42ab400c0fc08e9aff61">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#abb73acebcfbfb3a5acb790eb2d96fbd6">Abstract_map_loader</a>
+</li>
+<li>target_cloud_
+: <a class="el" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">Abstract_map_loader</a>
+</li>
+<li>target_rot()
+: <a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">Abstract_map_loader</a>
+</li>
+<li>target_rot_
+: <a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">Abstract_map_loader</a>
+</li>
+<li>task_grasps()
+: <a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader</a>
+</li>
+<li>task_grasps_
+: <a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">Abstract_map_loader</a>
+</li>
+<li>task_map()
+: <a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">Moveit_mediator</a>
+</li>
+<li>task_map_
+: <a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">Moveit_mediator</a>
+</li>
+<li>task_planner()
+: <a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">Moveit_mediator</a>
+</li>
+<li>task_space()
+: <a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">Abstract_base</a>
+</li>
+<li>task_space_
+: <a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">Abstract_base</a>
+</li>
+<li>Task_space_reader()
+: <a class="el" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader</a>
+</li>
+<li>task_space_reader_
+: <a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">Abstract_mediator</a>
+, <a class="el" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">Simple_base</a>
+</li>
+<li>tasks_
+: <a class="el" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">Moveit_mediator</a>
+</li>
+<li>tf()
+: <a class="el" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a60528a5a7c83e0b15d9fee091b00e5b3">Ceti_robot</a>
+</li>
+<li>tf_
+: <a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot</a>
+</li>
+<li>translate()
+: <a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">Abstract_robot</a>
+</li>
+<li>Ts_reader()
+: <a class="el" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_u.html b/doc/html/functions_u.html
new file mode 100644
index 0000000000000000000000000000000000000000..2acf91f0337c40db680edf1e73e98d73f4dc2c1b
--- /dev/null
+++ b/doc/html/functions_u.html
@@ -0,0 +1,46 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>update()
+: <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field</a>
+, <a class="el" href="classField__rviz__decorator.html#abf15c56ecefe976950818f7418ad47d4">Field_rviz_decorator</a>
+, <a class="el" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator</a>
+, <a class="el" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel</a>
+, <a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel</a>
+, <a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel</a>
+, <a class="el" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">Wing</a>
+, <a class="el" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator</a>
+, <a class="el" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_v.html b/doc/html/functions_v.html
new file mode 100644
index 0000000000000000000000000000000000000000..6d803689f538b1b0b2500a0492a6f488801d25fe
--- /dev/null
+++ b/doc/html/functions_v.html
@@ -0,0 +1,49 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>vector_to_cloud()
+: <a class="el" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator</a>
+, <a class="el" href="classMediator.html#accf269f067ad74db3e291289a96a71cc">Mediator</a>
+</li>
+<li>visual_tools_
+: <a class="el" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">Moveit_mediator</a>
+</li>
+<li>visualizePick()
+: <a class="el" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">Moveit_grasp_mediator</a>
+</li>
+<li>voxel_environment_
+: <a class="el" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">Moveit_grasp_mediator</a>
+</li>
+<li>voxel_manager_
+: <a class="el" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">Moveit_grasp_mediator</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_vars.html b/doc/html/functions_vars.html
new file mode 100644
index 0000000000000000000000000000000000000000..7fd47e364295358b738ddd00d198d9281affeb17
--- /dev/null
+++ b/doc/html/functions_vars.html
@@ -0,0 +1,332 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Variables</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="contents">
+ 
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>access_fields_
+: <a class="el" href="classCeti__robot.html#ae788dd0c96ea0112e46c0c817eb40466">Ceti_robot</a>
+, <a class="el" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">Robot</a>
+</li>
+<li>acm_
+: <a class="el" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">Moveit_mediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>bounds_
+: <a class="el" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">Abstract_robot_element</a>
+, <a class="el" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">Wing</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>cartesian_planner_
+: <a class="el" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">Moveit_mediator</a>
+</li>
+<li>coll_markers_
+: <a class="el" href="classCeti__robot.html#a96c4c46c18217a5f55bbb9e8d57d0b9b">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">Robot</a>
+</li>
+<li>cuboid_box_
+: <a class="el" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">Cuboid_reader</a>
+</li>
+<li>cuboid_obstacle_
+: <a class="el" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">Cuboid_reader</a>
+</li>
+<li>cuboid_reader_
+: <a class="el" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">Moveit_mediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>dirname_
+: <a class="el" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">Abstract_mediator</a>
+</li>
+<li>drop_off_data_
+: <a class="el" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">Ts_reader</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>grasp_map_generator_
+: <a class="el" href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">Moveit_robot</a>
+</li>
+<li>grasp_maps_
+: <a class="el" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">Moveit_grasp_mediator</a>
+</li>
+<li>grasp_ns_
+: <a class="el" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">Moveit_grasp_mediator</a>
+</li>
+<li>grounds_
+: <a class="el" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">Base_calculation_mediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>implementation_
+: <a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">Abstract_base</a>
+</li>
+<li>inv_map_
+: <a class="el" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#ad43b3e44a4908e0352c3a7c7b26c8347">Abstract_map_loader</a>
+</li>
+</ul>
+
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>job_data_
+: <a class="el" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">Job_reader</a>
+</li>
+<li>job_reader_
+: <a class="el" href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118">Moveit_grasp_mediator</a>
+, <a class="el" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">Moveit_mediator</a>
+</li>
+<li>jobs_
+: <a class="el" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>map_
+: <a class="el" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#a460481a298b27e411bafcdc584f1f35a">Abstract_map_loader</a>
+, <a class="el" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">Moveit_robot</a>
+</li>
+<li>map_data_
+: <a class="el" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">Map_reader</a>
+</li>
+<li>map_reader_
+: <a class="el" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">Simple_base</a>
+</li>
+<li>marker_
+: <a class="el" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">Moveit_panel</a>
+, <a class="el" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">Rviz_panel</a>
+, <a class="el" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">Wing_rviz_decorator</a>
+</li>
+<li>markers_
+: <a class="el" href="classField__rviz__decorator.html#ad524be1ab9385b0f0e1a91c794ce2a94">Field_rviz_decorator</a>
+, <a class="el" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">Wing_moveit_decorator</a>
+</li>
+<li>mgi_
+: <a class="el" href="classAbstract__robot__decorator.html#a586e264c1add89b1becf4e5d18964160">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">Moveit_mediator</a>
+, <a class="el" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">Moveit_robot</a>
+</li>
+<li>mgi_hand_
+: <a class="el" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">Abstract_robot_decorator</a>
+, <a class="el" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">Moveit_robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>name_
+: <a class="el" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element</a>
+, <a class="el" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">object_data</a>
+, <a class="el" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">Wing</a>
+, <a class="el" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">wing_BP</a>
+</li>
+<li>next_
+: <a class="el" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">Abstract_robot_decorator</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator</a>
+</li>
+<li>nh_
+: <a class="el" href="classAbstract__base.html#a54d21fd6fe1217c1b065c5b500e3e8d0">Abstract_base</a>
+, <a class="el" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">Abstract_mediator</a>
+, <a class="el" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">Abstract_robot_element_decorator</a>
+, <a class="el" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">Moveit_mediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>objects_
+: <a class="el" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">Abstract_mediator</a>
+</li>
+<li>observer_mask_
+: <a class="el" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">Abstract_robot</a>
+, <a class="el" href="classCeti__robot.html#adfdaf371d8c0ba26fe6ea193539cd2f9">Ceti_robot</a>
+</li>
+<li>observers_
+: <a class="el" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">Robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>planning_pipeline_
+: <a class="el" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">Moveit_grasp_mediator</a>
+</li>
+<li>planning_scene_diff_publisher_
+: <a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">Moveit_mediator</a>
+</li>
+<li>planning_scene_monitor_
+: <a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">Moveit_mediator</a>
+</li>
+<li>pos_
+: <a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP</a>
+</li>
+<li>pose_
+: <a class="el" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">object_data</a>
+</li>
+<li>ps_
+: <a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">Moveit_mediator</a>
+</li>
+<li>psi_
+: <a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator</a>
+</li>
+<li>pub_
+: <a class="el" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a5419d9798ac36cd945706721aa542278">Base_calculation_mediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>relative_bounds_
+: <a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">Abstract_mediator</a>
+</li>
+<li>relative_tf_
+: <a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element</a>
+</li>
+<li>result_vector_
+: <a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator</a>
+</li>
+<li>robot_data_
+: <a class="el" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">Robot_reader</a>
+</li>
+<li>robot_model_
+: <a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator</a>
+</li>
+<li>robot_reader_
+: <a class="el" href="classBase__calculation__mediator.html#a3a04eb51e61a15179088786b9555e000">Base_calculation_mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">Moveit_grasp_mediator</a>
+</li>
+<li>robot_root_bounds_
+: <a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot</a>
+</li>
+<li>robots_
+: <a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator</a>
+</li>
+<li>root_tf_
+: <a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>sampling_planner_
+: <a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">Moveit_mediator</a>
+</li>
+<li>size_
+: <a class="el" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element</a>
+, <a class="el" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">object_data</a>
+, <a class="el" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">Wing</a>
+, <a class="el" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">wing_BP</a>
+</li>
+<li>strategy_
+: <a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">Abstract_map_loader</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>target_cloud_
+: <a class="el" href="classAbstract__base.html#a20a272f916415c6d30d6c3af3eb75f33">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">Abstract_map_loader</a>
+</li>
+<li>target_rot_
+: <a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">Abstract_map_loader</a>
+</li>
+<li>task_grasps_
+: <a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">Abstract_map_loader</a>
+</li>
+<li>task_map_
+: <a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">Moveit_mediator</a>
+</li>
+<li>task_space_
+: <a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">Abstract_base</a>
+</li>
+<li>task_space_reader_
+: <a class="el" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">Abstract_mediator</a>
+, <a class="el" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">Simple_base</a>
+</li>
+<li>tasks_
+: <a class="el" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">Moveit_mediator</a>
+</li>
+<li>tf_
+: <a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot</a>
+</li>
+</ul>
+
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>visual_tools_
+: <a class="el" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">Moveit_mediator</a>
+</li>
+<li>voxel_environment_
+: <a class="el" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">Moveit_grasp_mediator</a>
+</li>
+<li>voxel_manager_
+: <a class="el" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">Moveit_grasp_mediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>wing_data_
+: <a class="el" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">Wing_reader</a>
+</li>
+<li>wing_reader_
+: <a class="el" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">Base_calculation_mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf">Moveit_grasp_mediator</a>
+</li>
+<li>wings_
+: <a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">Base_calculation_mediator</a>
+</li>
+<li>world_tf_
+: <a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_w.html b/doc/html/functions_w.html
new file mode 100644
index 0000000000000000000000000000000000000000..8b5ddd28f6913746e18408de33c63b86d42c7002
--- /dev/null
+++ b/doc/html/functions_w.html
@@ -0,0 +1,96 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>waitForNextStep()
+: <a class="el" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">Moveit_grasp_mediator</a>
+</li>
+<li>wing()
+: <a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator</a>
+</li>
+<li>Wing()
+: <a class="el" href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397">Wing</a>
+</li>
+<li>wing_data()
+: <a class="el" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">Wing_reader</a>
+</li>
+<li>wing_data_
+: <a class="el" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">Wing_reader</a>
+</li>
+<li>Wing_moveit_decorator()
+: <a class="el" href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677">Wing_moveit_decorator</a>
+</li>
+<li>wing_reader()
+: <a class="el" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">Base_calculation_mediator</a>
+</li>
+<li>Wing_reader()
+: <a class="el" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader</a>
+</li>
+<li>wing_reader_
+: <a class="el" href="classBase__calculation__mediator.html#ae1c0060fbd229bb5c7c8229e82200fc0">Base_calculation_mediator</a>
+, <a class="el" href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf">Moveit_grasp_mediator</a>
+</li>
+<li>Wing_rviz_decorator()
+: <a class="el" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator</a>
+</li>
+<li>wings()
+: <a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">Abstract_mediator</a>
+</li>
+<li>wings_
+: <a class="el" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">Abstract_mediator</a>
+, <a class="el" href="classBase__calculation__mediator.html#a8274031d01b4648815a25e9e545178c5">Base_calculation_mediator</a>
+</li>
+<li>workload_checker()
+: <a class="el" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot</a>
+, <a class="el" href="classAbstract__robot__decorator.html#ad725d88bfcce39d8e90c45b38b85e144">Abstract_robot_decorator</a>
+, <a class="el" href="classCeti__robot.html#a8bfe48e6325263ae5607a5621dedebe9">Ceti_robot</a>
+, <a class="el" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot</a>
+</li>
+<li>world_tf()
+: <a class="el" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element</a>
+, <a class="el" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">Abstract_robot_element_decorator</a>
+, <a class="el" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">Field</a>
+, <a class="el" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">Panel</a>
+</li>
+<li>world_tf_
+: <a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element</a>
+</li>
+<li>write_file()
+: <a class="el" href="classBase__calculation__mediator.html#a1e710053c31cd1f4da64b45a11c7b660">Base_calculation_mediator</a>
+, <a class="el" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">Mediator</a>
+</li>
+<li>write_task()
+: <a class="el" href="classAbstract__base.html#a3fa949c8f9fd12d96add87d38810ceef">Abstract_base</a>
+, <a class="el" href="classAbstract__map__loader.html#acb51b1dd09b8689778de1a0b593d3a1f">Abstract_map_loader</a>
+, <a class="el" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">Map_loader</a>
+, <a class="el" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">Simple_base</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_~.html b/doc/html/functions_~.html
new file mode 100644
index 0000000000000000000000000000000000000000..a03c9d34c2b7c857a9e99352292cd3c548412df7
--- /dev/null
+++ b/doc/html/functions_~.html
@@ -0,0 +1,54 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</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="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~Abstract_base_implementation()
+: <a class="el" href="classAbstract__base__implementation.html#a7e51334938ee2afa88fe37b6e9b75690">Abstract_base_implementation</a>
+</li>
+<li>~Abstract_map_loader()
+: <a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">Abstract_map_loader</a>
+</li>
+<li>~Abstract_strategy()
+: <a class="el" href="classAbstract__strategy.html#a42ded383c401bd6cc047f5c6064f5e8d">Abstract_strategy</a>
+</li>
+<li>~Base_by_rotation()
+: <a class="el" href="classBase__by__rotation.html#a63a6ed1a606880c99c0bc96f666d83ba">Base_by_rotation</a>
+</li>
+<li>~Collision_helper()
+: <a class="el" href="classCollision__helper.html#a3578a1bf2e59c1f5e55fc396ce966e9b">Collision_helper</a>
+</li>
+<li>~Simple_base_implementation()
+: <a class="el" href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">Simple_base_implementation</a>
+</li>
+<li>~Wing()
+: <a class="el" href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975">Wing</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/globals.html b/doc/html/globals.html
new file mode 100644
index 0000000000000000000000000000000000000000..bc6e6ac7dc4f06d962e7520885c4e3d5bec865d4
--- /dev/null
+++ b/doc/html/globals.html
@@ -0,0 +1,134 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File Members</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="contents">
+<div class="textblock">Here is a list of all file members with links to the files they belong to:</div>
+
+<h3><a id="index__5F"></a>- _ -</h3><ul>
+<li>___
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">robot/abstract_robot.h</a>
+</li>
+<li>__L
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">robot/abstract_robot.h</a>
+</li>
+<li>_M_
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">robot/abstract_robot.h</a>
+</li>
+<li>_ML
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">robot/abstract_robot.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>box_size
+: <a class="el" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">impl/abstract_mediator.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>etsg_
+: <a class="el" href="moveit__mediator_8cpp.html#a07c246a655c93c294c5895333d59f9fb">moveit_mediator.cpp</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>L_POS
+: <a class="el" href="impl_2abstract__mediator_8h.html#aaa42a37a844c5621fda56ec3030e0d10">impl/abstract_mediator.h</a>
+</li>
+<li>left_size
+: <a class="el" href="impl_2abstract__robot_8h.html#a073c2dc3016a11f05027909f7e88dd40">impl/abstract_robot.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>M_POS
+: <a class="el" href="impl_2abstract__mediator_8h.html#ae48206ef860db463980ca8ff4bedaddd">impl/abstract_mediator.h</a>
+</li>
+<li>main()
+: <a class="el" href="base__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">base_routine.cpp</a>
+, <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="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">robot_base_calculation_approach.cpp</a>
+</li>
+<li>mid_size
+: <a class="el" href="impl_2abstract__robot_8h.html#a84210660daefdf244d270c0e29020b6f">impl/abstract_robot.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>R__
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">robot/abstract_robot.h</a>
+</li>
+<li>R_L
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">robot/abstract_robot.h</a>
+</li>
+<li>R_POS
+: <a class="el" href="impl_2abstract__mediator_8h.html#a39a715cfc5408be39900e0fda32e4d02">impl/abstract_mediator.h</a>
+</li>
+<li>right_size
+: <a class="el" href="impl_2abstract__robot_8h.html#ab3a3a04dddd8d15a526b9227b42c0e4a">impl/abstract_robot.h</a>
+</li>
+<li>RM_
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">robot/abstract_robot.h</a>
+</li>
+<li>RML
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">robot/abstract_robot.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>task__
+: <a class="el" href="moveit__mediator_8cpp.html#a83e709b064acbbdd1ba1382937d57cec">moveit_mediator.cpp</a>
+</li>
+<li>task_writing
+: <a class="el" href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2">moveit_mediator.cpp</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>wing_config
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">robot/abstract_robot.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+++ b/doc/html/globals_defs.html
@@ -0,0 +1,52 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File Members</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="contents">
+ <ul>
+<li>box_size
+: <a class="el" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">impl/abstract_mediator.h</a>
+</li>
+<li>L_POS
+: <a class="el" href="impl_2abstract__mediator_8h.html#aaa42a37a844c5621fda56ec3030e0d10">impl/abstract_mediator.h</a>
+</li>
+<li>left_size
+: <a class="el" href="impl_2abstract__robot_8h.html#a073c2dc3016a11f05027909f7e88dd40">impl/abstract_robot.h</a>
+</li>
+<li>M_POS
+: <a class="el" href="impl_2abstract__mediator_8h.html#ae48206ef860db463980ca8ff4bedaddd">impl/abstract_mediator.h</a>
+</li>
+<li>mid_size
+: <a class="el" href="impl_2abstract__robot_8h.html#a84210660daefdf244d270c0e29020b6f">impl/abstract_robot.h</a>
+</li>
+<li>R_POS
+: <a class="el" href="impl_2abstract__mediator_8h.html#a39a715cfc5408be39900e0fda32e4d02">impl/abstract_mediator.h</a>
+</li>
+<li>right_size
+: <a class="el" href="impl_2abstract__robot_8h.html#ab3a3a04dddd8d15a526b9227b42c0e4a">impl/abstract_robot.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -0,0 +1,35 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File Members</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 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ <ul>
+<li>wing_config
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">robot/abstract_robot.h</a>
+</li>
+</ul>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -0,0 +1,63 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File Members</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ <ul>
+<li>___
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">robot/abstract_robot.h</a>
+</li>
+<li>__L
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">robot/abstract_robot.h</a>
+</li>
+<li>_M_
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">robot/abstract_robot.h</a>
+</li>
+<li>_ML
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">robot/abstract_robot.h</a>
+</li>
+<li>R__
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">robot/abstract_robot.h</a>
+</li>
+<li>R_L
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">robot/abstract_robot.h</a>
+</li>
+<li>RM_
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">robot/abstract_robot.h</a>
+</li>
+<li>RML
+: <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">impl/abstract_robot.h</a>
+, <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">robot/abstract_robot.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -0,0 +1,38 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File Members</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 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ <ul>
+<li>main()
+: <a class="el" href="base__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">base_routine.cpp</a>
+, <a class="el" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">robot_base_calculation_approach.cpp</a>
+, <a class="el" href="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">mtc2taskspace.cpp</a>
+, <a class="el" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">grasp_cell_routine.cpp</a>
+, <a class="el" href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">cell_routine.cpp</a>
+</li>
+</ul>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/globals_vars.html b/doc/html/globals_vars.html
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@@ -0,0 +1,40 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: File Members</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ <ul>
+<li>etsg_
+: <a class="el" href="moveit__mediator_8cpp.html#a07c246a655c93c294c5895333d59f9fb">moveit_mediator.cpp</a>
+</li>
+<li>task__
+: <a class="el" href="moveit__mediator_8cpp.html#a83e709b064acbbdd1ba1382937d57cec">moveit_mediator.cpp</a>
+</li>
+<li>task_writing
+: <a class="el" href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2">moveit_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Graph Legend</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>
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+<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 />
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+<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>
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+<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 "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__map__loader_8h_source.html">impl/abstract_map_loader.h</a>"</code><br />
+<code>#include "<a class="el" href="map__loader_8h_source.html">impl/map_loader.h</a>"</code><br />
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+<code>#include "<a class="el" href="moveit__mediator_8h_source.html">impl/moveit_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="moveit__grasp__mediator_8h_source.html">impl/moveit_grasp_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__moveit__decorator_8h_source.html">impl/wing_moveit_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing_8h_source.html">impl/wing.h</a>"</code><br />
+<code>#include "<a class="el" href="moveit__robot_8h_source.html">impl/moveit_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="collision__helper_8h_source.html">impl/collision_helper.h</a>"</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">
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+</div>
+</div>
+<p><a href="grasp__cell__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:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr>
+<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><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="grasp__cell__routine_8cpp_source.html#l00026">26</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+++ b/doc/html/grasp__cell__routine_8cpp_source.html
@@ -0,0 +1,111 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: grasp_cell_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">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 "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="abstract__map__loader_8h.html">impl/abstract_map_loader.h</a>"</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "<a class="code" href="map__loader_8h.html">impl/map_loader.h</a>"</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="moveit__mediator_8h.html">impl/moveit_mediator.h</a>"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="moveit__grasp__mediator_8h.html">impl/moveit_grasp_mediator.h</a>"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="wing__moveit__decorator_8h.html">impl/wing_moveit_decorator.h</a>"</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="wing_8h.html">impl/wing.h</a>"</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="moveit__robot_8h.html">impl/moveit_robot.h</a>"</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="collision__helper_8h.html">impl/collision_helper.h</a>"</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</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="l00015"></a><span class="lineno"> 15</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="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</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="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_generator.h></span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_data.h></span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_filter.h></span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <moveit_grasps/grasp_planner.h></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="l00025"></a><span class="lineno"> 25</span>  </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 26</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="l00027"></a><span class="lineno"> 27</span>  ros::init(argc, argv, <span class="stringliteral">"grasp_cell_routine"</span>);</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  std::shared_ptr<ros::NodeHandle> nnh = std::make_shared<ros::NodeHandle>();</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  ros::AsyncSpinner spinner(1);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  spinner.start();</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>  XmlRpc::XmlRpcValue map, task;</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>  nnh->getParam(<span class="stringliteral">"/data"</span>,map);</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  nnh->getParam(<span class="stringliteral">"/task/groups"</span>,task);</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>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a>* map_loader = <span class="keyword">new</span> <a class="code" href="classMap__loader.html">Map_loader</a>(map, task);</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>  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="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>* mediator = <span class="keyword">new</span> <a class="code" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a>(map_loader-><a class="code" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">task_grasps</a>(), pub, nnh);</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a>* moveit_grasp_mediator = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a>*<span class="keyword">></span>(mediator); </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>  moveit_grasp_mediator-><a class="code" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">mediate</a>();</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">while</span> (ros::ok()){</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  ros::spinOnce();</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="amoveit__robot_8h_html"><div class="ttname"><a href="moveit__robot_8h.html">moveit_robot.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</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="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ace031e7894f77a460ce5782a6e3160e8"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00141">moveit_grasp_mediator.cpp:141</a></div></div>
+<div class="ttc" id="aabstract__map__loader_8h_html"><div class="ttname"><a href="abstract__map__loader_8h.html">abstract_map_loader.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="aclassMoveit__grasp__mediator_html"><div class="ttname"><a href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00023">moveit_grasp_mediator.h:23</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_aa9772fe2bd594967b8f7b980db442ca5"><div class="ttname"><a href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader::task_grasps</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > & task_grasps()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00046">abstract_map_loader.h:46</a></div></div>
+<div class="ttc" id="amoveit__grasp__mediator_8h_html"><div class="ttname"><a href="moveit__grasp__mediator_8h.html">moveit_grasp_mediator.h</a></div></div>
+<div class="ttc" id="awing__moveit__decorator_8h_html"><div class="ttname"><a href="wing__moveit__decorator_8h.html">wing_moveit_decorator.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="amap__loader_8h_html"><div class="ttname"><a href="map__loader_8h.html">map_loader.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="acollision__helper_8h_html"><div class="ttname"><a href="collision__helper_8h.html">collision_helper.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="aclassMap__loader_html"><div class="ttname"><a href="classMap__loader.html">Map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8h_source.html#l00010">map_loader.h:10</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="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#l00026">grasp_cell_routine.cpp:26</a></div></div>
+<div class="ttc" id="awing_8h_html"><div class="ttname"><a href="wing_8h.html">wing.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/hierarchy.html b/doc/html/hierarchy.html
new file mode 100644
index 0000000000000000000000000000000000000000..1a0743c0d3b07d21f6494fa15f086939238d5305
--- /dev/null
+++ b/doc/html/hierarchy.html
@@ -0,0 +1,82 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Hierarchy</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">Class Hierarchy</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">
+<p><a href="inherits.html">Go to the graphical class hierarchy</a></p>
+This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__base.html" target="_self">Abstract_base</a></td><td class="desc">Abstract base class </td></tr>
+<tr id="row_0_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="classSimple__base.html" target="_self">Simple_base</a></td><td class="desc">Refiend base abstraction </td></tr>
+<tr id="row_1_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__base__implementation.html" target="_self">Abstract_base_implementation</a></td><td class="desc">Abstract base implementation </td></tr>
+<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="classSimple__base__implementation.html" target="_self">Simple_base_implementation</a></td><td class="desc">Refined base implementation </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="classAbstract__map__loader.html" target="_self">Abstract_map_loader</a></td><td class="desc"></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="classMap__loader.html" target="_self">Map_loader</a></td><td class="desc"></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="classAbstract__mediator.html" target="_self">Abstract_mediator</a></td><td class="desc">Abstract mediator </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="classBase__calculation__mediator.html" target="_self">Base_calculation_mediator</a></td><td class="desc">Concrete <a class="el" href="classMediator.html">Mediator</a> </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="classMediator.html" target="_self">Mediator</a></td><td class="desc"></td></tr>
+<tr id="row_3_2_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_3_2_" class="arrow" onclick="toggleFolder('3_2_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveit__mediator.html" target="_self">Moveit_mediator</a></td><td class="desc"></td></tr>
+<tr id="row_3_2_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="classMoveit__grasp__mediator.html" target="_self">Moveit_grasp_mediator</a></td><td class="desc"></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="classAbstract__param__reader.html" target="_self">Abstract_param_reader</a></td><td class="desc">Abstract ROS-Param reader class </td></tr>
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+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a"> 4</a></span> std::vector<pcl::PointXYZ> <a class="code" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator::generate_Ground</a>(<span class="keyword">const</span> tf2::Vector3 origin, <span class="keyword">const</span> <span class="keywordtype">float</span> diameter, <span class="keywordtype">float</span> resolution){</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  std::vector<pcl::PointXYZ> ground_plane; </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>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> x = origin.getX() - diameter * 1.5; x <= origin.getX() + diameter * 1.5; x += resolution){</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> y = origin.getY() - diameter * 1.5; y <= origin.getY() + diameter * 1.5; y += resolution){</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  pcl::PointXYZ point(x,y, 0.4425f);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  ground_plane.push_back(point); </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"> 13</span>  <span class="keywordflow">return</span> ground_plane;</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="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389"> 16</a></span> pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a>(std::vector<pcl::PointXYZ>& vector){</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >);</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordflow">for</span>(pcl::PointXYZ& point : vector)</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  task_voxel->push_back(point);</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">return</span> task_voxel;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__mediator_html_a26d47b6d6d64a8eb4b096fcb5f78b389"><div class="ttname"><a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00016">impl/abstract_mediator.cpp:16</a></div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a0127bf58ba90cd82b39b0dfe4dfbe88a"><div class="ttname"><a href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator::generate_Ground</a></div><div class="ttdeci">std::vector< pcl::PointXYZ > generate_Ground(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00004">impl/abstract_mediator.cpp:4</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> |
+<a href="#define-members">Macros</a> </div>
+ <div class="headertitle">
+<div class="title">impl/abstract_mediator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_8h_source.html">impl/robot.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__reader_8h_source.html">reader/wing_reader.h</a>"</code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include <octomap/octomap.h></code><br />
+<code>#include <pcl/point_cloud.h></code><br />
+<code>#include <pcl/octree/octree.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for impl/abstract_mediator.h:</div>
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+<p><a href="impl_2abstract__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="classAbstract__mediator.html">Abstract_mediator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator. <a href="classAbstract__mediator.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structwing__BP.html">wing_BP</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:a0a92ddf506735cefb1b043b5fbbad680"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">box_size</a>   tf2::Vector3(0.0318f, 0.0636f, 0.091f)</td></tr>
+<tr class="separator:a0a92ddf506735cefb1b043b5fbbad680"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aaa42a37a844c5621fda56ec3030e0d10"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__mediator_8h.html#aaa42a37a844c5621fda56ec3030e0d10">L_POS</a>   tf2::Vector3(0,-0.6525f,0.4425f -0.005f)</td></tr>
+<tr class="separator:aaa42a37a844c5621fda56ec3030e0d10"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae48206ef860db463980ca8ff4bedaddd"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__mediator_8h.html#ae48206ef860db463980ca8ff4bedaddd">M_POS</a>   tf2::Vector3(0.6525f,0,0.4425f-0.005f)</td></tr>
+<tr class="separator:ae48206ef860db463980ca8ff4bedaddd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a39a715cfc5408be39900e0fda32e4d02"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__mediator_8h.html#a39a715cfc5408be39900e0fda32e4d02">R_POS</a>   tf2::Vector3(0,0.6525f,0.4425f -0.005f)</td></tr>
+<tr class="separator:a39a715cfc5408be39900e0fda32e4d02"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a0a92ddf506735cefb1b043b5fbbad680"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a92ddf506735cefb1b043b5fbbad680">◆ </a></span>box_size</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define box_size   tf2::Vector3(0.0318f, 0.0636f, 0.091f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00021">21</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="aaa42a37a844c5621fda56ec3030e0d10"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa42a37a844c5621fda56ec3030e0d10">◆ </a></span>L_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define L_POS   tf2::Vector3(0,-0.6525f,0.4425f -0.005f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00023">23</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae48206ef860db463980ca8ff4bedaddd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae48206ef860db463980ca8ff4bedaddd">◆ </a></span>M_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define M_POS   tf2::Vector3(0.6525f,0,0.4425f-0.005f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00024">24</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a39a715cfc5408be39900e0fda32e4d02"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39a715cfc5408be39900e0fda32e4d02">◆ </a></span>R_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define R_POS   tf2::Vector3(0,0.6525f,0.4425f -0.005f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00022">22</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
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+<div class="title">impl/abstract_mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="impl_2abstract__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 ABSTRACT_MEDIATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">impl/robot.h</a>"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</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="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"> 11</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <fstream></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"> 15</span> <span class="preprocessor">#include <octomap/octomap.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <pcl/octree/octree.h></span></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>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680"> 21</a></span> <span class="preprocessor">#define box_size tf2::Vector3(0.0318f, 0.0636f, 0.091f)</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="impl_2abstract__mediator_8h.html#a39a715cfc5408be39900e0fda32e4d02"> 22</a></span> <span class="preprocessor">#define R_POS tf2::Vector3(0,0.6525f,0.4425f -0.005f)</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="impl_2abstract__mediator_8h.html#aaa42a37a844c5621fda56ec3030e0d10"> 23</a></span> <span class="preprocessor">#define L_POS tf2::Vector3(0,-0.6525f,0.4425f -0.005f)</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="impl_2abstract__mediator_8h.html#ae48206ef860db463980ca8ff4bedaddd"> 24</a></span> <span class="preprocessor">#define M_POS tf2::Vector3(0.6525f,0,0.4425f-0.005f)</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"><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="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html"> 33</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__mediator.html">Abstract_mediator</a> {</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061"> 35</a></span>  std::vector<Abstract_robot*> <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c"> 36</a></span>  std::vector<std::vector<tf2::Transform>> <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98"> 37</a></span>  std::vector<std::vector<std::vector<tf2::Transform>>> <a class="code" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a>;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e"> 38</a></span>  ros::Publisher* <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab"> 39</a></span>  std::vector<std::vector<pcl::PointXYZ>> <a class="code" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8"> 40</a></span>  std::vector<std::vector<Abstract_robot_element*>> <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>;</div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae"> 41</a></span>  std::string <a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a>;</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>  </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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217"> 48</a></span>  <a class="code" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub) : <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>(objects), <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>(pub){</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>  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838"> 51</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">set_result_vector</a>(std::vector<std::vector<pcl::PointXYZ>>& res) {<a class="code" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a> = res;}</div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6"> 52</a></span>  <span class="keyword">inline</span> std::vector<std::vector<Abstract_robot_element*>> <a class="code" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>;}</div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2"> 53</a></span>  <span class="keyword">inline</span> std::vector<std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">result_vector</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a>;}</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62"> 54</a></span>  <span class="keyword">inline</span> std::vector<Abstract_robot*> <a class="code" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">robots</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>;}</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="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f"> 57</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string& dirn) {<a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a> = dirn;}</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d"> 58</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a>;}</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>  </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>  pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector<pcl::PointXYZ>& vector);</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  std::vector<pcl::PointXYZ> <a class="code" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">generate_Ground</a>(<span class="keyword">const</span> tf2::Vector3 origin, <span class="keyword">const</span> <span class="keywordtype">float</span> diameter, <span class="keywordtype">float</span> resolution);</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot)=0; </div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">set_wings</a>(std::vector<std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& wbp)=0;</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">check_collision</a>( <span class="keyword">const</span> <span class="keywordtype">int</span>& robot)=0;</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a>()=0;</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">build_wings</a>(std::bitset<3>& wing, <span class="keywordtype">int</span>& robot)=0;</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>  </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>  </div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</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="impl_2abstract__mediator_8h_source.html#l00028">impl/abstract_mediator.h:28</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a42b339e1ffa0b206129cc11fa300b217"><div class="ttname"><a href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator::Abstract_mediator</a></div><div class="ttdeci">Abstract_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00048">impl/abstract_mediator.h:48</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a4580d0c30a62cc91203b950694f98e98"><div class="ttname"><a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">Abstract_mediator::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="impl_2abstract__mediator_8h_source.html#l00037">impl/abstract_mediator.h:37</a></div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a24f9a262c71f04f66550da4f61746e62"><div class="ttname"><a href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">Abstract_mediator::robots</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00054">impl/abstract_mediator.h:54</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a77682034ad695305a6781b53af93d05e"><div class="ttname"><a href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">Abstract_mediator::pub_</a></div><div class="ttdeci">ros::Publisher * pub_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00038">impl/abstract_mediator.h:38</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="astructwing__BP_html"><div class="ttname"><a href="structwing__BP.html">wing_BP</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00026">impl/abstract_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a7dbd0e2d480c9a496aa2fb77a14ab592"><div class="ttname"><a href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator::check_collision</a></div><div class="ttdeci">virtual bool check_collision(const int &robot)=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a64323b190e965287422f7b840bc1b95f"><div class="ttname"><a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator::set_dirname</a></div><div class="ttdeci">void set_dirname(std::string &dirn)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00057">impl/abstract_mediator.h:57</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="impl_2abstract__mediator_8h_source.html#l00027">impl/abstract_mediator.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ae7e91c3c5ac234ee1d1bd2d7d6128bc8"><div class="ttname"><a href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">Abstract_mediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00040">impl/abstract_mediator.h:40</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a26d47b6d6d64a8eb4b096fcb5f78b389"><div class="ttname"><a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00016">impl/abstract_mediator.cpp:16</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="impl_2abstract__mediator_8h_source.html#l00029">impl/abstract_mediator.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9a48fc344129cd16dc0f20be2d9368ab"><div class="ttname"><a href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator::result_vector_</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00039">impl/abstract_mediator.h:39</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ad4565f4b98c689289ddda9e7507736ae"><div class="ttname"><a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">Abstract_mediator::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="impl_2abstract__mediator_8h_source.html#l00041">impl/abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9a4028042141d35f7429f92db32599c2"><div class="ttname"><a href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">Abstract_mediator::result_vector</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointXYZ > > & result_vector()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00053">impl/abstract_mediator.h:53</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_adcd1ada33f056dadda3dc17a6299b731"><div class="ttname"><a href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator::mediate</a></div><div class="ttdeci">virtual void mediate()=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a0c102b5e272139492ab04ce0d4e43234"><div class="ttname"><a href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator::connect_robots</a></div><div class="ttdeci">virtual void connect_robots(Abstract_robot *robot)=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9838c41eeb97aef668cd7213f0e2e9a6"><div class="ttname"><a href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">Abstract_mediator::wings</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00052">impl/abstract_mediator.h:52</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="aclassAbstract__mediator_html_a0127bf58ba90cd82b39b0dfe4dfbe88a"><div class="ttname"><a href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator::generate_Ground</a></div><div class="ttdeci">std::vector< pcl::PointXYZ > generate_Ground(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00004">impl/abstract_mediator.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_af92b5d1cb508826454ae3ea0e5cbf5f2"><div class="ttname"><a href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">Abstract_mediator::set_wings</a></div><div class="ttdeci">virtual void set_wings(std::vector< std::pair< std::vector< object_data >, int >> &wbp)=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a78a9e79c0a97238c7d76ec1a3cc7349c"><div class="ttname"><a href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">Abstract_mediator::objects_</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > objects_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00036">impl/abstract_mediator.h:36</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a45f051cc8b3816677c638f805e805838"><div class="ttname"><a href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">Abstract_mediator::set_result_vector</a></div><div class="ttdeci">void set_result_vector(std::vector< std::vector< pcl::PointXYZ >> &res)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00051">impl/abstract_mediator.h:51</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_aafb2967bb33e9cc4ba0dcf54f29be144"><div class="ttname"><a href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator::build_wings</a></div><div class="ttdeci">virtual void build_wings(std::bitset< 3 > &wing, int &robot)=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ad651113a7bd5059643177c7b5fc08b8d"><div class="ttname"><a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">Abstract_mediator::dirname</a></div><div class="ttdeci">std::string & dirname()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00058">impl/abstract_mediator.h:58</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a66416f41c207636fcf0b5223c2f70061"><div class="ttname"><a href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00035">impl/abstract_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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@@ -0,0 +1,221 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot.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>
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+ initMenu('',false,false,'search.php','Search');
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> |
+<a href="#define-members">Macros</a> |
+<a href="#enum-members">Enumerations</a> </div>
+ <div class="headertitle">
+<div class="title">impl/abstract_robot.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include "<a class="el" href="abstract__strategy_8h_source.html">impl/abstract_strategy.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for impl/abstract_robot.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="impl_2abstract__robot_8h__incl.png" border="0" usemap="#abstract__robot_8h" alt=""/></div>
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+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="impl_2abstract__robot_8h__dep__incl.png" border="0" usemap="#abstract__robot_8hdep" alt=""/></div>
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+</div>
+</div>
+<p><a href="impl_2abstract__robot_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="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:a073c2dc3016a11f05027909f7e88dd40"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__robot_8h.html#a073c2dc3016a11f05027909f7e88dd40">left_size</a>   tf2::Vector3(0.7f, 0.5f, 0.01f)</td></tr>
+<tr class="separator:a073c2dc3016a11f05027909f7e88dd40"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a84210660daefdf244d270c0e29020b6f"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__robot_8h.html#a84210660daefdf244d270c0e29020b6f">mid_size</a>   tf2::Vector3(0.5f, 0.7f, 0.01f)</td></tr>
+<tr class="separator:a84210660daefdf244d270c0e29020b6f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab3a3a04dddd8d15a526b9227b42c0e4a"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__robot_8h.html#ab3a3a04dddd8d15a526b9227b42c0e4a">right_size</a>   tf2::Vector3(0.7f, 0.5f, 0.01f)</td></tr>
+<tr class="separator:ab3a3a04dddd8d15a526b9227b42c0e4a"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:a6772e3f5ff2cf1ed8a24b23c0992dad1"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a> { <br />
+  <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,
+<br />
+  <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 0,
+<br />
+  <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,
+<br />
+  <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 0
+<br />
+ }</td></tr>
+<tr class="separator:a6772e3f5ff2cf1ed8a24b23c0992dad1"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a073c2dc3016a11f05027909f7e88dd40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a073c2dc3016a11f05027909f7e88dd40">◆ </a></span>left_size</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define left_size   tf2::Vector3(0.7f, 0.5f, 0.01f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00011">11</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a84210660daefdf244d270c0e29020b6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a84210660daefdf244d270c0e29020b6f">◆ </a></span>mid_size</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define mid_size   tf2::Vector3(0.5f, 0.7f, 0.01f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00012">12</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab3a3a04dddd8d15a526b9227b42c0e4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3a3a04dddd8d15a526b9227b42c0e4a">◆ </a></span>right_size</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">#define right_size   tf2::Vector3(0.7f, 0.5f, 0.01f)</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00010">10</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a6772e3f5ff2cf1ed8a24b23c0992dad1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6772e3f5ff2cf1ed8a24b23c0992dad1">◆ </a></span>wing_config</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">enum <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"></a>RML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"></a>RM_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"></a>R_L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"></a>R__ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"></a>_ML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"></a>_M_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"></a>__L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"></a>___ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"></a>RML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"></a>RM_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"></a>R_L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"></a>R__ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"></a>_ML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"></a>_M_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"></a>__L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"></a>___ </td><td class="fielddoc"></td></tr>
+</table>
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__robot_8h_source.html#l00014">14</a> of file <a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot.h 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 */
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">impl/abstract_robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="impl_2abstract__robot_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 ABSTRACT_ROBOT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.h></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> <span class="preprocessor">#include "<a class="code" href="abstract__strategy_8h.html">impl/abstract_strategy.h</a>"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</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="impl_2abstract__robot_8h.html#ab3a3a04dddd8d15a526b9227b42c0e4a"> 10</a></span> <span class="preprocessor">#define right_size tf2::Vector3(0.7f, 0.5f, 0.01f)</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a073c2dc3016a11f05027909f7e88dd40"> 11</a></span> <span class="preprocessor">#define left_size tf2::Vector3(0.7f, 0.5f, 0.01f)</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a84210660daefdf244d270c0e29020b6f"> 12</a></span> <span class="preprocessor">#define mid_size tf2::Vector3(0.5f, 0.7f, 0.01f)</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"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1"> 14</a></span> <span class="keyword">enum</span> <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>{</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"> 15</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"> 16</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"> 17</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"> 18</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,</div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"> 19</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"> 20</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"> 21</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"> 22</a></span>  <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 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>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAbstract__robot.html"> 25</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__robot.html">Abstract_robot</a> {</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f"> 27</a></span>  std::string <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82"> 28</a></span>  tf2::Vector3 <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6"> 29</a></span>  tf2::Transform <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7"> 30</a></span>  tf2::Transform <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e"> 31</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4"> 32</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2"> 33</a></span>  std::bitset<3> <a class="code" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a>;</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>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c"> 38</a></span>  <a class="code" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string& <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>) : <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>(<a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>), <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>(<a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>), <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>(<a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>){</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a>= tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.22f, 0, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().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>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( 0.4f, 0.4f, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.4f, 0.4f, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.4f, -0.4f, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">//-+</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( 0.4f, -0.4f, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>.getOrigin().getZ()))); <span class="comment">// --</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>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, 0.095f, 0))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, 0.095f, 0))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 0)));</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>  <a class="code" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a> = std::bitset<3>(0);</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"> 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="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a"> 57</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>;}</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63"> 58</a></span>  <span class="keyword">inline</span> tf2::Transform& <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>;}</div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93"> 59</a></span>  <span class="keyword">inline</span> tf2::Vector3& <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>;}</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4"> 60</a></span>  <span class="keyword">inline</span> tf2::Transform& <a class="code" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a>;}</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663"> 61</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>;}</div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61"> 62</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3& s) { <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a> = s;}</div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d"> 63</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform& t) { <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> = t;}</div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289"> 64</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>;}</div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385"> 65</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(<span class="keywordtype">float</span> deg) {tf2::Quaternion rot; rot.setRPY(0,0,deg); tf2::Transform t(rot, tf2::Vector3(0,0,0)); <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>= <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>* t;}</div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f"> 66</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t) {tf2::Transform <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>(tf2::Quaternion(0,0,0,1), t); <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>*=<a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>;}</div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b"> 67</a></span>  <span class="keyword">inline</span> std::bitset<3> <a class="code" href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">observer_mask</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a>;}</div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366"> 68</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">set_observer_mask</a>(<span class="keywordtype">int</span> i) {<a class="code" href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">observer_mask_</a> = std::bitset<3>(i);}</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>  </div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">notify</a>()= 0;</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">check_single_object_collision</a>(tf2::Transform& obj, std::string& b)= 0;</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj) =0;</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="l00079"></a><span class="lineno"> 79</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot_html_acfcaa13dd3824464426f0557ec2e360d"><div class="ttname"><a href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot::notify</a></div><div class="ttdeci">virtual void notify()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aae8fb853afa438433797b9cc5008f1f2"><div class="ttname"><a href="classAbstract__robot.html#aae8fb853afa438433797b9cc5008f1f2">Abstract_robot::observer_mask_</a></div><div class="ttdeci">std::bitset< 3 > observer_mask_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00033">impl/abstract_robot.h:33</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a598a8379918fbdaf44358be840f146b7"><div class="ttname"><a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot::root_tf_</a></div><div class="ttdeci">tf2::Transform root_tf_</div><div class="ttdoc">Robot root on table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00030">impl/abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a72694508ca6d5ada16236775402dd385"><div class="ttname"><a href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot::rotate</a></div><div class="ttdeci">void rotate(float deg)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00065">impl/abstract_robot.h:65</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a></div><div class="ttdeci">@ RML</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00015">impl/abstract_robot.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aeb08dc2fa1ecdad08544fb77ff60d78e"><div class="ttname"><a href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot::check_single_object_collision</a></div><div class="ttdeci">virtual bool check_single_object_collision(tf2::Transform &obj, std::string &b)=0</div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af29a9894b43fc8124de65712414168f4"><div class="ttname"><a href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">Abstract_robot::root_tf</a></div><div class="ttdeci">tf2::Transform & root_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00060">impl/abstract_robot.h:60</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a></div><div class="ttdeci">@ R__</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00018">impl/abstract_robot.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_abd68b299ae1d193e2c4d5ce89a7a2c61"><div class="ttname"><a href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">Abstract_robot::size</a></div><div class="ttdeci">void size(tf2::Vector3 &s)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00062">impl/abstract_robot.h:62</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a></div><div class="ttdeci">@ RM_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00016">impl/abstract_robot.h:16</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ade9a130588307d054c1d68e861a01717"><div class="ttname"><a href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot::workload_checker</a></div><div class="ttdeci">virtual void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj)=0</div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ab27017c6039446502704b443df934a2d"><div class="ttname"><a href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot::set_tf</a></div><div class="ttdeci">void set_tf(tf2::Transform &t)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00063">impl/abstract_robot.h:63</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a></div><div class="ttdeci">@ __L</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00021">impl/abstract_robot.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a28c13c43328a26f12659ff086d77394e"><div class="ttname"><a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdoc">Bounds of table top surface.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00031">impl/abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a126e52a7696cf030f5697dd93439775f"><div class="ttname"><a href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">Abstract_robot::translate</a></div><div class="ttdeci">void translate(tf2::Vector3 t)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00066">impl/abstract_robot.h:66</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a854a3c8c740dcb60e0ee347fcd5447f6"><div class="ttname"><a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdoc">Pose of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00029">impl/abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a></div><div class="ttdeci">@ _M_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00020">impl/abstract_robot.h:20</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a704bd9522c6fdaff61cc7584ef20850c"><div class="ttname"><a href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot::Abstract_robot</a></div><div class="ttdeci">Abstract_robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00038">impl/abstract_robot.h:38</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a></div><div class="ttdeci">@ _ML</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00019">impl/abstract_robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><div class="ttname"><a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">Name of robot.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00027">impl/abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a7befa194e7b39c8b9d60f1844f9d1a8b"><div class="ttname"><a href="classAbstract__robot.html#a7befa194e7b39c8b9d60f1844f9d1a8b">Abstract_robot::observer_mask</a></div><div class="ttdeci">std::bitset< 3 > observer_mask()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00067">impl/abstract_robot.h:67</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a></div><div class="ttdeci">@ R_L</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00017">impl/abstract_robot.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af92f5538f28fbe61687d70f15e84fb82"><div class="ttname"><a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">Abstract_robot::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdoc">Size of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00028">impl/abstract_robot.h:28</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a64ae098f7cadad8237e663658f038663"><div class="ttname"><a href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">Abstract_robot::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00061">impl/abstract_robot.h:61</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aef7449039e62cf8608dbd22222120289"><div class="ttname"><a href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">Abstract_robot::robot_root_bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & robot_root_bounds()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00064">impl/abstract_robot.h:64</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a></div><div class="ttdeci">@ ___</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00022">impl/abstract_robot.h:22</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00014">impl/abstract_robot.h:14</a></div></div>
+<div class="ttc" id="aabstract__strategy_8h_html"><div class="ttname"><a href="abstract__strategy_8h.html">abstract_strategy.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a7f30d6f41a3f7cbdb9839c75b957b366"><div class="ttname"><a href="classAbstract__robot.html#a7f30d6f41a3f7cbdb9839c75b957b366">Abstract_robot::set_observer_mask</a></div><div class="ttdeci">void set_observer_mask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00068">impl/abstract_robot.h:68</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a6d8ed98b1820134733f8d1a42eaa00c4"><div class="ttname"><a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot::robot_root_bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > robot_root_bounds_</div><div class="ttdoc">Bounds of robot arm as sub-region of table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00032">impl/abstract_robot.h:32</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<div class="title">impl/abstract_robot_element.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include "visualization_msgs/MarkerArray.h"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for impl/abstract_robot_element.h:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
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+<p><a href="impl_2abstract__robot__element_8h_source.html">Go to the source code of this file.</a></p>
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+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_element.h 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>
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">impl/abstract_robot_element.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="impl_2abstract__robot__element_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 ABSTRACT_ROBOT_ELEMENT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_ELEMENT_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "visualization_msgs/MarkerArray.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>  </div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html"> 9</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a> {</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956"> 11</a></span>  tf2::Transform <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d"> 12</a></span>  tf2::Transform <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>;</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element</a>() = <span class="keywordflow">default</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="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6"> 17</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf) { <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>= tf;}</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861"> 18</a></span>  <span class="keyword">inline</span> tf2::Transform& <a class="code" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>(){ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>;}</div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24"> 19</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform& tf) {<a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>= tf * <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>;}</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8"> 20</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform& tf) { <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a> = tf;}</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6"> 21</a></span>  <span class="keyword">inline</span> tf2::Transform& <a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>;}</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="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a>(tf2::Transform& tf)= 0;</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>  </div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot__element_html_aa7ee89ce290dd2e6408a9d2118af93f8"><div class="ttname"><a href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">Abstract_robot_element::set_world_tf</a></div><div class="ttdeci">void set_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00020">impl/abstract_robot_element.h:20</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a83f046bb2fb1009832091cf8502af956"><div class="ttname"><a href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element::relative_tf_</a></div><div class="ttdeci">tf2::Transform relative_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00011">impl/abstract_robot_element.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a2c9540782c6450c15aaa20c20b677a9a"><div class="ttname"><a href="classAbstract__robot__element.html#a2c9540782c6450c15aaa20c20b677a9a">Abstract_robot_element::Abstract_robot_element</a></div><div class="ttdeci">Abstract_robot_element()=default</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad42d8ba185583e644e00af1c2298a38d"><div class="ttname"><a href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00012">impl/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a19e094e1639e2c72ead481a3c6c9ec24"><div class="ttname"><a href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element::calc_world_tf</a></div><div class="ttdeci">void calc_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00019">impl/abstract_robot_element.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a12e6954b51765e18a7f0c2d8c4eca0c6"><div class="ttname"><a href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">Abstract_robot_element::set_relative_tf</a></div><div class="ttdeci">void set_relative_tf(tf2::Transform tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00017">impl/abstract_robot_element.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad3ee9aff6d4fb1e4e90775e943e65861"><div class="ttname"><a href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">Abstract_robot_element::relative_tf</a></div><div class="ttdeci">tf2::Transform & relative_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00018">impl/abstract_robot_element.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_aecee1e1a5ca1f40473f325583b39dd9d"><div class="ttname"><a href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element::update</a></div><div class="ttdeci">virtual void update(tf2::Transform &tf)=0</div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/impl_2abstract__robot__element__decorator_8h.html b/doc/html/impl_2abstract__robot__element__decorator_8h.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/impl_2abstract__robot__element__decorator_8h.html
@@ -0,0 +1,89 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_element_decorator.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">impl/abstract_robot_element_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for impl/abstract_robot_element_decorator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="impl_2abstract__robot__element__decorator_8h__incl.png" border="0" usemap="#abstract__robot__element__decorator_8h" alt=""/></div>
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+<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="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: abstract_robot_element_decorator.h Source File</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">impl/abstract_robot_element_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="impl_2abstract__robot__element__decorator_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 ABSTRACT_ROBOT_ELEMENT_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_ELEMENT_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</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"><a class="line" href="classAbstract__robot__element__decorator.html"> 7</a></span> <span class="keyword">class </span><a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>{</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b"> 9</a></span>  <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7"> 13</a></span>  <a class="code" href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator</a>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>) : <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>(<a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>){};</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="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f"> 15</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>;}</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="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048"> 17</a></span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{<a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a>(tf);}</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a>(tf2::Transform& tf)=0;</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">output_filter</a>()=0;</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>  </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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a8042389be7d08be2d2792810078ac327"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator::output_filter</a></div><div class="ttdeci">virtual void output_filter()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae8e0dfe6a805942ddc5bd8d335b279a7"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae8e0dfe6a805942ddc5bd8d335b279a7">Abstract_robot_element_decorator::Abstract_robot_element_decorator</a></div><div class="ttdeci">Abstract_robot_element_decorator(Abstract_robot_element *next)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00013">impl/abstract_robot_element_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a9138c650f2148d515802a89f079ace2f"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator::wing</a></div><div class="ttdeci">Abstract_robot_element * wing()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00015">impl/abstract_robot_element_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a87d8de36475ce19034a9728f545eb03e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator::next</a></div><div class="ttdeci">Abstract_robot_element * next()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">robot_element/decorators/abstract_robot_element_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_addab3f179d202bea3da80887206c8048"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00017">impl/abstract_robot_element_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ab7fe1d6234cc937bf72a2f951781329b"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">Abstract_robot_element * next_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00009">impl/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_aecee1e1a5ca1f40473f325583b39dd9d"><div class="ttname"><a href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element::update</a></div><div class="ttdeci">virtual void update(tf2::Transform &tf)=0</div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field.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>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">impl/field.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for impl/field.h:</div>
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+<p><a href="impl_2field_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
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+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="classField.html">Field</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field.h 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);'>
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+});
+/* @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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">impl/field.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="impl_2field_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 Field_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define Field_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</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"><a class="line" href="classField.html"> 7</a></span> <span class="keyword">class </span><a class="code" href="classField.html">Field</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>{</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classField.html#a3937b0953056acede15814ada1053f9a"> 9</a></span>  <a class="code" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>(tf2::Transform tf){ <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a> = tf;}</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="classField.html#a5e927f0256af43c7f9bc45177adb6da0"> 11</a></span>  <span class="keywordtype">void</span> <a class="code" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{this-><a class="code" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf);}</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a83f046bb2fb1009832091cf8502af956"><div class="ttname"><a href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element::relative_tf_</a></div><div class="ttdeci">tf2::Transform relative_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00011">impl/abstract_robot_element.h:11</a></div></div>
+<div class="ttc" id="aclassField_html_a3937b0953056acede15814ada1053f9a"><div class="ttname"><a href="classField.html#a3937b0953056acede15814ada1053f9a">Field::Field</a></div><div class="ttdeci">Field(tf2::Transform tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00009">impl/field.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a19e094e1639e2c72ead481a3c6c9ec24"><div class="ttname"><a href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element::calc_world_tf</a></div><div class="ttdeci">void calc_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00019">impl/abstract_robot_element.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassField_html"><div class="ttname"><a href="classField.html">Field</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00007">impl/field.h:7</a></div></div>
+<div class="ttc" id="aclassField_html_a5e927f0256af43c7f9bc45177adb6da0"><div class="ttname"><a href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00011">impl/field.h:11</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/index-msg.html b/doc/html/index-msg.html
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+<html>
+<head>
+<title>multi_cell_builder Msg/Srv Documentation</title>
+<link type="text/css" rel="stylesheet" href="msg-styles.css" />
+</head>
+<body>
+
+<div id="container">
+
+<h1>multi_cell_builder Msg/Srv Documentation</h1>
+
+<div class="see-also">
+See also:
+
+<ul>
+ <li><a href="None">Website</a></li>
+
+ <li><a href="index.html">Code API Documentation</a></li>
+</ul>
+
+</div>
+
+
+
+
+
+
+<p class="footer"><small><em>autogenerated on Thu, 12 Jan 2023 23:45:45</em></small></p>
+
+</div>
+
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Main Page</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>
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+ 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">multi_cell_builder Documentation</div> </div>
+</div><!--header-->
+<div class="contents">
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<div class="title">Class Hierarchy</div> </div>
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+<div class="textblock">
+<p><a href="hierarchy.html">Go to the textual class hierarchy</a></p>
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+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<div class="title">job_reader.cpp File Reference</div> </div>
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+<div class="textblock"><code>#include "<a class="el" href="job__reader_8h_source.html">reader/job_reader.h</a>"</code><br />
+<code>#include <queue></code><br />
+<code>#include "boost/circular_buffer.hpp"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for job_reader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="job__reader_8cpp__incl.png" border="0" usemap="#job__reader_8cpp" alt=""/></div>
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+</div><!-- contents -->
+
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+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
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+<title>multi_cell_builder: job_reader.cpp Source File</title>
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+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">job_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="job__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 "<a class="code" href="job__reader_8h.html">reader/job_reader.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <queue></span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "boost/circular_buffer.hpp"</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
+<div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07"> 5</a></span> <span class="keywordtype">void</span> <a class="code" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">Job_reader::read</a>(){</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  ROS_INFO(<span class="stringliteral">"--- JOB_READER ---"</span>);</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  XmlRpc::XmlRpcValue resources;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>->getParam(<span class="stringliteral">"/tasks/groups"</span>, resources);</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>  <span class="keywordtype">int</span> count =0;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  count+= resources[i][<span class="stringliteral">"jobs"</span>].size();</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"> 15</span>  boost::circular_buffer<std::pair<std::string, job_data>> cb_jd(count);</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="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  std::string robot = resources[i][<span class="stringliteral">"name"</span>];</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="comment">//nh_->getParam("/tasks/groups/" + robot, jobs);</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < resources[i][<span class="stringliteral">"jobs"</span>].size(); j++){</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  ROS_INFO(<span class="stringliteral">"--- %s --- JOB_%i ---"</span>, robot.c_str(), j);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="structjob__data.html">job_data</a> jd;</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < resources[i][<span class="stringliteral">"jobs"</span>][j].size(); k++){</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  XmlRpc::XmlRpcValue <a class="code" href="structjob__data.html">job_data</a> = resources[i][<span class="stringliteral">"jobs"</span>][j][k];</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  tf2::Vector3 pos;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  tf2::Quaternion rot;</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>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  (<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(<a class="code" href="structjob__data.html">job_data</a>[<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</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>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  ROS_INFO(<span class="stringliteral">"=> Grab: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  ROS_INFO(<span class="stringliteral">"=> Grab: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  jd.<a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a>.push_back(tf2::Transform(rot, pos));</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>  cb_jd.push_back(std::pair<std::string, job_data>(robot, jd));</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>  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">set_job_data</a>(cb_jd);</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="comment">// validate </span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_jd : <a class="code" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">job_data_</a>){</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& pose : s_jd.second.jobs_) {</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  ROS_INFO(<span class="stringliteral">"%s %f %f %f %f %f %f %f"</span>, s_jd.first.c_str(), pose.getOrigin().getX(), pose.getOrigin().getY(), pose.getOrigin().getZ(), pose.getRotation().getX(), pose.getRotation().getY(), pose.getRotation().getZ(), pose.getRotation().getW());</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> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</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="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#l00020">abstract_param_reader.h:20</a></div></div>
+<div class="ttc" id="aclassJob__reader_html_ae7af6b2d3734d71bc2d15131733e9c1a"><div class="ttname"><a href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">Job_reader::job_data_</a></div><div class="ttdeci">boost::circular_buffer< std::pair< std::string, job_data > > job_data_</div><div class="ttdoc">FIFO job information.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00018">job_reader.h:18</a></div></div>
+<div class="ttc" id="aclassJob__reader_html_a828c979dea61dfcf8214c30d11645b07"><div class="ttname"><a href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">Job_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementation</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8cpp_source.html#l00005">job_reader.cpp:5</a></div></div>
+<div class="ttc" id="aclassJob__reader_html_a0602b23e66eeea128251f411b0935f81"><div class="ttname"><a href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">Job_reader::set_job_data</a></div><div class="ttdeci">void set_job_data(boost::circular_buffer< std::pair< std::string, job_data >> &robot_data)</div><div class="ttdoc">Set Job_data.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00035">job_reader.h:35</a></div></div>
+<div class="ttc" id="astructjob__data_html"><div class="ttname"><a href="structjob__data.html">job_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00019">abstract_param_reader.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/job__reader_8h.html b/doc/html/job__reader_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..8b33420e5de9df47a2ab08177e7d5da5925eef54
--- /dev/null
+++ b/doc/html/job__reader_8h.html
@@ -0,0 +1,87 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: job_reader.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">job_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include "boost/circular_buffer.hpp"</code><br />
+<code>#include "<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
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+</div>
+<p><a href="job__reader_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="classJob__reader.html">Job_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Job reader. <a href="classJob__reader.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: job_reader.h 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>
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+ 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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">job_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="job__reader_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 JOB_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define JOB_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "boost/circular_buffer.hpp"</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"> 9</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</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="l00011"></a><span class="lineno"> 11</span>  </div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classJob__reader.html"> 16</a></span> <span class="keyword">class </span><a class="code" href="classJob__reader.html">Job_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>{</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a"> 18</a></span>  boost::circular_buffer<std::pair<std::string, job_data>> <a class="code" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">job_data_</a>; </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="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a"> 26</a></span>  <a class="code" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) </div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d)</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  {<a class="code" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">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="l00035"></a><span class="lineno"><a class="line" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81"> 35</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">set_job_data</a>(boost::circular_buffer<std::pair<std::string, job_data>>& <a class="code" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">robot_data</a>) {<a class="code" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">job_data_</a> = <a class="code" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">robot_data</a>;}</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</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="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b"> 41</a></span>  <span class="keyword">inline</span> boost::circular_buffer<std::pair<std::string, job_data>>& <a class="code" href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">robot_data</a>() {<span class="keywordflow">return</span> <a class="code" href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">job_data_</a>;}</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">void</span> <a class="code" href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">read</a>() <span class="keyword">override</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassJob__reader_html_a72439a3fe9612af7b44bbf2f5131481a"><div class="ttname"><a href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader::Job_reader</a></div><div class="ttdeci">Job_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Job reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00026">job_reader.h:26</a></div></div>
+<div class="ttc" id="aclassJob__reader_html"><div class="ttname"><a href="classJob__reader.html">Job_reader</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="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="aclassJob__reader_html_ae7af6b2d3734d71bc2d15131733e9c1a"><div class="ttname"><a href="classJob__reader.html#ae7af6b2d3734d71bc2d15131733e9c1a">Job_reader::job_data_</a></div><div class="ttdeci">boost::circular_buffer< std::pair< std::string, job_data > > job_data_</div><div class="ttdoc">FIFO job information.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00018">job_reader.h:18</a></div></div>
+<div class="ttc" id="aclassJob__reader_html_a6d8d82c745bb59406821c91c3e09440b"><div class="ttname"><a href="classJob__reader.html#a6d8d82c745bb59406821c91c3e09440b">Job_reader::robot_data</a></div><div class="ttdeci">boost::circular_buffer< std::pair< std::string, job_data > > & robot_data()</div><div class="ttdoc">Get Job_data.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00041">job_reader.h:41</a></div></div>
+<div class="ttc" id="aclassJob__reader_html_a828c979dea61dfcf8214c30d11645b07"><div class="ttname"><a href="classJob__reader.html#a828c979dea61dfcf8214c30d11645b07">Job_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementation</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8cpp_source.html#l00005">job_reader.cpp:5</a></div></div>
+<div class="ttc" id="aclassJob__reader_html_a0602b23e66eeea128251f411b0935f81"><div class="ttname"><a href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">Job_reader::set_job_data</a></div><div class="ttdeci">void set_job_data(boost::circular_buffer< std::pair< std::string, job_data >> &robot_data)</div><div class="ttdoc">Set Job_data.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00035">job_reader.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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new file mode 100644
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this},_setOption:function(t,e){return"classes"===t&&this._setOptionClasses(e),this.options[t]=e,"disabled"===t&&this._setOptionDisabled(e),this},_setOptionClasses:function(e){var i,s,n;for(i in e)n=this.classesElementLookup[i],e[i]!==this.options.classes[i]&&n&&n.length&&(s=t(n.get()),this._removeClass(n,i),s.addClass(this._classes({element:s,keys:i,classes:e,add:!0})))},_setOptionDisabled:function(t){this._toggleClass(this.widget(),this.widgetFullName+"-disabled",null,!!t),t&&(this._removeClass(this.hoverable,null,"ui-state-hover"),this._removeClass(this.focusable,null,"ui-state-focus"))},enable:function(){return this._setOptions({disabled:!1})},disable:function(){return this._setOptions({disabled:!0})},_classes:function(e){function i(i,o){var a,r;for(r=0;i.length>r;r++)a=n.classesElementLookup[i[r]]||t(),a=e.add?t(t.unique(a.get().concat(e.element.get()))):t(a.not(e.element).get()),n.classesElementLookup[i[r]]=a,s.push(i[r]),o&&e.classes[i[r]]&&s.push(e.classes[i[r]])}var s=[],n=this;return e=t.extend({element:this.element,classes:this.options.classes||{}},e),this._on(e.element,{remove:"_untrackClassesElement"}),e.keys&&i(e.keys.match(/\S+/g)||[],!0),e.extra&&i(e.extra.match(/\S+/g)||[]),s.join(" ")},_untrackClassesElement:function(e){var i=this;t.each(i.classesElementLookup,function(s,n){-1!==t.inArray(e.target,n)&&(i.classesElementLookup[s]=t(n.not(e.target).get()))})},_removeClass:function(t,e,i){return this._toggleClass(t,e,i,!1)},_addClass:function(t,e,i){return this._toggleClass(t,e,i,!0)},_toggleClass:function(t,e,i,s){s="boolean"==typeof s?s:i;var n="string"==typeof t||null===t,o={extra:n?e:i,keys:n?t:e,element:n?this.element:t,add:s};return o.element.toggleClass(this._classes(o),s),this},_on:function(e,i,s){var n,o=this;"boolean"!=typeof e&&(s=i,i=e,e=!1),s?(i=n=t(i),this.bindings=this.bindings.add(i)):(s=i,i=this.element,n=this.widget()),t.each(s,function(s,a){function r(){return e||o.options.disabled!==!0&&!t(this).hasClass("ui-state-disabled")?("string"==typeof a?o[a]:a).apply(o,arguments):void 0}"string"!=typeof a&&(r.guid=a.guid=a.guid||r.guid||t.guid++);var h=s.match(/^([\w:-]*)\s*(.*)$/),l=h[1]+o.eventNamespace,c=h[2];c?n.on(l,c,r):i.on(l,r)})},_off:function(e,i){i=(i||"").split(" ").join(this.eventNamespace+" ")+this.eventNamespace,e.off(i).off(i),this.bindings=t(this.bindings.not(e).get()),this.focusable=t(this.focusable.not(e).get()),this.hoverable=t(this.hoverable.not(e).get())},_delay:function(t,e){function i(){return("string"==typeof t?s[t]:t).apply(s,arguments)}var s=this;return setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,h=/top|center|bottom/,l=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("<div style='display:block;position:absolute;width:50px;height:50px;overflow:hidden;'><div style='height:100px;width:auto;'></div></div>"),o=s.children()[0];return t("body").append(s),e=o.offsetWidth,s.css("overflow","scroll"),i=o.offsetWidth,e===i&&(i=s[0].clientWidth),s.remove(),n=e-i},getScrollInfo:function(e){var i=e.isWindow||e.isDocument?"":e.element.css("overflow-x"),s=e.isWindow||e.isDocument?"":e.element.css("overflow-y"),n="scroll"===i||"auto"===i&&e.width<e.element[0].scrollWidth,o="scroll"===s||"auto"===s&&e.height<e.element[0].scrollHeight;return{width:o?t.position.scrollbarWidth():0,height:n?t.position.scrollbarWidth():0}},getWithinInfo:function(e){var i=t(e||window),s=t.isWindow(i[0]),n=!!i[0]&&9===i[0].nodeType,o=!s&&!n;return{element:i,isWindow:s,isDocument:n,offset:o?t(e).offset():{left:0,top:0},scrollLeft:i.scrollLeft(),scrollTop:i.scrollTop(),width:i.outerWidth(),height:i.outerHeight()}}},t.fn.position=function(n){if(!n||!n.of)return d.apply(this,arguments);n=t.extend({},n);var u,p,f,m,g,_,v=t(n.of),b=t.position.getWithinInfo(n.within),y=t.position.getScrollInfo(b),w=(n.collision||"flip").split(" "),x={};return _=s(v),v[0].preventDefault&&(n.at="left top"),p=_.width,f=_.height,m=_.offset,g=t.extend({},m),t.each(["my","at"],function(){var t,e,i=(n[this]||"").split(" ");1===i.length&&(i=r.test(i[0])?i.concat(["center"]):h.test(i[0])?["center"].concat(i):["center","center"]),i[0]=r.test(i[0])?i[0]:"center",i[1]=h.test(i[1])?i[1]:"center",t=l.exec(i[0]),e=l.exec(i[1]),x[this]=[t?t[0]:0,e?e[0]:0],n[this]=[c.exec(i[0])[0],c.exec(i[1])[0]]}),1===w.length&&(w[1]=w[0]),"right"===n.at[0]?g.left+=p:"center"===n.at[0]&&(g.left+=p/2),"bottom"===n.at[1]?g.top+=f:"center"===n.at[1]&&(g.top+=f/2),u=e(x.at,p,f),g.left+=u[0],g.top+=u[1],this.each(function(){var s,r,h=t(this),l=h.outerWidth(),c=h.outerHeight(),d=i(this,"marginLeft"),_=i(this,"marginTop"),k=l+d+i(this,"marginRight")+y.width,C=c+_+i(this,"marginBottom")+y.height,D=t.extend({},g),T=e(x.my,h.outerWidth(),h.outerHeight());"right"===n.my[0]?D.left-=l:"center"===n.my[0]&&(D.left-=l/2),"bottom"===n.my[1]?D.top-=c:"center"===n.my[1]&&(D.top-=c/2),D.left+=T[0],D.top+=T[1],s={marginLeft:d,marginTop:_},t.each(["left","top"],function(e,i){t.ui.position[w[e]]&&t.ui.position[w[e]][i](D,{targetWidth:p,targetHeight:f,elemWidth:l,elemHeight:c,collisionPosition:s,collisionWidth:k,collisionHeight:C,offset:[u[0]+T[0],u[1]+T[1]],my:n.my,at:n.at,within:b,elem:h})}),n.using&&(r=function(t){var e=m.left-D.left,i=e+p-l,s=m.top-D.top,r=s+f-c,u={target:{element:v,left:m.left,top:m.top,width:p,height:f},element:{element:h,left:D.left,top:D.top,width:l,height:c},horizontal:0>i?"left":e>0?"right":"center",vertical:0>r?"top":s>0?"bottom":"middle"};l>p&&p>a(e+i)&&(u.horizontal="center"),c>f&&f>a(s+r)&&(u.vertical="middle"),u.important=o(a(e),a(i))>o(a(s),a(r))?"horizontal":"vertical",n.using.call(this,t,u)}),h.offset(t.extend(D,{using:r}))})},t.ui.position={fit:{left:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollLeft:s.offset.left,a=s.width,r=t.left-e.collisionPosition.marginLeft,h=n-r,l=r+e.collisionWidth-a-n;e.collisionWidth>a?h>0&&0>=l?(i=t.left+h+e.collisionWidth-a-n,t.left+=h-i):t.left=l>0&&0>=h?n:h>l?n+a-e.collisionWidth:n:h>0?t.left+=h:l>0?t.left-=l:t.left=o(t.left-r,t.left)},top:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollTop:s.offset.top,a=e.within.height,r=t.top-e.collisionPosition.marginTop,h=n-r,l=r+e.collisionHeight-a-n;e.collisionHeight>a?h>0&&0>=l?(i=t.top+h+e.collisionHeight-a-n,t.top+=h-i):t.top=l>0&&0>=h?n:h>l?n+a-e.collisionHeight:n:h>0?t.top+=h:l>0?t.top-=l:t.top=o(t.top-r,t.top)}},flip:{left:function(t,e){var i,s,n=e.within,o=n.offset.left+n.scrollLeft,r=n.width,h=n.isWindow?n.scrollLeft:n.offset.left,l=t.left-e.collisionPosition.marginLeft,c=l-h,u=l+e.collisionWidth-r-h,d="left"===e.my[0]?-e.elemWidth:"right"===e.my[0]?e.elemWidth:0,p="left"===e.at[0]?e.targetWidth:"right"===e.at[0]?-e.targetWidth:0,f=-2*e.offset[0];0>c?(i=t.left+d+p+f+e.collisionWidth-r-o,(0>i||a(c)>i)&&(t.left+=d+p+f)):u>0&&(s=t.left-e.collisionPosition.marginLeft+d+p+f-h,(s>0||u>a(s))&&(t.left+=d+p+f))},top:function(t,e){var i,s,n=e.within,o=n.offset.top+n.scrollTop,r=n.height,h=n.isWindow?n.scrollTop:n.offset.top,l=t.top-e.collisionPosition.marginTop,c=l-h,u=l+e.collisionHeight-r-h,d="top"===e.my[1],p=d?-e.elemHeight:"bottom"===e.my[1]?e.elemHeight:0,f="top"===e.at[1]?e.targetHeight:"bottom"===e.at[1]?-e.targetHeight:0,m=-2*e.offset[1];0>c?(s=t.top+p+f+m+e.collisionHeight-r-o,(0>s||a(c)>s)&&(t.top+=p+f+m)):u>0&&(i=t.top-e.collisionPosition.marginTop+p+f+m-h,(i>0||u>a(i))&&(t.top+=p+f+m))}},flipfit:{left:function(){t.ui.position.flip.left.apply(this,arguments),t.ui.position.fit.left.apply(this,arguments)},top:function(){t.ui.position.flip.top.apply(this,arguments),t.ui.position.fit.top.apply(this,arguments)}}}}(),t.ui.position,t.extend(t.expr[":"],{data:t.expr.createPseudo?t.expr.createPseudo(function(e){return function(i){return!!t.data(i,e)}}):function(e,i,s){return!!t.data(e,s[3])}}),t.fn.extend({disableSelection:function(){var t="onselectstart"in 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i=e.data("ui-form-reset-instances");t.each(i,function(){this.refresh()})})},_bindFormResetHandler:function(){if(this.form=this.element.form(),this.form.length){var t=this.form.data("ui-form-reset-instances")||[];t.length||this.form.on("reset.ui-form-reset",this._formResetHandler),t.push(this),this.form.data("ui-form-reset-instances",t)}},_unbindFormResetHandler:function(){if(this.form.length){var e=this.form.data("ui-form-reset-instances");e.splice(t.inArray(this,e),1),e.length?this.form.data("ui-form-reset-instances",e):this.form.removeData("ui-form-reset-instances").off("reset.ui-form-reset")}}},"1.7"===t.fn.jquery.substring(0,3)&&(t.each(["Width","Height"],function(e,i){function s(e,i,s,o){return t.each(n,function(){i-=parseFloat(t.css(e,"padding"+this))||0,s&&(i-=parseFloat(t.css(e,"border"+this+"Width"))||0),o&&(i-=parseFloat(t.css(e,"margin"+this))||0)}),i}var n="Width"===i?["Left","Right"]:["Top","Bottom"],o=i.toLowerCase(),a={innerWidth:t.fn.innerWidth,innerHeight:t.fn.innerHeight,outerWidth:t.fn.outerWidth,outerHeight:t.fn.outerHeight};t.fn["inner"+i]=function(e){return void 0===e?a["inner"+i].call(this):this.each(function(){t(this).css(o,s(this,e)+"px")})},t.fn["outer"+i]=function(e,n){return"number"!=typeof e?a["outer"+i].call(this,e):this.each(function(){t(this).css(o,s(this,e,!0,n)+"px")})}}),t.fn.addBack=function(t){return this.add(null==t?this.prevObject:this.prevObject.filter(t))}),t.ui.keyCode={BACKSPACE:8,COMMA:188,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,LEFT:37,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SPACE:32,TAB:9,UP:38},t.ui.escapeSelector=function(){var t=/([!"#$%&'()*+,./:;<=>?@[\]^`{|}~])/g;return function(e){return e.replace(t,"\\$1")}}(),t.fn.labels=function(){var e,i,s,n,o;return this[0].labels&&this[0].labels.length?this.pushStack(this[0].labels):(n=this.eq(0).parents("label"),s=this.attr("id"),s&&(e=this.eq(0).parents().last(),o=e.add(e.length?e.siblings():this.siblings()),i="label[for='"+t.ui.escapeSelector(s)+"']",n=n.add(o.find(i).addBack(i))),this.pushStack(n))},t.fn.scrollParent=function(e){var i=this.css("position"),s="absolute"===i,n=e?/(auto|scroll|hidden)/:/(auto|scroll)/,o=this.parents().filter(function(){var e=t(this);return s&&"static"===e.css("position")?!1:n.test(e.css("overflow")+e.css("overflow-y")+e.css("overflow-x"))}).eq(0);return"fixed"!==i&&o.length?o:t(this[0].ownerDocument||document)},t.extend(t.expr[":"],{tabbable:function(e){var i=t.attr(e,"tabindex"),s=null!=i;return(!s||i>=0)&&t.ui.focusable(e,s)}}),t.fn.extend({uniqueId:function(){var t=0;return function(){return this.each(function(){this.id||(this.id="ui-id-"+ ++t)})}}(),removeUniqueId:function(){return this.each(function(){/^ui-id-\d+$/.test(this.id)&&t(this).removeAttr("id")})}}),t.ui.ie=!!/msie [\w.]+/.exec(navigator.userAgent.toLowerCase());var n=!1;t(document).on("mouseup",function(){n=!1}),t.widget("ui.mouse",{version:"1.12.1",options:{cancel:"input, textarea, button, select, option",distance:1,delay:0},_mouseInit:function(){var e=this;this.element.on("mousedown."+this.widgetName,function(t){return e._mouseDown(t)}).on("click."+this.widgetName,function(i){return!0===t.data(i.target,e.widgetName+".preventClickEvent")?(t.removeData(i.target,e.widgetName+".preventClickEvent"),i.stopImmediatePropagation(),!1):void 0}),this.started=!1},_mouseDestroy:function(){this.element.off("."+this.widgetName),this._mouseMoveDelegate&&this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate)},_mouseDown:function(e){if(!n){this._mouseMoved=!1,this._mouseStarted&&this._mouseUp(e),this._mouseDownEvent=e;var i=this,s=1===e.which,o="string"==typeof this.options.cancel&&e.target.nodeName?t(e.target).closest(this.options.cancel).length:!1;return s&&!o&&this._mouseCapture(e)?(this.mouseDelayMet=!this.options.delay,this.mouseDelayMet||(this._mouseDelayTimer=setTimeout(function(){i.mouseDelayMet=!0},this.options.delay)),this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(e)!==!1,!this._mouseStarted)?(e.preventDefault(),!0):(!0===t.data(e.target,this.widgetName+".preventClickEvent")&&t.removeData(e.target,this.widgetName+".preventClickEvent"),this._mouseMoveDelegate=function(t){return i._mouseMove(t)},this._mouseUpDelegate=function(t){return i._mouseUp(t)},this.document.on("mousemove."+this.widgetName,this._mouseMoveDelegate).on("mouseup."+this.widgetName,this._mouseUpDelegate),e.preventDefault(),n=!0,!0)):!0}},_mouseMove:function(e){if(this._mouseMoved){if(t.ui.ie&&(!document.documentMode||9>document.documentMode)&&!e.button)return this._mouseUp(e);if(!e.which)if(e.originalEvent.altKey||e.originalEvent.ctrlKey||e.originalEvent.metaKey||e.originalEvent.shiftKey)this.ignoreMissingWhich=!0;else if(!this.ignoreMissingWhich)return this._mouseUp(e)}return(e.which||e.button)&&(this._mouseMoved=!0),this._mouseStarted?(this._mouseDrag(e),e.preventDefault()):(this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(this._mouseDownEvent,e)!==!1,this._mouseStarted?this._mouseDrag(e):this._mouseUp(e)),!this._mouseStarted)},_mouseUp:function(e){this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate),this._mouseStarted&&(this._mouseStarted=!1,e.target===this._mouseDownEvent.target&&t.data(e.target,this.widgetName+".preventClickEvent",!0),this._mouseStop(e)),this._mouseDelayTimer&&(clearTimeout(this._mouseDelayTimer),delete this._mouseDelayTimer),this.ignoreMissingWhich=!1,n=!1,e.preventDefault()},_mouseDistanceMet:function(t){return Math.max(Math.abs(this._mouseDownEvent.pageX-t.pageX),Math.abs(this._mouseDownEvent.pageY-t.pageY))>=this.options.distance},_mouseDelayMet:function(){return this.mouseDelayMet},_mouseStart:function(){},_mouseDrag:function(){},_mouseStop:function(){},_mouseCapture:function(){return!0}}),t.ui.plugin={add:function(e,i,s){var n,o=t.ui[e].prototype;for(n in s)o.plugins[n]=o.plugins[n]||[],o.plugins[n].push([i,s[n]])},call:function(t,e,i,s){var n,o=t.plugins[e];if(o&&(s||t.element[0].parentNode&&11!==t.element[0].parentNode.nodeType))for(n=0;o.length>n;n++)t.options[o[n][0]]&&o[n][1].apply(t.element,i)}},t.widget("ui.resizable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"resize",options:{alsoResize:!1,animate:!1,animateDuration:"slow",animateEasing:"swing",aspectRatio:!1,autoHide:!1,classes:{"ui-resizable-se":"ui-icon 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hidden;'></div>").css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")})),this.element=this.element.parent().data("ui-resizable",this.element.resizable("instance")),this.elementIsWrapper=!0,e={marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom"),marginLeft:this.originalElement.css("marginLeft")},this.element.css(e),this.originalElement.css("margin",0),this.originalResizeStyle=this.originalElement.css("resize"),this.originalElement.css("resize","none"),this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"})),this.originalElement.css(e),this._proportionallyResize()),this._setupHandles(),i.autoHide&&t(this.element).on("mouseenter",function(){i.disabled||(s._removeClass("ui-resizable-autohide"),s._handles.show())}).on("mouseleave",function(){i.disabled||s.resizing||(s._addClass("ui-resizable-autohide"),s._handles.hide())}),this._mouseInit()},_destroy:function(){this._mouseDestroy();var e,i=function(e){t(e).removeData("resizable").removeData("ui-resizable").off(".resizable").find(".ui-resizable-handle").remove()};return this.elementIsWrapper&&(i(this.element),e=this.element,this.originalElement.css({position:e.css("position"),width:e.outerWidth(),height:e.outerHeight(),top:e.css("top"),left:e.css("left")}).insertAfter(e),e.remove()),this.originalElement.css("resize",this.originalResizeStyle),i(this.originalElement),this},_setOption:function(t,e){switch(this._super(t,e),t){case"handles":this._removeHandles(),this._setupHandles();break;default:}},_setupHandles:function(){var e,i,s,n,o,a=this.options,r=this;if(this.handles=a.handles||(t(".ui-resizable-handle",this.element).length?{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"}:"e,s,se"),this._handles=t(),this.handles.constructor===String)for("all"===this.handles&&(this.handles="n,e,s,w,se,sw,ne,nw"),s=this.handles.split(","),this.handles={},i=0;s.length>i;i++)e=t.trim(s[i]),n="ui-resizable-"+e,o=t("<div>"),this._addClass(o,"ui-resizable-handle "+n),o.css({zIndex:a.zIndex}),this.handles[e]=".ui-resizable-"+e,this.element.append(o);this._renderAxis=function(e){var i,s,n,o;e=e||this.element;for(i in this.handles)this.handles[i].constructor===String?this.handles[i]=this.element.children(this.handles[i]).first().show():(this.handles[i].jquery||this.handles[i].nodeType)&&(this.handles[i]=t(this.handles[i]),this._on(this.handles[i],{mousedown:r._mouseDown})),this.elementIsWrapper&&this.originalElement[0].nodeName.match(/^(textarea|input|select|button)$/i)&&(s=t(this.handles[i],this.element),o=/sw|ne|nw|se|n|s/.test(i)?s.outerHeight():s.outerWidth(),n=["padding",/ne|nw|n/.test(i)?"Top":/se|sw|s/.test(i)?"Bottom":/^e$/.test(i)?"Right":"Left"].join(""),e.css(n,o),this._proportionallyResize()),this._handles=this._handles.add(this.handles[i])},this._renderAxis(this.element),this._handles=this._handles.add(this.element.find(".ui-resizable-handle")),this._handles.disableSelection(),this._handles.on("mouseover",function(){r.resizing||(this.className&&(o=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)),r.axis=o&&o[1]?o[1]:"se")}),a.autoHide&&(this._handles.hide(),this._addClass("ui-resizable-autohide"))},_removeHandles:function(){this._handles.remove()},_mouseCapture:function(e){var i,s,n=!1;for(i in this.handles)s=t(this.handles[i])[0],(s===e.target||t.contains(s,e.target))&&(n=!0);return!this.options.disabled&&n},_mouseStart:function(e){var i,s,n,o=this.options,a=this.element;return this.resizing=!0,this._renderProxy(),i=this._num(this.helper.css("left")),s=this._num(this.helper.css("top")),o.containment&&(i+=t(o.containment).scrollLeft()||0,s+=t(o.containment).scrollTop()||0),this.offset=this.helper.offset(),this.position={left:i,top:s},this.size=this._helper?{width:this.helper.width(),height:this.helper.height()}:{width:a.width(),height:a.height()},this.originalSize=this._helper?{width:a.outerWidth(),height:a.outerHeight()}:{width:a.width(),height:a.height()},this.sizeDiff={width:a.outerWidth()-a.width(),height:a.outerHeight()-a.height()},this.originalPosition={left:i,top:s},this.originalMousePosition={left:e.pageX,top:e.pageY},this.aspectRatio="number"==typeof 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o&&(t.width=e.minWidth),a&&(t.height=e.minHeight),s&&(t.width=e.maxWidth),n&&(t.height=e.maxHeight),o&&l&&(t.left=r-e.minWidth),s&&l&&(t.left=r-e.maxWidth),a&&c&&(t.top=h-e.minHeight),n&&c&&(t.top=h-e.maxHeight),t.width||t.height||t.left||!t.top?t.width||t.height||t.top||!t.left||(t.left=null):t.top=null,t},_getPaddingPlusBorderDimensions:function(t){for(var e=0,i=[],s=[t.css("borderTopWidth"),t.css("borderRightWidth"),t.css("borderBottomWidth"),t.css("borderLeftWidth")],n=[t.css("paddingTop"),t.css("paddingRight"),t.css("paddingBottom"),t.css("paddingLeft")];4>e;e++)i[e]=parseFloat(s[e])||0,i[e]+=parseFloat(n[e])||0;return{height:i[0]+i[2],width:i[1]+i[3]}},_proportionallyResize:function(){if(this._proportionallyResizeElements.length)for(var 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+},_change:{e:function(t,e){return{width:this.originalSize.width+e}},w:function(t,e){var i=this.originalSize,s=this.originalPosition;return{left:s.left+e,width:i.width-e}},n:function(t,e,i){var s=this.originalSize,n=this.originalPosition;return{top:n.top+i,height:s.height-i}},s:function(t,e,i){return{height:this.originalSize.height+i}},se:function(e,i,s){return t.extend(this._change.s.apply(this,arguments),this._change.e.apply(this,[e,i,s]))},sw:function(e,i,s){return t.extend(this._change.s.apply(this,arguments),this._change.w.apply(this,[e,i,s]))},ne:function(e,i,s){return t.extend(this._change.n.apply(this,arguments),this._change.e.apply(this,[e,i,s]))},nw:function(e,i,s){return t.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[e,i,s]))}},_propagate:function(e,i){t.ui.plugin.call(this,e,[i,this.ui()]),"resize"!==e&&this._trigger(e,i,this.ui())},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}}),t.ui.plugin.add("resizable","animate",{stop:function(e){var i=t(this).resizable("instance"),s=i.options,n=i._proportionallyResizeElements,o=n.length&&/textarea/i.test(n[0].nodeName),a=o&&i._hasScroll(n[0],"left")?0:i.sizeDiff.height,r=o?0:i.sizeDiff.width,h={width:i.size.width-r,height:i.size.height-a},l=parseFloat(i.element.css("left"))+(i.position.left-i.originalPosition.left)||null,c=parseFloat(i.element.css("top"))+(i.position.top-i.originalPosition.top)||null;i.element.animate(t.extend(h,c&&l?{top:c,left:l}:{}),{duration:s.animateDuration,easing:s.animateEasing,step:function(){var s={width:parseFloat(i.element.css("width")),height:parseFloat(i.element.css("height")),top:parseFloat(i.element.css("top")),left:parseFloat(i.element.css("left"))};n&&n.length&&t(n[0]).css({width:s.width,height:s.height}),i._updateCache(s),i._propagate("resize",e)}})}}),t.ui.plugin.add("resizable","containment",{start:function(){var e,i,s,n,o,a,r,h=t(this).resizable("instance"),l=h.options,c=h.element,u=l.containment,d=u instanceof t?u.get(0):/parent/.test(u)?c.parent().get(0):u;d&&(h.containerElement=t(d),/document/.test(u)||u===document?(h.containerOffset={left:0,top:0},h.containerPosition={left:0,top:0},h.parentData={element:t(document),left:0,top:0,width:t(document).width(),height:t(document).height()||document.body.parentNode.scrollHeight}):(e=t(d),i=[],t(["Top","Right","Left","Bottom"]).each(function(t,s){i[t]=h._num(e.css("padding"+s))}),h.containerOffset=e.offset(),h.containerPosition=e.position(),h.containerSize={height:e.innerHeight()-i[3],width:e.innerWidth()-i[1]},s=h.containerOffset,n=h.containerSize.height,o=h.containerSize.width,a=h._hasScroll(d,"left")?d.scrollWidth:o,r=h._hasScroll(d)?d.scrollHeight:n,h.parentData={element:d,left:s.left,top:s.top,width:a,height:r}))},resize:function(e){var i,s,n,o,a=t(this).resizable("instance"),r=a.options,h=a.containerOffset,l=a.position,c=a._aspectRatio||e.shiftKey,u={top:0,left:0},d=a.containerElement,p=!0;d[0]!==document&&/static/.test(d.css("position"))&&(u=h),l.left<(a._helper?h.left:0)&&(a.size.width=a.size.width+(a._helper?a.position.left-h.left:a.position.left-u.left),c&&(a.size.height=a.size.width/a.aspectRatio,p=!1),a.position.left=r.helper?h.left:0),l.top<(a._helper?h.top:0)&&(a.size.height=a.size.height+(a._helper?a.position.top-h.top:a.position.top),c&&(a.size.width=a.size.height*a.aspectRatio,p=!1),a.position.top=a._helper?h.top:0),n=a.containerElement.get(0)===a.element.parent().get(0),o=/relative|absolute/.test(a.containerElement.css("position")),n&&o?(a.offset.left=a.parentData.left+a.position.left,a.offset.top=a.parentData.top+a.position.top):(a.offset.left=a.element.offset().left,a.offset.top=a.element.offset().top),i=Math.abs(a.sizeDiff.width+(a._helper?a.offset.left-u.left:a.offset.left-h.left)),s=Math.abs(a.sizeDiff.height+(a._helper?a.offset.top-u.top:a.offset.top-h.top)),i+a.size.width>=a.parentData.width&&(a.size.width=a.parentData.width-i,c&&(a.size.height=a.size.width/a.aspectRatio,p=!1)),s+a.size.height>=a.parentData.height&&(a.size.height=a.parentData.height-s,c&&(a.size.width=a.size.height*a.aspectRatio,p=!1)),p||(a.position.left=a.prevPosition.left,a.position.top=a.prevPosition.top,a.size.width=a.prevSize.width,a.size.height=a.prevSize.height)},stop:function(){var e=t(this).resizable("instance"),i=e.options,s=e.containerOffset,n=e.containerPosition,o=e.containerElement,a=t(e.helper),r=a.offset(),h=a.outerWidth()-e.sizeDiff.width,l=a.outerHeight()-e.sizeDiff.height;e._helper&&!i.animate&&/relative/.test(o.css("position"))&&t(this).css({left:r.left-n.left-s.left,width:h,height:l}),e._helper&&!i.animate&&/static/.test(o.css("position"))&&t(this).css({left:r.left-n.left-s.left,width:h,height:l})}}),t.ui.plugin.add("resizable","alsoResize",{start:function(){var e=t(this).resizable("instance"),i=e.options;t(i.alsoResize).each(function(){var e=t(this);e.data("ui-resizable-alsoresize",{width:parseFloat(e.width()),height:parseFloat(e.height()),left:parseFloat(e.css("left")),top:parseFloat(e.css("top"))})})},resize:function(e,i){var s=t(this).resizable("instance"),n=s.options,o=s.originalSize,a=s.originalPosition,r={height:s.size.height-o.height||0,width:s.size.width-o.width||0,top:s.position.top-a.top||0,left:s.position.left-a.left||0};t(n.alsoResize).each(function(){var e=t(this),s=t(this).data("ui-resizable-alsoresize"),n={},o=e.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];t.each(o,function(t,e){var i=(s[e]||0)+(r[e]||0);i&&i>=0&&(n[e]=i||null)}),e.css(n)})},stop:function(){t(this).removeData("ui-resizable-alsoresize")}}),t.ui.plugin.add("resizable","ghost",{start:function(){var e=t(this).resizable("instance"),i=e.size;e.ghost=e.originalElement.clone(),e.ghost.css({opacity:.25,display:"block",position:"relative",height:i.height,width:i.width,margin:0,left:0,top:0}),e._addClass(e.ghost,"ui-resizable-ghost"),t.uiBackCompat!==!1&&"string"==typeof e.options.ghost&&e.ghost.addClass(this.options.ghost),e.ghost.appendTo(e.helper)},resize:function(){var e=t(this).resizable("instance");e.ghost&&e.ghost.css({position:"relative",height:e.size.height,width:e.size.width})},stop:function(){var e=t(this).resizable("instance");e.ghost&&e.helper&&e.helper.get(0).removeChild(e.ghost.get(0))}}),t.ui.plugin.add("resizable","grid",{resize:function(){var e,i=t(this).resizable("instance"),s=i.options,n=i.size,o=i.originalSize,a=i.originalPosition,r=i.axis,h="number"==typeof s.grid?[s.grid,s.grid]:s.grid,l=h[0]||1,c=h[1]||1,u=Math.round((n.width-o.width)/l)*l,d=Math.round((n.height-o.height)/c)*c,p=o.width+u,f=o.height+d,m=s.maxWidth&&p>s.maxWidth,g=s.maxHeight&&f>s.maxHeight,_=s.minWidth&&s.minWidth>p,v=s.minHeight&&s.minHeight>f;s.grid=h,_&&(p+=l),v&&(f+=c),m&&(p-=l),g&&(f-=c),/^(se|s|e)$/.test(r)?(i.size.width=p,i.size.height=f):/^(ne)$/.test(r)?(i.size.width=p,i.size.height=f,i.position.top=a.top-d):/^(sw)$/.test(r)?(i.size.width=p,i.size.height=f,i.position.left=a.left-u):((0>=f-c||0>=p-l)&&(e=i._getPaddingPlusBorderDimensions(this)),f-c>0?(i.size.height=f,i.position.top=a.top-d):(f=c-e.height,i.size.height=f,i.position.top=a.top+o.height-f),p-l>0?(i.size.width=p,i.position.left=a.left-u):(p=l-e.width,i.size.width=p,i.position.left=a.left+o.width-p))}}),t.ui.resizable});/**
+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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session.currentX>=elementPosition.left&&session.currentX<=elementPosition.left+elementWidth&&session.currentY>=elementPosition.top&&session.currentY<=elementPosition.top+elementHeight}function getTooltipContent(element){var tipText=element.data(DATA_POWERTIP),tipObject=element.data(DATA_POWERTIPJQ),tipTarget=element.data(DATA_POWERTIPTARGET),targetElement,content;if(tipText){if($.isFunction(tipText)){tipText=tipText.call(element[0])}content=tipText}else if(tipObject){if($.isFunction(tipObject)){tipObject=tipObject.call(element[0])}if(tipObject.length>0){content=tipObject.clone(true,true)}}else if(tipTarget){targetElement=$("#"+tipTarget);if(targetElement.length>0){content=targetElement.html()}}return content}function getViewportCollisions(coords,elementWidth,elementHeight){var 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+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ * jquery.ui.widget.js
+ * jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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$.SmartMenus=function(t,e){this.$root=$(t),this.opts=e,this.rootId="",this.accessIdPrefix="",this.$subArrow=null,this.activatedItems=[],this.visibleSubMenus=[],this.showTimeout=0,this.hideTimeout=0,this.scrollTimeout=0,this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.idInc=0,this.$firstLink=null,this.$firstSub=null,this.disabled=!1,this.$disableOverlay=null,this.$touchScrollingSub=null,this.cssTransforms3d="perspective"in t.style||"webkitPerspective"in t.style,this.wasCollapsible=!1,this.init()},$.extend($.SmartMenus,{hideAll:function(){$.each(menuTrees,function(){this.menuHideAll()})},destroy:function(){for(;menuTrees.length;)menuTrees[0].destroy();initMouseDetection(!0)},prototype:{init:function(t){var e=this;if(!t){menuTrees.push(this),this.rootId=((new Date).getTime()+Math.random()+"").replace(/\D/g,""),this.accessIdPrefix="sm-"+this.rootId+"-",this.$root.hasClass("sm-rtl")&&(this.opts.rightToLeftSubMenus=!0);var i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(this.docTouchStart,this),touchmove:$.proxy(this.docTouchMove,this),touchend:$.proxy(this.docTouchEnd,this),click:$.proxy(this.docClick,this)},i)),$(window).on(getEventsNS({"resize orientationchange":$.proxy(this.winResize,this)},i)),this.opts.subIndicators&&(this.$subArrow=$("<span/>").addClass("sub-arrow"),this.opts.subIndicatorsText&&this.$subArrow.html(this.opts.subIndicatorsText)),initMouseDetection()}if(this.$firstSub=this.$root.find("ul").each(function(){e.menuInit($(this))}).eq(0),this.$firstLink=this.$root.find("a").eq(0),this.opts.markCurrentItem){var s=/(index|default)\.[^#\?\/]*/i,o=/#.*/,a=window.location.href.replace(s,""),n=a.replace(o,"");this.$root.find("a").each(function(){var t=this.href.replace(s,""),i=$(this);(t==a||t==n)&&(i.addClass("current"),e.opts.markCurrentTree&&i.parentsUntil("[data-smartmenus-id]","ul").each(function(){$(this).dataSM("parent-a").addClass("current")}))})}this.wasCollapsible=this.isCollapsible()},destroy:function(t){if(!t){var e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var 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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+ <div class="headertitle">
+<div class="title">log_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="log__decorator_8h_source.html">robot_element/decorators/log_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for log_decorator.cpp:</div>
+<div class="dyncontent">
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+<p><a href="log__decorator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: log_decorator.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>
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+<body onload='searchBox.OnSelectItem(0);'>
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+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_129dfe63f339df39af9b29f455952c18.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">log_decorator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="log__decorator_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="log__decorator_8h.html">robot_element/decorators/log_decorator.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="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290"> 3</a></span> <a class="code" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator::Log_decorator</a>(std::unique_ptr<Abstract_robot_element> next) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> : <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>(std::move(next))</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>  ROS_INFO(<span class="stringliteral">"LOG Decorator: %s"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>().c_str());</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="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6"> 9</a></span> <span class="keywordtype">void</span> <a class="code" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator::input_filter</a>() {</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  ROS_INFO(<span class="stringliteral">"--- Debug: %s --- State: PRE UPDATE"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>().c_str());</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  ROS_INFO(<span class="stringliteral">"=> Debug: pos('%f', '%f', '%f')"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getOrigin().getX(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getOrigin().getY(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getOrigin().getZ());</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  ROS_INFO(<span class="stringliteral">"=> Debug: orientation('%f', '%f', '%f', '%f')"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getX(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getY(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getZ(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getW());</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="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a"> 15</a></span> <span class="keywordtype">void</span> <a class="code" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator::update</a>(tf2::Transform& tf) {</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">input_filter</a>();</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a>(tf);</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">output_filter</a>();</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>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835"> 21</a></span> <span class="keywordtype">void</span> <a class="code" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator::output_filter</a>() {</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  ROS_INFO(<span class="stringliteral">"--- Debug: %s --- State: POST UPDATE"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>().c_str());</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  ROS_INFO(<span class="stringliteral">"=> Debug: pos('%f', '%f', '%f')"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getOrigin().getX(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getOrigin().getY(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getOrigin().getZ());</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  ROS_INFO(<span class="stringliteral">"=> Debug: orientation('%f', '%f', '%f', '%f')"</span>, <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getX(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getY(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getZ(), <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>().getRotation().getW());</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassLog__decorator_html_abac3ce8b5ef982e3a030a152cfcc2290"><div class="ttname"><a href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator::Log_decorator</a></div><div class="ttdeci">Log_decorator(std::unique_ptr< Abstract_robot_element > next)</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00003">log_decorator.cpp:3</a></div></div>
+<div class="ttc" id="aclassLog__decorator_html_a7c3305b339a0e539d60bd92d59f5c835"><div class="ttname"><a href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00021">log_decorator.cpp:21</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="aclassLog__decorator_html_a9fdbd079b56b93f87a9b325397d9d57a"><div class="ttname"><a href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00015">log_decorator.cpp:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a910a29582a54972c947fa57bbdc444ec"><div class="ttname"><a href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_addab3f179d202bea3da80887206c8048"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00017">impl/abstract_robot_element_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ad077cbfa7a43d1212b78cd61bcbf37a6"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">Abstract_robot_element_decorator::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00021">robot_element/decorators/abstract_robot_element_decorator.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ab7fe1d6234cc937bf72a2f951781329b"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">Abstract_robot_element * next_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00009">impl/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassLog__decorator_html_ac31262be083a8b9f2105b7f0211db7d6"><div class="ttname"><a href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator::input_filter</a></div><div class="ttdeci">void input_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00009">log_decorator.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/log__decorator_8h.html b/doc/html/log__decorator_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..3c87da7554f506d24781edddf5e630cb1a01952a
--- /dev/null
+++ b/doc/html/log__decorator_8h.html
@@ -0,0 +1,75 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: log_decorator.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>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+ 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">log_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "visualization_msgs/Marker.h"</code><br />
+<code>#include "<a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for log_decorator.h:</div>
+<div class="dyncontent">
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+<p><a href="log__decorator_8h_source.html">Go to the source code of this file.</a></p>
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+<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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: log_decorator.h 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>
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+<body onload='searchBox.OnSelectItem(0);'>
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+ 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">log_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="log__decorator_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 LOG_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define LOG_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "visualization_msgs/Marker.h"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">robot_element/decorators/abstract_robot_element_decorator.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"><a class="line" href="classLog__decorator.html"> 8</a></span> <span class="keyword">class </span><a class="code" href="classLog__decorator.html">Log_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>{</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator</a>(std::unique_ptr<Abstract_robot_element> <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordtype">void</span> <a class="code" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">input_filter</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordtype">void</span> <a class="code" href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">update</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordtype">void</span> <a class="code" href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">output_filter</a>() <span class="keyword">override</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"> 17</span>  </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassLog__decorator_html_abac3ce8b5ef982e3a030a152cfcc2290"><div class="ttname"><a href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator::Log_decorator</a></div><div class="ttdeci">Log_decorator(std::unique_ptr< Abstract_robot_element > next)</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00003">log_decorator.cpp:3</a></div></div>
+<div class="ttc" id="aclassLog__decorator_html_a7c3305b339a0e539d60bd92d59f5c835"><div class="ttname"><a href="classLog__decorator.html#a7c3305b339a0e539d60bd92d59f5c835">Log_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00021">log_decorator.cpp:21</a></div></div>
+<div class="ttc" id="aclassLog__decorator_html_a9fdbd079b56b93f87a9b325397d9d57a"><div class="ttname"><a href="classLog__decorator.html#a9fdbd079b56b93f87a9b325397d9d57a">Log_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00015">log_decorator.cpp:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a87d8de36475ce19034a9728f545eb03e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator::next</a></div><div class="ttdeci">Abstract_robot_element * next()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">robot_element/decorators/abstract_robot_element_decorator.h:18</a></div></div>
+<div class="ttc" id="arobot__element_2decorators_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a></div></div>
+<div class="ttc" id="aclassLog__decorator_html_ac31262be083a8b9f2105b7f0211db7d6"><div class="ttname"><a href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator::input_filter</a></div><div class="ttdeci">void input_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8cpp_source.html#l00009">log_decorator.cpp:9</a></div></div>
+<div class="ttc" id="aclassLog__decorator_html"><div class="ttname"><a href="classLog__decorator.html">Log_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="log__decorator_8h_source.html#l00008">log_decorator.h:8</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/map__loader_8cpp.html b/doc/html/map__loader_8cpp.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/map__loader_8cpp.html
@@ -0,0 +1,66 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_loader.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><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">map_loader.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="map__loader_8h_source.html">impl/map_loader.h</a>"</code><br />
+<code>#include <sstream></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for map_loader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="map__loader_8cpp__incl.png" border="0" usemap="#map__loader_8cpp" alt=""/></div>
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+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
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+<div class="title">map_loader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="map__loader_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="map__loader_8h.html">impl/map_loader.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <sstream></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>  </div>
+<div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8"> 5</a></span> <a class="code" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader::Map_loader</a>(XmlRpc::XmlRpcValue& map, XmlRpc::XmlRpcValue& task){</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  std::regex reg(<span class="stringliteral">"\\s+"</span>);</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  std::vector<tf2::Transform> _map;</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>  ROS_INFO(<span class="stringliteral">"load [map] data..."</span>);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>.size();i++){</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::string str = <a class="code" href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">map</a>[i];</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  std::sregex_token_iterator to_it(str.begin(), str.end(),reg,-1);</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  std::vector<std::string> temp{to_it, {}};</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  tf2::Vector3 t(std::stof(temp[0]), std::stof(temp[1]), std::stof(temp[2]));</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  tf2::Quaternion so(std::stof(temp[3]), std::stof(temp[4]), std::stof(temp[5]), std::stof(temp[6]));</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>  _map.push_back(tf2::Transform(so.normalize(),t));</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>  this-><a class="code" href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">set_map</a>(_map);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  ROS_INFO(<span class="stringliteral">"[map] saved with %li entries..."</span>, _map.size());</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>  ROS_INFO(<span class="stringliteral">"saving [target] positions..."</span>);</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  std::vector<std::vector<tf2::Transform>> task_;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">for</span>(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = task.begin(); it != task.end(); ++it){</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  std::vector<tf2::Transform> task_per_robot;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < it->second.size(); i++){</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::string str = it->second[i];</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  std::sregex_token_iterator to_it(str.begin(), str.end(),reg,-1);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  std::vector<std::string> temp{to_it, {}};</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  task_per_robot.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(std::stof(temp[0]), std::stof(temp[1]), std::stof(temp[2]))));</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>  task_.push_back(task_per_robot);</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>  this-><a class="code" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">set_task_grasps</a>(task_);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < task_.size(); i++) ROS_INFO(<span class="stringliteral">"[target] for Robot %li saved with %li entries..."</span>, i, task_[i].size());</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"><a class="line" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310"> 39</a></span> std::vector<std::vector<pcl::PointXYZ>> <a class="code" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader::base_calculation</a>(){</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>  ROS_INFO(<span class="stringliteral">"calculating target orientation basic set..."</span>);</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  std::vector<tf2::Quaternion> basic_rot;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tf2::Quaternion x_rot(0,0,0,1);</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  tf2::Quaternion y_rot(0,0,0.707,0.707);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  tf2::Quaternion z_rot(0,-0.707,0,0.707);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  basic_rot.push_back(x_rot.normalize());</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  basic_rot.push_back(x_rot.inverse().normalize());</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  basic_rot.push_back(y_rot.normalize());</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  basic_rot.push_back(y_rot.inverse().normalize());</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  basic_rot.push_back(z_rot.inverse().normalize());</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>  std::vector<std::vector<std::vector<tf2::Quaternion>>> target_orientation_grasps;</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>.size(); i++) {</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  std::vector<std::vector<tf2::Quaternion>> quat;</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>[i].size(); j++) {</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  quat.push_back(basic_rot);</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>  target_orientation_grasps.push_back(quat);</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>  <a class="code" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">target_rot_</a>= target_orientation_grasps;</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>  ROS_INFO(<span class="stringliteral">"basic set registered..."</span>);</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a>-><a class="code" href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">inv_map_creation</a>(<span class="keyword">this</span>);</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>  ROS_INFO(<span class="stringliteral">"init voxel..."</span>);</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  std::vector<pcl::PointXYZ> voxelization = this-><a class="code" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">create_pcl_box</a>();</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  std::vector<std::vector<std::vector<int>>> base_target_map;</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  base_target_map.resize(<a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>.size());</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < base_target_map.size();i++) base_target_map[i].resize(voxelization.size());</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>  ROS_INFO(<span class="stringliteral">"forming base clouds..."</span>);</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">strategy_</a>-><a class="code" href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">cloud_calculation</a>(<span class="keyword">this</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>  <span class="comment">// OpenMP </span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  ROS_INFO(<span class="stringliteral">"start cloud quantization..."</span>);</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a>.size();i++){</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < <a class="code" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a>[i].size();j++){</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.2f);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  octree.setInputCloud(<a class="code" href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">target_cloud_</a>[i][j]);</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  octree.addPointsFromInputCloud();</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">double</span> min_x, min_y, min_z, max_x, max_y, max_z;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  octree.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < voxelization.size(); k++) {</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  pcl::PointXYZ p = voxelization[k];</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">bool</span> isInBox = (p.x >= min_x && p.x <= max_x) && (p.y >= min_y && p.y <= max_y) && (p.z >= min_z && p.z <= max_z);</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span>(isInBox && octree.isVoxelOccupiedAtPoint(p)) {</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  std::vector< int > pointIdxVec;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">if</span>(octree.voxelSearch(p, pointIdxVec)) <span class="keywordflow">if</span>(!pointIdxVec.empty()) base_target_map[i][k].push_back(j);</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</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>  }</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>  </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>  </div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  std::vector<std::vector<pcl::PointXYZ>> resulting;</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < base_target_map.size(); i++) {</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  std::vector<pcl::PointXYZ> points_per_robot;</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < base_target_map[i].size(); j++){</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (base_target_map[i][j].size() == <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>[i].size()) {</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  points_per_robot.push_back(voxelization[j]);</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>  }</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">if</span> (!points_per_robot.empty()) resulting.push_back(points_per_robot);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < resulting.size(); i++) {</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  ROS_INFO(<span class="stringliteral">"Robot %li got %li base positions to ckeck"</span>, i, resulting[i].size());</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  }</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">return</span> resulting;</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>  </div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf"> 116</a></span> std::vector<pcl::PointXYZ> <a class="code" href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">Abstract_map_loader::create_pcl_box</a>(){</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  tf2::Vector3 origin(0,0,0);</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordtype">float</span> resolution = 0.4f;</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">float</span> diameter = 3.0f;</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> depth = 16;</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  std::vector<pcl::PointXYZ> box; </div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  octomap::OcTree* tree = <span class="keyword">new</span> octomap::OcTree(resolution/2);</div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> x = origin.getX() - diameter * 5 ; x <= origin.getX() + diameter * 5 ; x += resolution){</div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> y = origin.getY() - diameter * 5 ; y <= origin.getY() + diameter * 5 ; y += resolution){</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> z = origin.getZ() - diameter * 1.5 ; z <= origin.getZ() + diameter * 1.5 ; z += resolution){</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  octomap::point3d point(x,y,z);</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  tree->updateNode(point, <span class="keyword">true</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="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>  <span class="keywordflow">for</span> (octomap::OcTree::leaf_iterator it = tree->begin_leafs(depth), end = tree->end_leafs(); it != end; ++it){</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  pcl::PointXYZ searchPoint(it.getCoordinate().x(), it.getCoordinate().y(), it.getCoordinate().z());</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  box.push_back(searchPoint);</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>  </div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">return</span> box;</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> }</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
+<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b"> 140</a></span> <span class="keywordtype">void</span> <a class="code" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">Map_loader::write_task</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot){</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>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/mtc_task_file/dummy.yaml"</span>);</div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  tf2::Transform target_start = <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>[0].front();</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  tf2::Transform target_end = <a class="code" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">task_grasps_</a>[0].back();</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordtype">float</span> x, y, z;</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  x = target_end.getOrigin().getX();</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  y = target_end.getOrigin().getY();</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  z = target_end.getOrigin().getZ();</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>  std::stringstream ss;</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  ss << <span class="stringliteral">"hand_"</span> << robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back();</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  std::string hand = ss.str();</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  std::stringstream sss;</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  sss << <span class="stringliteral">"panda_"</span> << robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <span class="stringliteral">"_link8"</span>;</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  std::string last_link = sss.str();</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>  YAML::Node node;</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="comment">//YAML::Comment("yaml-language-server: $schema=/home/matteo/reachability/src/yaml_to_mtc/config/yaml_to_mtc_schema.json");</span></div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  YAML::Node planner_node;</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  planner_node[<span class="stringliteral">"id"</span>] = <span class="stringliteral">"cartesian"</span>;</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  planner_node[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"CartesianPath"</span>;</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  node[<span class="stringliteral">"planners"</span>].push_back(planner_node);</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  planner_node.reset();</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>  planner_node[<span class="stringliteral">"id"</span>] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  planner_node[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"PipelinePlanner"</span>;</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  planner_node[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"step_size"</span>] = 0.005f;</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  planner_node[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"goal_joint_tolerance"</span>] = <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(0.00001f);</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  node[<span class="stringliteral">"planners"</span>].push_back(planner_node);</div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  planner_node.reset();</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>  planner_node[<span class="stringliteral">"id"</span>] = <span class="stringliteral">"interpolation"</span>;</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  planner_node[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"JointInterpolationPlanner"</span>;</div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  node[<span class="stringliteral">"planners"</span>].push_back(planner_node);</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  planner_node.reset();</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>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"name"</span>] = <span class="stringliteral">"Pick and Place test"</span>;</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"group"</span>] = robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>();</div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"eef"</span>] = hand;</div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"hand_grasping_frame"</span>] = last_link;</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"ik_frame"</span>] = last_link;</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"hand"</span>] = hand;</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  YAML::Node stage;</div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  stage[<span class="stringliteral">"name"</span>] = <span class="stringliteral">"current"</span>;</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"CurrentState"</span>;</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  stage.reset();</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>  stage[<span class="stringliteral">"name"</span>] = <span class="stringliteral">"move to ready"</span>;</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveTo"</span>; </div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  stage[<span class="stringliteral">"id"</span>] = <span class="stringliteral">"ready"</span>; </div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>].push_back(<span class="stringliteral">"group"</span>);</div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"goal"</span>] = <span class="stringliteral">"ready"</span>;</div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  stage.reset();</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveTo"</span>; </div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"sampling"</span>; </div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  stage[<span class="stringliteral">"id"</span>] = <span class="stringliteral">"hand_open"</span>; </div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"group"</span>] = hand; </div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"goal"</span>] = <span class="stringliteral">"open"</span>; </div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  stage.reset();</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>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"Connect"</span>; </div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  stage[<span class="stringliteral">"group_planner_vector"</span>][robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()] = <span class="stringliteral">"sampling"</span>; </div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>; </div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  stage.reset();</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>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"SerialContainer"</span>;</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  stage[<span class="stringliteral">"name"</span>] = <span class="stringliteral">"grasp"</span>;</div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  stage[<span class="stringliteral">"properties_exposeTo"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"task"</span>;</div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  stage[<span class="stringliteral">"properties_exposeTo"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[eef, hand, group, ik_frame]"</span>);</div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[eef, hand, group, ik_frame]"</span>);</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">//node["task"]["stages"].push_back(stage);</span></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>  YAML::Node stage_in_stage;</div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveRelative"</span>;</div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"cartesian"</span>;</div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"min_distance"</span>] = 0.07f;</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"max_distance"</span>] = 0.2f;</div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[group]"</span>);</div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"direction"</span>][<span class="stringliteral">"vector"</span>] = YAML::Load(<span class="stringliteral">"{x: 0.0, y: 0.0, z: 1.0, header: { frame_id: "</span> + last_link +<span class="stringliteral">" }}"</span>);</div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  stage_in_stage.reset();</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  </div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"ComputeIK"</span>;</div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  stage_in_stage[<span class="stringliteral">"properties"</span>] = YAML::Load(<span class="stringliteral">"{max_ik_solutions: 5}"</span>);</div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"isometry"</span>][<span class="stringliteral">"translation"</span>] = YAML::Load(<span class="stringliteral">"{ x: 0.1, y: 0.0, z: 0.0 }"</span>);</div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"isometry"</span>][<span class="stringliteral">"quaternion"</span>] = YAML::Load(<span class="stringliteral">"{ r: 1.571, p: 0.785, y: 1.571 }"</span>);</div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  YAML::Node properties_in_stage_in_stage;</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  properties_in_stage_in_stage[<span class="stringliteral">"source"</span>]= <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  properties_in_stage_in_stage[<span class="stringliteral">"values"</span>]= YAML::Load(<span class="stringliteral">"[eef, group]"</span>);</div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>].push_back(properties_in_stage_in_stage);</div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  properties_in_stage_in_stage.reset();</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  properties_in_stage_in_stage[<span class="stringliteral">"source"</span>]= <span class="stringliteral">"INTERFACE"</span>;</div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  properties_in_stage_in_stage[<span class="stringliteral">"values"</span>]= YAML::Load(<span class="stringliteral">"[target_pose]"</span>);</div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>].push_back(properties_in_stage_in_stage);</div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  properties_in_stage_in_stage.reset();</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>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"type"</span>] = <span class="stringliteral">"GenerateGraspPose"</span>;</div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"object"</span>] = <span class="stringliteral">"bottle"</span>;</div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"angle_delta"</span>] = 1.571f;</div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"pregrasp"</span>] = <span class="stringliteral">"open"</span>;</div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"monitored_stage"</span>] = <span class="stringliteral">"ready"</span>;</div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  stage_in_stage.reset();</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"ModifyPlanningScene"</span>;</div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>] = <span class="stringliteral">"bottle"</span>;</div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>][<span class="stringliteral">"joint_model_group_name"</span>] = hand;</div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"allow"</span>] = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  stage_in_stage.reset();</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveTo"</span>;</div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"group"</span>] = hand;</div>
+<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"goal"</span>] = <span class="stringliteral">"close"</span>;</div>
+<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  stage_in_stage.reset(); </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>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"ModifyPlanningScene"</span>;</div>
+<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"attach_object"</span>][<span class="stringliteral">"object"</span>] = <span class="stringliteral">"bottle"</span>;</div>
+<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"attach_object"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  stage_in_stage.reset(); </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>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveRelative"</span>;</div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"cartesian"</span>;</div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  stage_in_stage[<span class="stringliteral">"id"</span>] = <span class="stringliteral">"pick_up"</span>;</div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[group]"</span>);</div>
+<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"min_distance"</span>] = 0.1f;</div>
+<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"max_distance"</span>] = 0.2f;</div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"direction"</span>][<span class="stringliteral">"vector"</span>] = YAML::Load(<span class="stringliteral">"{ x: 0.0, y: 0.0, z: 1.0 }"</span>);</div>
+<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  stage_in_stage.reset(); </div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
+<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  stage.reset();</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>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"Connect"</span>;</div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  stage[<span class="stringliteral">"group_planner_vector"</span>][robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  stage.reset();</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>  <span class="comment">// satrtet here </span></div>
+<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"SerialContainer"</span>;</div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  stage[<span class="stringliteral">"name"</span>] = <span class="stringliteral">"place"</span>;</div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  stage[<span class="stringliteral">"properties_exposeTo"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"task"</span>;</div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  stage[<span class="stringliteral">"properties_exposeTo"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[eef, hand, group, ik_frame]"</span>);</div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</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>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveRelative"</span>;</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"cartesian"</span>;</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"min_distance"</span>] = 0.1f;</div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"max_distance"</span>] = 0.2f;</div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[group]"</span>);</div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"direction"</span>][<span class="stringliteral">"vector"</span>] = YAML::Load(<span class="stringliteral">"{ x: 0.0, y: 0.0, z: -1.0}"</span>);</div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  stage_in_stage.reset(); </div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  </div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"ComputeIK"</span>;</div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  stage_in_stage[<span class="stringliteral">"properties"</span>] = YAML::Load(<span class="stringliteral">"{ max_ik_solutions: 5 }"</span>);</div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"isometry"</span>][<span class="stringliteral">"translation"</span>] = YAML::Load(<span class="stringliteral">"{ x: 0.1, y: 0.0, z: 0.0 }"</span>);</div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"isometry"</span>][<span class="stringliteral">"quaternion"</span>] = YAML::Load(<span class="stringliteral">"{ r: 1.571, p: 0.785, y: 1.571 }"</span>);</div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  </div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  properties_in_stage_in_stage[<span class="stringliteral">"source"</span>]= <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  properties_in_stage_in_stage[<span class="stringliteral">"values"</span>]= YAML::Load(<span class="stringliteral">"[eef, group]"</span>);</div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>].push_back(properties_in_stage_in_stage);</div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  properties_in_stage_in_stage.reset();</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>  properties_in_stage_in_stage[<span class="stringliteral">"source"</span>]= <span class="stringliteral">"INTERFACE"</span>;</div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  properties_in_stage_in_stage[<span class="stringliteral">"values"</span>]= YAML::Load(<span class="stringliteral">"[target_pose]"</span>);</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>].push_back(properties_in_stage_in_stage);</div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  properties_in_stage_in_stage.reset();</div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  </div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"type"</span>] = <span class="stringliteral">"GeneratePose"</span>;</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"monitored_stage"</span>] = <span class="stringliteral">"pick_up"</span>;</div>
+<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"pose"</span>][<span class="stringliteral">"point"</span>] = YAML::Load(<span class="stringliteral">"{ x: "</span> + std::to_string(x) + <span class="stringliteral">", y: "</span> + std::to_string(y) + <span class="stringliteral">", z: 0.9305 }"</span>); <span class="comment">// Hier objekt</span></div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  stage_in_stage[<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"pose"</span>][<span class="stringliteral">"orientation"</span>] = YAML::Load(<span class="stringliteral">"{ x: 0.0, y: 0.0, z: 0.0, w: 1.0}"</span>);</div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  stage_in_stage.reset(); </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>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveTo"</span>;</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"group"</span>] = hand;</div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"goal"</span>] = <span class="stringliteral">"open"</span>;</div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  stage_in_stage.reset(); </div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  </div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"ModifyPlanningScene"</span>;</div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"detach_object"</span>][<span class="stringliteral">"object"</span>]= <span class="stringliteral">"bottle"</span>;</div>
+<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"detach_object"</span>][<span class="stringliteral">"link"</span>]= last_link;</div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>]= <span class="stringliteral">"bottle"</span>;</div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>][<span class="stringliteral">"joint_model_group_name"</span>]= hand;</div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"allow"</span>] = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  stage_in_stage.reset(); </div>
+<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  </div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveRelative"</span>;</div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"cartesian"</span>;</div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"link"</span>] = last_link;</div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"min_distance"</span>] = 0.07f;</div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"max_distance"</span>] = 0.2f;</div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>] = YAML::Load(<span class="stringliteral">"[group]"</span>);</div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"direction"</span>][<span class="stringliteral">"vector"</span>] = YAML::Load(<span class="stringliteral">"{x: 0.0, y: 0.0, z: -1.0, header: { frame_id: "</span> + last_link+ <span class="stringliteral">" }}"</span>);</div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  stage_in_stage.reset(); </div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  </div>
+<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveTo"</span>;</div>
+<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  stage_in_stage[<span class="stringliteral">"properties"</span>][<span class="stringliteral">"group"</span>] = hand;</div>
+<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"goal"</span>] = <span class="stringliteral">"close"</span>;</div>
+<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  stage_in_stage.reset(); </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>  stage_in_stage[<span class="stringliteral">"name"</span>] = <span class="stringliteral">"move to ready"</span>;</div>
+<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  stage_in_stage[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"MoveTo"</span>;</div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  stage_in_stage[<span class="stringliteral">"planner"</span>] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"source"</span>]= <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  stage_in_stage[<span class="stringliteral">"propertiesConfigureInitFrom"</span>][<span class="stringliteral">"values"</span>].push_back(<span class="stringliteral">"group"</span>);</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  stage_in_stage[<span class="stringliteral">"set"</span>][<span class="stringliteral">"goal"</span>] = <span class="stringliteral">"ready"</span>;</div>
+<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  stage[<span class="stringliteral">"stages"</span>].push_back(stage_in_stage);</div>
+<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  stage_in_stage.reset(); </div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"stages"</span>].push_back(stage);</div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  stage.reset(); </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>  node[<span class="stringliteral">"max_planning_solutions"</span>] = 10;</div>
+<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  o << node;</div>
+<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  o.close();</div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> }</div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  </div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__map__loader_html_a8c4bd31f9c778a3a5ef7a21ab16f6127"><div class="ttname"><a href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">Abstract_map_loader::task_grasps_</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > task_grasps_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00028">abstract_map_loader.h:28</a></div></div>
+<div class="ttc" id="aclassMap__loader_html_a40cb9325cf9975bd8204abfbd7c599b8"><div class="ttname"><a href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader::Map_loader</a></div><div class="ttdeci">Map_loader(XmlRpc::XmlRpcValue &map_data, XmlRpc::XmlRpcValue &target_data)</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00005">map_loader.cpp:5</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_aab0898959888bc50f37690808f9571a8"><div class="ttname"><a href="classAbstract__map__loader.html#aab0898959888bc50f37690808f9571a8">Abstract_map_loader::target_cloud_</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > > target_cloud_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00030">abstract_map_loader.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__strategy_html_a20c07f343817632f5f946fdb7734159f"><div class="ttname"><a href="classAbstract__strategy.html#a20c07f343817632f5f946fdb7734159f">Abstract_strategy::inv_map_creation</a></div><div class="ttdeci">virtual void inv_map_creation(Abstract_map_loader *var)=0</div></div>
+<div class="ttc" id="aclassMap__loader_html_ac8f429fe039a03dd69505fe899f37310"><div class="ttname"><a href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader::base_calculation</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointXYZ > > base_calculation() override</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00039">map_loader.cpp:39</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a797587fa281f28fde814a052396d90bf"><div class="ttname"><a href="classAbstract__map__loader.html#a797587fa281f28fde814a052396d90bf">Abstract_map_loader::create_pcl_box</a></div><div class="ttdeci">static std::vector< pcl::PointXYZ > create_pcl_box()</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00116">map_loader.cpp:116</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_ab738d6d84071f7b931e2373a7fefc498"><div class="ttname"><a href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">Abstract_map_loader::set_task_grasps</a></div><div class="ttdeci">void set_task_grasps(std::vector< std::vector< tf2::Transform >> &lists_in_list)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00045">abstract_map_loader.h:45</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_af012c7a4a222097864cbcda7ed58212f"><div class="ttname"><a href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">Abstract_map_loader::target_rot_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Quaternion > > > target_rot_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00029">abstract_map_loader.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__strategy_html_acfa25fc51d61ef553f5b588732d67335"><div class="ttname"><a href="classAbstract__strategy.html#acfa25fc51d61ef553f5b588732d67335">Abstract_strategy::cloud_calculation</a></div><div class="ttdeci">virtual void cloud_calculation(Abstract_map_loader *var)=0</div></div>
+<div class="ttc" id="aclassMap__loader_html_aa1fc661c7d1d19a0c1e408a89d31d69b"><div class="ttname"><a href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">Map_loader::write_task</a></div><div class="ttdeci">void write_task(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00140">map_loader.cpp:140</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a13fb2cd6ac1a353192161e053426d7c8"><div class="ttname"><a href="classAbstract__map__loader.html#a13fb2cd6ac1a353192161e053426d7c8">Abstract_map_loader::map</a></div><div class="ttdeci">std::vector< tf2::Transform > & map()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00042">abstract_map_loader.h:42</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="amap__loader_8h_html"><div class="ttname"><a href="map__loader_8h.html">map_loader.h</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a1edc00738184b6aa4b245727c8ed52ec"><div class="ttname"><a href="classAbstract__map__loader.html#a1edc00738184b6aa4b245727c8ed52ec">Abstract_map_loader::set_map</a></div><div class="ttdeci">void set_map(std::vector< tf2::Transform > &list)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00044">abstract_map_loader.h:44</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html_a18cb3dcb65ee0af86bff355c24814dc3"><div class="ttname"><a href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">Abstract_map_loader::strategy_</a></div><div class="ttdeci">Abstract_strategy * strategy_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00032">abstract_map_loader.h:32</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_loader.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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 */
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">map_loader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="abstract__map__loader_8h_source.html">impl/abstract_map_loader.h</a>"</code><br />
+<code>#include <regex></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for map_loader.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="map__loader_8h__incl.png" border="0" usemap="#map__loader_8h" alt=""/></div>
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+<div class="dyncontent">
+<div class="center"><img src="map__loader_8h__dep__incl.png" border="0" usemap="#map__loader_8hdep" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="map__loader_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="classMap__loader.html">Map_loader</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+++ b/doc/html/map__loader_8h_source.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_loader.h 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>
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">map_loader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="map__loader_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 MAP_LOADER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define MAP_LOADER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__map__loader_8h.html">impl/abstract_map_loader.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <regex></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"> 9</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classMap__loader.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classMap__loader.html">Map_loader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__map__loader.html">Abstract_map_loader</a> {</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a>(XmlRpc::XmlRpcValue& map_data, XmlRpc::XmlRpcValue& target_data);</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  std::vector<std::vector<pcl::PointXYZ>> <a class="code" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">base_calculation</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordtype">void</span> <a class="code" href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">write_task</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) <span class="keyword">override</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"> 17</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMap__loader_html_a40cb9325cf9975bd8204abfbd7c599b8"><div class="ttname"><a href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader::Map_loader</a></div><div class="ttdeci">Map_loader(XmlRpc::XmlRpcValue &map_data, XmlRpc::XmlRpcValue &target_data)</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00005">map_loader.cpp:5</a></div></div>
+<div class="ttc" id="aclassMap__loader_html_ac8f429fe039a03dd69505fe899f37310"><div class="ttname"><a href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader::base_calculation</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointXYZ > > base_calculation() override</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00039">map_loader.cpp:39</a></div></div>
+<div class="ttc" id="aabstract__map__loader_8h_html"><div class="ttname"><a href="abstract__map__loader_8h.html">abstract_map_loader.h</a></div></div>
+<div class="ttc" id="aclassMap__loader_html_aa1fc661c7d1d19a0c1e408a89d31d69b"><div class="ttname"><a href="classMap__loader.html#aa1fc661c7d1d19a0c1e408a89d31d69b">Map_loader::write_task</a></div><div class="ttdeci">void write_task(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8cpp_source.html#l00140">map_loader.cpp:140</a></div></div>
+<div class="ttc" id="aclassAbstract__map__loader_html"><div class="ttname"><a href="classAbstract__map__loader.html">Abstract_map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__map__loader_8h_source.html#l00024">abstract_map_loader.h:24</a></div></div>
+<div class="ttc" id="aclassMap__loader_html"><div class="ttname"><a href="classMap__loader.html">Map_loader</a></div><div class="ttdef"><b>Definition:</b> <a href="map__loader_8h_source.html#l00010">map_loader.h:10</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_reader.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><li class="navelem"><a class="el" href="dir_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">map_reader.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="map__reader_8h_source.html">reader/map_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for map_reader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="map__reader_8cpp__incl.png" border="0" usemap="#map__reader_8cpp" alt=""/></div>
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+<p><a href="map__reader_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_reader.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 -->
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+$(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_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">map_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="map__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 "<a class="code" href="map__reader_8h.html">reader/map_reader.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="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">Map_reader::read</a>(){</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  XmlRpc::XmlRpcValue resources;</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>->getParam(<span class="stringliteral">"/data"</span>, resources);</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>  std::vector<tf2::Transform> <a class="code" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">map_data</a>;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  ROS_INFO(<span class="stringliteral">"--- MAP_READER ---"</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"> 10</span>  </div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</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::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">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">map_data</a>.push_back(tf2::Transform(rot, pos));</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>  <a class="code" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">set_map_data</a>(<a class="code" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">map_data</a>);</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</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="aclassMap__reader_html_a91deab19bee09cfa5174fdb159972fe3"><div class="ttname"><a href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">Map_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8cpp_source.html#l00003">map_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassMap__reader_html_a31bfd513f89c1b196f2616df5e64611c"><div class="ttname"><a href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">Map_reader::map_data</a></div><div class="ttdeci">std::vector< tf2::Transform > & map_data()</div><div class="ttdoc">Get map_data.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00037">map_reader.h:37</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassMap__reader_html_a6f6a52aa711ebdeb6bc8714b18679af6"><div class="ttname"><a href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">Map_reader::set_map_data</a></div><div class="ttdeci">void set_map_data(std::vector< tf2::Transform > &robot_data)</div><div class="ttdoc">Set map_data.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00031">map_reader.h:31</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_reader.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>
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+<body onload='searchBox.OnSelectItem(0);'>
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+<script type="text/javascript" src="menudata.js"></script>
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+});
+/* @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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">map_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for map_reader.h:</div>
+<div class="dyncontent">
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+</div>
+<p><a href="map__reader_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="classMap__reader.html">Map_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Map reader. <a href="classMap__reader.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: map_reader.h 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>
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+$(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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">map_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="map__reader_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 MAP_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define MAP_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.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>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classMap__reader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classMap__reader.html">Map_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</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="classMap__reader.html#abfb159fe634aab941d493204be389fa9"> 17</a></span>  std::vector<tf2::Transform> <a class="code" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">map_data_</a>; </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">public</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5"> 25</a></span>  <a class="code" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d){<a class="code" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">read</a>();}</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6"> 31</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">set_map_data</a>(std::vector<tf2::Transform>& robot_data) {<a class="code" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">map_data_</a> = robot_data;}</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c"> 37</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">map_data</a>() {<span class="keywordflow">return</span> <a class="code" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">map_data_</a>;}</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">void</span> <a class="code" href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">read</a>() <span class="keyword">override</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMap__reader_html_a651a31b2d8120523590a7d9707d5b4b5"><div class="ttname"><a href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader::Map_reader</a></div><div class="ttdeci">Map_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Map reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00025">map_reader.h:25</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="aclassMap__reader_html_a91deab19bee09cfa5174fdb159972fe3"><div class="ttname"><a href="classMap__reader.html#a91deab19bee09cfa5174fdb159972fe3">Map_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8cpp_source.html#l00003">map_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassMap__reader_html"><div class="ttname"><a href="classMap__reader.html">Map_reader</a></div><div class="ttdoc">Map reader.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00015">map_reader.h:15</a></div></div>
+<div class="ttc" id="aclassMap__reader_html_a31bfd513f89c1b196f2616df5e64611c"><div class="ttname"><a href="classMap__reader.html#a31bfd513f89c1b196f2616df5e64611c">Map_reader::map_data</a></div><div class="ttdeci">std::vector< tf2::Transform > & map_data()</div><div class="ttdoc">Get map_data.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00037">map_reader.h:37</a></div></div>
+<div class="ttc" id="aclassMap__reader_html_abfb159fe634aab941d493204be389fa9"><div class="ttname"><a href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">Map_reader::map_data_</a></div><div class="ttdeci">std::vector< tf2::Transform > map_data_</div><div class="ttdoc">Map transforms.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00017">map_reader.h:17</a></div></div>
+<div class="ttc" id="aclassMap__reader_html_a6f6a52aa711ebdeb6bc8714b18679af6"><div class="ttname"><a href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">Map_reader::set_map_data</a></div><div class="ttdeci">void set_map_data(std::vector< tf2::Transform > &robot_data)</div><div class="ttdoc">Set map_data.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00031">map_reader.h:31</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/mediator_2abstract__mediator_8cpp.html b/doc/html/mediator_2abstract__mediator_8cpp.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_mediator.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>
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+$(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">mediator/abstract_mediator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>"</code><br />
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+Include dependency graph for mediator/abstract_mediator.cpp:</div>
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+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<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>
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+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">mediator/abstract_mediator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="mediator_2abstract__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="mediator_2abstract__mediator_8h.html">mediator/abstract_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="classAbstract__mediator.html#a724fb5c020cca45732464f0227c854b6"> 3</a></span> <a class="code" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator::Abstract_mediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d)</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : nh_(d)</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  , task_space_reader_(std::make_unique<<a class="code" href="classTs__reader.html">Ts_reader</a>>(d))</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"> 8</span> pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a>(std::vector<pcl::PointXYZ>& vector){</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">for</span>(pcl::PointXYZ& point : vector)</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  task_voxel->push_back(point);</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="keywordflow">return</span> task_voxel;</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__mediator_html_a42b339e1ffa0b206129cc11fa300b217"><div class="ttname"><a href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator::Abstract_mediator</a></div><div class="ttdeci">Abstract_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00048">impl/abstract_mediator.h:48</a></div></div>
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+<div class="ttc" id="aclassTs__reader_html"><div class="ttname"><a href="classTs__reader.html">Ts_reader</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>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<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>
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+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">mediator/abstract_mediator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="abstract__robot__decorator_8h_source.html">robot/decorators/abstract_robot_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="ceti__robot_8h_source.html">robot/ceti_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.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="ts__reader_8h_source.html">reader/ts_reader.h</a>"</code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include <octomap/octomap.h></code><br />
+<code>#include <pcl/point_cloud.h></code><br />
+<code>#include <pcl/octree/octree.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for mediator/abstract_mediator.h:</div>
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+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract mediator. <a href="classAbstract__mediator.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structwing__BP.html">wing_BP</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_mediator.h 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>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
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+ 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">mediator/abstract_mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="mediator_2abstract__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 ABSTRACT_MEDIATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__robot__decorator_8h.html">robot/decorators/abstract_robot_decorator.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_2abstract__robot_8h.html">robot/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="ceti__robot_8h.html">robot/ceti_robot.h</a>"</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"> 9</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</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> <span class="preprocessor">#include "<a class="code" href="wing__reader_8h.html">reader/wing_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="ts__reader_8h.html">reader/ts_reader.h</a>"</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"> 15</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <fstream></span></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="preprocessor">#include <octomap/octomap.h></span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <pcl/octree/octree.h></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> <span class="keyword">struct </span><a class="code" href="structwing__BP.html">wing_BP</a> {</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  std::string <a class="code" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">name_</a>;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  tf2::Transform <a class="code" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">pos_</a>;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  tf2::Vector3 <a class="code" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">size_</a>;</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="l00030"></a><span class="lineno"> 30</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">class </span><a class="code" href="classAbstract__mediator.html">Abstract_mediator</a> {</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a"> 35</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">nh_</a>; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56"> 36</a></span>  std::unique_ptr<Ts_reader> <a class="code" href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">task_space_reader_</a>; </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282"> 37</a></span>  std::vector<std::unique_ptr<Abstract_robot_decorator>> <a class="code" href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">robots_</a>; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  std::vector<std::vector<std::vector<tf2::Transform>>> <a class="code" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">relative_bounds_</a>; </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a"> 40</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">result_vector_</a>; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b"> 41</a></span>  std::map<const std::string, std::vector<std::unique_ptr<Abstract_robot_element>>> <a class="code" href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">wings_</a>;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  std::string <a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a>; </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="keyword">public</span>:</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408"> 56</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">set_result_vector</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>& res) {<a class="code" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a> = res;}</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c"> 62</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<std::unique_ptr<Abstract_robot_element>>>& <a class="code" href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">wings</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>;}</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4"> 68</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">result_vector</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a>;}</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d"> 74</a></span>  <span class="keyword">inline</span> std::vector<std::unique_ptr<Abstract_robot_decorator>>& <a class="code" href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">robots</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>;}</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f"> 80</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">set_dirname</a>(std::string& dirn) {<a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a> = dirn;}</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d"> 86</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">dirname</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</a>;}</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="l00090"></a><span class="lineno"> 90</span>  </div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">vector_to_cloud</a>(std::vector<pcl::PointXYZ>& vector);</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="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">connect_robots</a>(std::unique_ptr<Abstract_robot_decorator> robot)=0; </div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">check_collision</a>( <span class="keyword">const</span> <span class="keywordtype">int</span>& robot)=0;</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">mediate</a>()=0;</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="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">build_wings</a>(std::bitset<3>& wing, <span class="keywordtype">int</span>& robot)=0;</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"> 122</span>  </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="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="impl_2abstract__mediator_8h_source.html#l00028">impl/abstract_mediator.h:28</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a4458d27f8d22f7ff58dc8191e1019e5a"><div class="ttname"><a href="classAbstract__mediator.html#a4458d27f8d22f7ff58dc8191e1019e5a">Abstract_mediator::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="mediator_2abstract__mediator_8h_source.html#l00040">mediator/abstract_mediator.h:40</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a42b339e1ffa0b206129cc11fa300b217"><div class="ttname"><a href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator::Abstract_mediator</a></div><div class="ttdeci">Abstract_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00048">impl/abstract_mediator.h:48</a></div></div>
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a4580d0c30a62cc91203b950694f98e98"><div class="ttname"><a href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">Abstract_mediator::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="impl_2abstract__mediator_8h_source.html#l00037">impl/abstract_mediator.h:37</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a69df414af025faf785c9034633240282"><div class="ttname"><a href="classAbstract__mediator.html#a69df414af025faf785c9034633240282">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_decorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00037">mediator/abstract_mediator.h:37</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_aa12e37e26ac0e75fadb103bc50285408"><div class="ttname"><a href="classAbstract__mediator.html#aa12e37e26ac0e75fadb103bc50285408">Abstract_mediator::set_result_vector</a></div><div class="ttdeci">void set_result_vector(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="mediator_2abstract__mediator_8h_source.html#l00056">mediator/abstract_mediator.h:56</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="astructwing__BP_html"><div class="ttname"><a href="structwing__BP.html">wing_BP</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00026">impl/abstract_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a7dbd0e2d480c9a496aa2fb77a14ab592"><div class="ttname"><a href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator::check_collision</a></div><div class="ttdeci">virtual bool check_collision(const int &robot)=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a64323b190e965287422f7b840bc1b95f"><div class="ttname"><a href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator::set_dirname</a></div><div class="ttdeci">void set_dirname(std::string &dirn)</div><div class="ttdoc">Set dirname.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00080">mediator/abstract_mediator.h:80</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a85b75b44d1f17f2d52c5e6171c13456b"><div class="ttname"><a href="classAbstract__mediator.html#a85b75b44d1f17f2d52c5e6171c13456b">Abstract_mediator::wings_</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< Abstract_robot_element > > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00041">mediator/abstract_mediator.h:41</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="aclassAbstract__mediator_html_ac905db346790f6bac814cdb7cd1f268d"><div class="ttname"><a href="classAbstract__mediator.html#ac905db346790f6bac814cdb7cd1f268d">Abstract_mediator::robots</a></div><div class="ttdeci">std::vector< std::unique_ptr< Abstract_robot_decorator > > & robots()</div><div class="ttdoc">Get robots.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00074">mediator/abstract_mediator.h:74</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="aclassAbstract__mediator_html_a525894d2f6a888163c9de63093b2bd6c"><div class="ttname"><a href="classAbstract__mediator.html#a525894d2f6a888163c9de63093b2bd6c">Abstract_mediator::wings</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< Abstract_robot_element > > > & wings()</div><div class="ttdoc">Get wings.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00062">mediator/abstract_mediator.h:62</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="impl_2abstract__mediator_8h_source.html#l00027">impl/abstract_mediator.h:27</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ae7e91c3c5ac234ee1d1bd2d7d6128bc8"><div class="ttname"><a href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">Abstract_mediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00040">impl/abstract_mediator.h:40</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a26d47b6d6d64a8eb4b096fcb5f78b389"><div class="ttname"><a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00016">impl/abstract_mediator.cpp:16</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a25e0b0dc5a154ad28d68f58500234d56"><div class="ttname"><a href="classAbstract__mediator.html#a25e0b0dc5a154ad28d68f58500234d56">Abstract_mediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< Ts_reader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00036">mediator/abstract_mediator.h:36</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="impl_2abstract__mediator_8h_source.html#l00029">impl/abstract_mediator.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9a48fc344129cd16dc0f20be2d9368ab"><div class="ttname"><a href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator::result_vector_</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00039">impl/abstract_mediator.h:39</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ad4565f4b98c689289ddda9e7507736ae"><div class="ttname"><a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">Abstract_mediator::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="impl_2abstract__mediator_8h_source.html#l00041">impl/abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ada2fc1c6243fcb68ec2daf7bf52e17a4"><div class="ttname"><a href="classAbstract__mediator.html#ada2fc1c6243fcb68ec2daf7bf52e17a4">Abstract_mediator::result_vector</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > & result_vector()</div><div class="ttdoc">Get result_vector.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00068">mediator/abstract_mediator.h:68</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_adcd1ada33f056dadda3dc17a6299b731"><div class="ttname"><a href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator::mediate</a></div><div class="ttdeci">virtual void mediate()=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a0c102b5e272139492ab04ce0d4e43234"><div class="ttname"><a href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator::connect_robots</a></div><div class="ttdeci">virtual void connect_robots(Abstract_robot *robot)=0</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="ats__reader_8h_html"><div class="ttname"><a href="ts__reader_8h.html">ts_reader.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_aafb2967bb33e9cc4ba0dcf54f29be144"><div class="ttname"><a href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator::build_wings</a></div><div class="ttdeci">virtual void build_wings(std::bitset< 3 > &wing, int &robot)=0</div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ad651113a7bd5059643177c7b5fc08b8d"><div class="ttname"><a href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">Abstract_mediator::dirname</a></div><div class="ttdeci">std::string & dirname()</div><div class="ttdoc">Get dirname.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00086">mediator/abstract_mediator.h:86</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a66416f41c207636fcf0b5223c2f70061"><div class="ttname"><a href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00035">impl/abstract_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a47ae440332d8744b368f6f95a84daf2a"><div class="ttname"><a href="classAbstract__mediator.html#a47ae440332d8744b368f6f95a84daf2a">Abstract_mediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Ros nodehandle object.</div><div class="ttdef"><b>Definition:</b> <a href="mediator_2abstract__mediator_8h_source.html#l00035">mediator/abstract_mediator.h:35</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: mediator.cpp File Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">mediator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="mediator_8h_source.html">impl/mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__rviz__decorator_8h_source.html">impl/wing_rviz_decorator.h</a>"</code><br />
+<code>#include <tf2/LinearMath/Scalar.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for mediator.cpp:</div>
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+<p><a href="mediator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator.cpp Source File</title>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
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+<div class="title">mediator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="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="mediator_8h.html">impl/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"> 3</span> <span class="preprocessor">#include "<a class="code" href="wing__rviz__decorator_8h.html">impl/wing_rviz_decorator.h</a>"</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <tf2/LinearMath/Scalar.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"><a class="line" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18"> 6</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">Mediator::connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) {<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.push_back(robot); ROS_INFO(<span class="stringliteral">"%s connected..."</span>, robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().c_str());}</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="classMediator.html#a47c455b2e15e19e16565d9267528ff6e"> 8</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">Mediator::setup_rviz</a>(){</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>.size(); i++){</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classRobot.html">Robot</a>* r = <span class="keyword">dynamic_cast<</span><a class="code" href="classRobot.html">Robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[i]);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>[i].size(); j++){</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>[i][j]);</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="classWing.html">Wing</a>* w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(wrd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  marker.ns = w-><a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>();</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  marker.id = 1;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  marker.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  marker.pose.position.x = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  marker.pose.position.y = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  marker.pose.position.z = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  marker.pose.orientation.x = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  marker.pose.orientation.y = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  marker.pose.orientation.z = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  marker.pose.orientation.w = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  marker.scale.x = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getX();</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  marker.scale.y = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getY();</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  marker.scale.z = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getZ();</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  marker.color.r = 1.0;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  marker.color.b = 1.0;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  marker.color.a = 1.0;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  ma.markers.push_back(marker);</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>  <span class="comment">//pub_->publish(ma);</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>  </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classMediator.html#aa16035737db08e657c36a5d69374a67f"> 42</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">Mediator::set_wings</a>(std::vector<std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& wbp){</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="keywordtype">int</span> i =0; i < wbp.size(); i++){</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  std::vector<Abstract_robot_element*> v;</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j =0; j < wbp[i].first.size(); j++){</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are = <span class="keyword">new</span> <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>( <span class="keyword">new</span> <a class="code" href="classWing.html">Wing</a>(wbp[i].first[j].name_, wbp[i].first[j].pose_,wbp[i].first[j].size_));</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  v.push_back(are);</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>  <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>.push_back(v);</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>  </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="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27"> 55</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator::check_collision</a>( <span class="keyword">const</span> <span class="keywordtype">int</span>& robot){</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">bool</span> succ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  std::vector<int> count_v;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classRobot.html">Robot</a>* r = <span class="keyword">dynamic_cast<</span><a class="code" href="classRobot.html">Robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]);</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  count_v.resize(r-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>().size()+1);</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  std::string str;</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>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot].size(); j++){</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  marker.ns = <span class="stringliteral">"objects "</span>;</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  marker.id = j;</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  marker.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  marker.pose.position.x = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getOrigin().getX();</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  marker.pose.position.y = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getOrigin().getY();</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  marker.pose.position.z = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getOrigin().getZ();</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  marker.pose.orientation.x = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getRotation().getX();</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  marker.pose.orientation.y = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getRotation().getY();</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  marker.pose.orientation.z = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getRotation().getZ();</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  marker.pose.orientation.w = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j].getRotation().getW();</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  marker.scale.x = <a class="code" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">box_size</a>.getX();</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  marker.scale.y = <a class="code" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">box_size</a>.getY();</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  marker.scale.z = <a class="code" href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">box_size</a>.getZ();</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">if</span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]->check_single_object_collision(<a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j], str)){</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  marker.color.r = 0;</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  marker.color.b = 0;</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  marker.color.a = 1;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  marker.color.r = 1;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  marker.color.g = 0;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  marker.color.b = 0;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  marker.color.a = 1.0;</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  succ = <span class="keyword">false</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>  ma.markers.push_back(marker);</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]->workload_checker(count_v, <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[robot][j]);</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>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</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="keywordtype">int</span>& i : count_v){</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">if</span>(i == 0) {succ = <span class="keyword">false</span>; <span class="keywordflow">break</span>;}</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> succ;</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="classMediator.html#a102d4e690501ce83fd6789309326fc95"> 105</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator::mediate</a>(){</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ROS_INFO(<span class="stringliteral">"assigne result to first robot..."</span>);</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  std::vector<pcl::PointXYZ> grCenter = <a class="code" href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator::generate_Ground</a>(tf2::Vector3(0,0,0), 3.0f, 0.1f);</div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  std::vector<std::vector<tf2::Transform>> filter_per_robot;</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>  pcl::octree::OctreePointCloudSearch< pcl::PointXYZ >first_cloud(0.4f);</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  first_cloud.setInputCloud(<a class="code" href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a>(<a class="code" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">result_vector_</a>[0]));</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  first_cloud.addPointsFromInputCloud();</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  std::vector<tf2::Transform> ground_per_robot;</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">for</span>(pcl::PointXYZ& p : grCenter){</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">double</span> min_x, min_y, min_z, max_x, max_y, max_z;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  first_cloud.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">bool</span> isInBox = (p.x >= min_x && p.x <= max_x) && (p.y >= min_y && p.y <= max_y) && (p.z >= min_z && p.z <= max_z);</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">if</span> (isInBox && first_cloud.isVoxelOccupiedAtPoint(p)) {</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  std::vector< int > pointIdxVec;</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">if</span> (first_cloud.voxelSearch(p, pointIdxVec)) ground_per_robot.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(p.x, p.y, p.z)));</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  }</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="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>.size(); i++){</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">if</span> (i+1 < <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>.size()){</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[i].size()-1; j > 0; j--){</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span>(<a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[i][j].getOrigin().distance(<a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[i+1].back().getOrigin()) == 0) <a class="code" href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">objects_</a>[i+1].pop_back();</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="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>  <a class="code" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">calculate</a>(ground_per_robot);</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>  <span class="comment">//swap</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="classAbstract__robot.html">Abstract_robot</a>* ar = <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[1];</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[1] = <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[0];</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[0] = ar;</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">calculate</a>(ground_per_robot);</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>  </div>
+<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classMediator.html#a04f3617b928e20bdd364244420a014ae"> 144</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">Mediator::calculate</a>(std::vector<tf2::Transform>& ground_per_robot){</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">int</span> r1 = 0; </div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="classRobot.html">Robot</a>* ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classRobot.html">Robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[0]);</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j <= 7; j++){</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  std::bitset<3> <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>(j);</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">build_wings</a>(<a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>, r1);</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>  visualization_msgs::Marker m;</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  m.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  m.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  m.ns = ceti1-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>();</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  m.id = 1;</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  m.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  m.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  m.pose.position.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  m.pose.position.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  m.pose.position.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  m.pose.orientation.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  m.pose.orientation.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  m.pose.orientation.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  m.pose.orientation.w = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  m.scale.x = ceti1-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getX();</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  m.scale.y = ceti1-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getY();</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  m.scale.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ()*2;</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  m.color.r = 1.0;</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  m.color.g = 1.0;</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  m.color.b = 1.0;</div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  m.color.a = 1.0;</div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  ma.markers.clear();</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>  ros::Duration timer(0.10);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < ground_per_robot.size(); i++){</div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  ceti1-><a class="code" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(ground_per_robot[i]);</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">// vis. robot 1</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>  <span class="keywordflow">for</span> ( <span class="keywordtype">float</span> p = 0; p < 2*M_PI; p += 0.0872665f){</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  ceti1-><a class="code" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(0.0872665f);</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  ceti1-><a class="code" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>();</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  m.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  m.pose.position.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  m.pose.position.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  m.pose.position.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  m.pose.orientation.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  m.pose.orientation.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  m.pose.orientation.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  m.pose.orientation.w = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  ma.markers.push_back(m);</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>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are : ceti1-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  ma.<a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>.push_back(*wrd-><a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>());</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>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  ma.markers.clear();</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>  <span class="keywordflow">if</span> (<a class="code" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">check_collision</a>(r1)) {</div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <a class="code" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">approximation</a>(ceti1);</div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  }</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>  <span class="comment">//timer.sleep();</span></div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</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>  ceti1-><a class="code" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a>();</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  m.action = visualization_msgs::Marker::DELETEALL;</div>
+<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  }</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"><a class="line" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9"> 222</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">Mediator::approximation</a>(<a class="code" href="classRobot.html">Robot</a>* robot){</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <a class="code" href="classRobot.html">Robot</a>* ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classRobot.html">Robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[1]);</div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordtype">int</span> r1 = 1;</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>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i <= 7; i++){</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  std::bitset<3> <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>(i);</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">build_wings</a>(<a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>, r1);</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>  visualization_msgs::Marker m;</div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  m.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  m.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  m.ns = ceti1-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>();</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  m.id = 1;</div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  m.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  m.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  m.pose.position.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  m.pose.position.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  m.pose.position.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  m.pose.orientation.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  m.pose.orientation.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  m.pose.orientation.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  m.pose.orientation.w = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  m.scale.x = ceti1-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getX();</div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  m.scale.y = ceti1-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getY();</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  m.scale.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ()*2;</div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  m.color.r = 1.0;</div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  m.color.g = 1.0;</div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  m.color.b = 1.0;</div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  m.color.a = 1.0;</div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* fields : robot-><a class="code" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">access_fields</a>()) {</div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  ceti1-><a class="code" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(fields->world_tf());</div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="comment">//ROS_INFO("field size %i", robot->access_fields().size());</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">for</span> ( <span class="keywordtype">float</span> p = 0; p < 2*M_PI; p += M_PI/2){</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  ceti1-><a class="code" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(M_PI/2);</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  ceti1-><a class="code" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>();</div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  </div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  m.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  m.pose.position.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  m.pose.position.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  m.pose.position.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  m.pose.orientation.x = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  m.pose.orientation.y = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  m.pose.orientation.z = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  m.pose.orientation.w = ceti1-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  ma.markers.push_back(m);</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="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are : ceti1-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  ma.<a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>.push_back(*wrd-><a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>());</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>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">if</span> (robot-><a class="code" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">check_robot_collision</a>(ceti1)) <span class="keywordflow">continue</span>;</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="keywordflow">if</span> (<a class="code" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">check_collision</a>(r1)) {</div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  ROS_INFO(<span class="stringliteral">"penis"</span>);</div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <a class="code" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">write_file</a>(robot, ceti1);</div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">continue</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="l00291"></a><span class="lineno"> 291</span>  </div>
+<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="comment">//relative_ground.push_back(pcl::PointXYZ(fields->world_tf().getOrigin().getX(), fields->world_tf().getOrigin().getY(), fields->world_tf().getOrigin().getZ()));</span></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>  ceti1-><a class="code" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a>();</div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  m.action = visualization_msgs::Marker::DELETEALL;</div>
+<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  ma.markers.clear();</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> }</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>  </div>
+<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd"> 303</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">Mediator::write_file</a>(<a class="code" href="classRobot.html">Robot</a>* A, <a class="code" href="classRobot.html">Robot</a>* B){</div>
+<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">dirname_</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="l00305"></a><span class="lineno"> 305</span>  <span class="keywordtype">double</span> r,p,y;</div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  tf2::Matrix3x3 m(A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation());</div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  m.getRPY(r,p,y);</div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  </div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  </div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordtype">float</span> size_x = A-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getX();</div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordtype">float</span> size_y = A-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getY();</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">float</span> size_z = A-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getZ();</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  </div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordtype">float</span> pos_x = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordtype">float</span> pos_y = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">float</span> pos_z = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ() *2 ;</div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordtype">float</span> rot_x = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordtype">float</span> rot_y = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordtype">float</span> rot_z = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordtype">float</span> rot_w = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  </div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  </div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  </div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  </div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  ss << <span class="stringliteral">"{ 'objects' : [ \n"</span>;</div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00329"></a><span class="lineno"> 329</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00330"></a><span class="lineno"> 330</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00331"></a><span class="lineno"> 331</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00332"></a><span class="lineno"> 332</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00333"></a><span class="lineno"> 333</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00334"></a><span class="lineno"> 334</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00335"></a><span class="lineno"> 335</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00336"></a><span class="lineno"> 336</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00337"></a><span class="lineno"> 337</span>  </div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  m.setRotation(B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation());</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  m.getRPY(r,p,y);</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>  size_x = B-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getX();</div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  size_y = B-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getY();</div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  size_z = B-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getZ();</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>  pos_x = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  pos_y = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  pos_z = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ() *2 ;</div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  rot_x = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  rot_y = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  rot_z = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  rot_w = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  </div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00354"></a><span class="lineno"> 354</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00355"></a><span class="lineno"> 355</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00356"></a><span class="lineno"> 356</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00357"></a><span class="lineno"> 357</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00358"></a><span class="lineno"> 358</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00359"></a><span class="lineno"> 359</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00360"></a><span class="lineno"> 360</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00361"></a><span class="lineno"> 361</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00362"></a><span class="lineno"> 362</span>  </div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  </div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* ae : A-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* rd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(ae);</div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordtype">float</span> x = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordtype">float</span> y = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordtype">float</span> z = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordtype">float</span> qx = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordtype">float</span> qy = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordtype">float</span> qz = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keywordtype">float</span> qw = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <a class="code" href="classWing.html">Wing</a>* w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</div>
+<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  </div>
+<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordtype">float</span> length = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getX();</div>
+<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordtype">float</span> width = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getY();</div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordtype">float</span> height = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getZ();</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>  ss << <span class="stringliteral">"{ 'id': '"</span> << w-><a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>() << <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="l00380"></a><span class="lineno"> 380</span>  }</div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  </div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  </div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* ae : B-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* rd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(ae);</div>
+<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordtype">float</span> x = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordtype">float</span> y = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordtype">float</span> z = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordtype">float</span> qx = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordtype">float</span> qy = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keywordtype">float</span> qz = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordtype">float</span> qw = rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <a class="code" href="classWing.html">Wing</a>* w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(rd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordtype">float</span> length = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getX();</div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordtype">float</span> width = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getY();</div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordtype">float</span> height = w-><a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>().getZ();</div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  </div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  ss << <span class="stringliteral">"{ 'id': '"</span> << w-><a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>() << <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="l00399"></a><span class="lineno"> 399</span>  }</div>
+<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  tf2::Transform tf_arm = A-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() * A-><a class="code" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>();</div>
+<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordtype">float</span> arm_x = tf_arm.getOrigin().getX();</div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keywordtype">float</span> arm_y = tf_arm.getOrigin().getY();</div>
+<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <span class="keywordtype">float</span> arm_z = tf_arm.getOrigin().getZ();</div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <span class="keywordtype">float</span> arm_qx = tf_arm.getRotation().getX();</div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="keywordtype">float</span> arm_qy = tf_arm.getRotation().getY();</div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <span class="keywordtype">float</span> arm_qz = tf_arm.getRotation().getZ();</div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordtype">float</span> arm_qw = tf_arm.getRotation().getW();</div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  </div>
+<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  ss << <span class="stringliteral">"{ 'id': 'arm"</span> << A-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00410"></a><span class="lineno"> 410</span>  </div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  tf_arm = B-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() * B-><a class="code" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>();</div>
+<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  arm_x = tf_arm.getOrigin().getX();</div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  arm_y = tf_arm.getOrigin().getY();</div>
+<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  arm_z = tf_arm.getOrigin().getZ();</div>
+<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  arm_qx = tf_arm.getRotation().getX();</div>
+<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  arm_qy = tf_arm.getRotation().getY();</div>
+<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  arm_qz = tf_arm.getRotation().getZ();</div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  arm_qw = tf_arm.getRotation().getW();</div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  </div>
+<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  ss << <span class="stringliteral">"{ 'id': 'arm"</span> << B-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().back() << <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="l00421"></a><span class="lineno"> 421</span>  </div>
+<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  ss << <span class="stringliteral">"]}"</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>  o << ss.str();</div>
+<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  o.close();</div>
+<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  </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"><a class="line" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab"> 429</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator::build_wings</a>(std::bitset<3>& wing, <span class="keywordtype">int</span>& robot){</div>
+<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  std::bitset<3> result = <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]->observer_mask() & wing;</div>
+<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <a class="code" href="classRobot.html">Robot</a>* ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classRobot.html">Robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]);</div>
+<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  </div>
+<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < result.size(); i++){</div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keywordflow">if</span> (result[i]){</div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  ceti-><a class="code" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a>(<a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>[robot][i]);</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>  }</div>
+<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  </div>
+<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are : ceti-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wad = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  wad-><a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>()->action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  ma.markers.push_back(*wad-><a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>());</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>  <a class="code" href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> }</div>
+<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  </div>
+<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774"> 448</a></span> <span class="keywordtype">void</span> <a class="code" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">Mediator::publish</a>(<a class="code" href="classRobot.html">Robot</a>* ar){</div>
+<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  marker.ns = ar-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>();</div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  marker.id = 1;</div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  marker.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  marker.pose.position.x = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  marker.pose.position.y = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  marker.pose.position.z = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  marker.pose.orientation.x = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  marker.pose.orientation.y = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  marker.pose.orientation.z = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  marker.pose.orientation.w = ar-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  marker.scale.x = ar-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getX();</div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  marker.scale.y = ar-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getY();</div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  marker.scale.z = ar-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>().getZ();</div>
+<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  marker.color.r = 1.0;</div>
+<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  marker.color.b = 1.0;</div>
+<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  marker.color.a = 1.0;</div>
+<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> w : ar-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(w);</div>
+<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  ma.<a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>.push_back(*wrd-><a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>());</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>  <span class="comment">//pub_->publish(ma);</span></div>
+<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMediator_html_a362636b4a9f1018308c4843cb91c1f18"><div class="ttname"><a href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">Mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00006">mediator.cpp:6</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a77682034ad695305a6781b53af93d05e"><div class="ttname"><a href="classAbstract__mediator.html#a77682034ad695305a6781b53af93d05e">Abstract_mediator::pub_</a></div><div class="ttdeci">ros::Publisher * pub_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00038">impl/abstract_mediator.h:38</a></div></div>
+<div class="ttc" id="aclassRobot_html_aeb6c8c47edbcc561f15b00d551a045e6"><div class="ttname"><a href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot::observers</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & observers()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00029">robot.h:29</a></div></div>
+<div class="ttc" id="aclassWing_html_a3dc2d8cffc9b50ff0a2333b68ea402cc"><div class="ttname"><a href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">Wing::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00023">wing.h:23</a></div></div>
+<div class="ttc" id="aclassMediator_html_a337eff9aa7e40e41f724e5b2e6c7f2b9"><div class="ttname"><a href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">Mediator::approximation</a></div><div class="ttdeci">void approximation(Robot *robot)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00222">mediator.cpp:222</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a72694508ca6d5ada16236775402dd385"><div class="ttname"><a href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot::rotate</a></div><div class="ttdeci">void rotate(float deg)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00065">impl/abstract_robot.h:65</a></div></div>
+<div class="ttc" id="aclassWing_html_a166b6d0367d7218947e3b2321360c521"><div class="ttname"><a href="classWing.html#a166b6d0367d7218947e3b2321360c521">Wing::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00027">wing.h:27</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab95c43650b9596fc2e9bc374abeeadf6"><div class="ttname"><a href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00125">robot.cpp:125</a></div></div>
+<div class="ttc" id="aclassMediator_html_a1bc333451fdba008fa7eb985dfa824ab"><div class="ttname"><a href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator::build_wings</a></div><div class="ttdeci">void build_wings(std::bitset< 3 > &wings, int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00429">mediator.cpp:429</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af29a9894b43fc8124de65712414168f4"><div class="ttname"><a href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">Abstract_robot::root_tf</a></div><div class="ttdeci">tf2::Transform & root_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00060">impl/abstract_robot.h:60</a></div></div>
+<div class="ttc" id="aclassRobot_html_af626880915da239eeb0793eb41ab7596"><div class="ttname"><a href="classRobot.html#af626880915da239eeb0793eb41ab7596">Robot::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00118">robot.cpp:118</a></div></div>
+<div class="ttc" id="amediator_8h_html"><div class="ttname"><a href="mediator_8h.html">mediator.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ae7e91c3c5ac234ee1d1bd2d7d6128bc8"><div class="ttname"><a href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">Abstract_mediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00040">impl/abstract_mediator.h:40</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ab27017c6039446502704b443df934a2d"><div class="ttname"><a href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot::set_tf</a></div><div class="ttdeci">void set_tf(tf2::Transform &t)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00063">impl/abstract_robot.h:63</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a26d47b6d6d64a8eb4b096fcb5f78b389"><div class="ttname"><a href="classAbstract__mediator.html#a26d47b6d6d64a8eb4b096fcb5f78b389">Abstract_mediator::vector_to_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00016">impl/abstract_mediator.cpp:16</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html"><div class="ttname"><a href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00009">wing_rviz_decorator.h:9</a></div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html_a0a92ddf506735cefb1b043b5fbbad680"><div class="ttname"><a href="impl_2abstract__mediator_8h.html#a0a92ddf506735cefb1b043b5fbbad680">box_size</a></div><div class="ttdeci">#define box_size</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00021">impl/abstract_mediator.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9a48fc344129cd16dc0f20be2d9368ab"><div class="ttname"><a href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator::result_vector_</a></div><div class="ttdeci">std::vector< std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00039">impl/abstract_mediator.h:39</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_ad4565f4b98c689289ddda9e7507736ae"><div class="ttname"><a href="classAbstract__mediator.html#ad4565f4b98c689289ddda9e7507736ae">Abstract_mediator::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="impl_2abstract__mediator_8h_source.html#l00041">impl/abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a9138c650f2148d515802a89f079ace2f"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator::wing</a></div><div class="ttdeci">Abstract_robot_element * wing()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00015">impl/abstract_robot_element_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="aclassMediator_html_a102d4e690501ce83fd6789309326fc95"><div class="ttname"><a href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00105">mediator.cpp:105</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_a7f27d708e22c72dae7ec90c2f1f699b2"><div class="ttname"><a href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">Wing_rviz_decorator::markers</a></div><div class="ttdeci">visualization_msgs::Marker * markers()</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00017">wing_rviz_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a0127bf58ba90cd82b39b0dfe4dfbe88a"><div class="ttname"><a href="classAbstract__mediator.html#a0127bf58ba90cd82b39b0dfe4dfbe88a">Abstract_mediator::generate_Ground</a></div><div class="ttdeci">std::vector< pcl::PointXYZ > generate_Ground(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8cpp_source.html#l00004">impl/abstract_mediator.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a78a9e79c0a97238c7d76ec1a3cc7349c"><div class="ttname"><a href="classAbstract__mediator.html#a78a9e79c0a97238c7d76ec1a3cc7349c">Abstract_mediator::objects_</a></div><div class="ttdeci">std::vector< std::vector< tf2::Transform > > objects_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00036">impl/abstract_mediator.h:36</a></div></div>
+<div class="ttc" id="aclassMediator_html_acd53d6e32bb1e65cb2f0197acdd101cd"><div class="ttname"><a href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">Mediator::write_file</a></div><div class="ttdeci">void write_file(Robot *A, Robot *B)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00303">mediator.cpp:303</a></div></div>
+<div class="ttc" id="aclassRobot_html_a1a73b8eaedcdab4b7defcedd81f8c713"><div class="ttname"><a href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">Robot::access_fields</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & access_fields()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00030">robot.h:30</a></div></div>
+<div class="ttc" id="aclassMediator_html_aa16035737db08e657c36a5d69374a67f"><div class="ttname"><a href="classMediator.html#aa16035737db08e657c36a5d69374a67f">Mediator::set_wings</a></div><div class="ttdeci">void set_wings(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00042">mediator.cpp:42</a></div></div>
+<div class="ttc" id="awing__rviz__decorator_8h_html"><div class="ttname"><a href="wing__rviz__decorator_8h.html">wing_rviz_decorator.h</a></div></div>
+<div class="ttc" id="aclassMediator_html_a04f3617b928e20bdd364244420a014ae"><div class="ttname"><a href="classMediator.html#a04f3617b928e20bdd364244420a014ae">Mediator::calculate</a></div><div class="ttdeci">void calculate(std::vector< tf2::Transform > &ground_per_robot)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00144">mediator.cpp:144</a></div></div>
+<div class="ttc" id="aclassMediator_html_a47c455b2e15e19e16565d9267528ff6e"><div class="ttname"><a href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">Mediator::setup_rviz</a></div><div class="ttdeci">void setup_rviz()</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00008">mediator.cpp:8</a></div></div>
+<div class="ttc" id="aclassMediator_html_a754b1266d12b93c214e4ca9f2bffde27"><div class="ttname"><a href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator::check_collision</a></div><div class="ttdeci">bool check_collision(const int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00055">mediator.cpp:55</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a66416f41c207636fcf0b5223c2f70061"><div class="ttname"><a href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00035">impl/abstract_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+<div class="ttc" id="aclassRobot_html_a7eddff501a2c3a3d5feb6c2ec4b016e0"><div class="ttname"><a href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot::register_observers</a></div><div class="ttdeci">void register_observers(Abstract_robot_element *wd)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00182">robot.cpp:182</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00014">impl/abstract_robot.h:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab57fc902b6e93336db5310abf05c8a92"><div class="ttname"><a href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">Robot::check_robot_collision</a></div><div class="ttdeci">bool check_robot_collision(Robot *R)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00130">robot.cpp:130</a></div></div>
+<div class="ttc" id="aclassMediator_html_ad12e69c15639193aeff3ac95263d7774"><div class="ttname"><a href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">Mediator::publish</a></div><div class="ttdeci">void publish(Robot *r)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00448">mediator.cpp:448</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/mediator_8h.html b/doc/html/mediator_8h.html
new file mode 100644
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+++ b/doc/html/mediator_8h.html
@@ -0,0 +1,103 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: 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 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">mediator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include "<a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_8h_source.html">impl/robot.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for mediator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="mediator_8h__incl.png" border="0" usemap="#mediator_8h" alt=""/></div>
+<map name="mediator_8h" id="mediator_8h">
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+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="mediator_8h__dep__incl.png" border="0" usemap="#mediator_8hdep" alt=""/></div>
+<map name="mediator_8hdep" id="mediator_8hdep">
+<area shape="rect" title=" " alt="" coords="97,5,191,32"/>
+<area shape="rect" href="base__routine_8cpp.html" title=" " alt="" coords="5,80,139,107"/>
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+</map>
+</div>
+</div>
+<p><a href="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="classMediator.html">Mediator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/mediator_8h__dep__incl.map b/doc/html/mediator_8h__dep__incl.map
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator.h Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+<script type="text/javascript" src="jquery.js"></script>
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+/* @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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="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 MEDIATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define 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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <fstream></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">impl/robot.h</a>"</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"><a class="line" href="classMediator.html"> 12</a></span> <span class="keyword">class </span><a class="code" href="classMediator.html">Mediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>{</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36"> 14</a></span>  <a class="code" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a>(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub) : <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>(objects, pub){};</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>  pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classMediator.html#accf269f067ad74db3e291289a96a71cc">vector_to_cloud</a>(std::vector<pcl::PointXYZ>& vector);</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  std::vector<pcl::PointXYZ> <a class="code" href="classMediator.html#a5fe305318a23ed8967b76f897dfb6659">generate_Ground</a>(<span class="keyword">const</span> tf2::Vector3 origin, <span class="keyword">const</span> <span class="keywordtype">float</span> diameter, <span class="keywordtype">float</span> resolution);</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">approximation</a>(<a class="code" href="classRobot.html">Robot</a>* robot);</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">write_file</a>(<a class="code" href="classRobot.html">Robot</a>* A, <a class="code" href="classRobot.html">Robot</a>* B);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">publish</a>(<a class="code" href="classRobot.html">Robot</a>* r);</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>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">setup_rviz</a>();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a04f3617b928e20bdd364244420a014ae">calculate</a>(std::vector<tf2::Transform>& ground_per_robot);</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="keywordtype">void</span> <a class="code" href="classMediator.html#aa16035737db08e657c36a5d69374a67f">set_wings</a>(std::vector<std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& wbp) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">bool</span> <a class="code" href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">check_collision</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>& robot) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a102d4e690501ce83fd6789309326fc95">mediate</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">void</span> <a class="code" href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">build_wings</a>(std::bitset<3>& <a class="code" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">wings</a>, <span class="keywordtype">int</span>& robot) <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="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) <span class="keyword">override</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>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMediator_html_aeb53c3e593afd4bb9f79990c3398ff36"><div class="ttname"><a href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator::Mediator</a></div><div class="ttdeci">Mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8h_source.html#l00014">mediator.h:14</a></div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div></div>
+<div class="ttc" id="aclassMediator_html_accf269f067ad74db3e291289a96a71cc"><div class="ttname"><a href="classMediator.html#accf269f067ad74db3e291289a96a71cc">Mediator::vector_to_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector< pcl::PointXYZ > &vector)</div></div>
+<div class="ttc" id="aclassMediator_html_a362636b4a9f1018308c4843cb91c1f18"><div class="ttname"><a href="classMediator.html#a362636b4a9f1018308c4843cb91c1f18">Mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00006">mediator.cpp:6</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassMediator_html_a337eff9aa7e40e41f724e5b2e6c7f2b9"><div class="ttname"><a href="classMediator.html#a337eff9aa7e40e41f724e5b2e6c7f2b9">Mediator::approximation</a></div><div class="ttdeci">void approximation(Robot *robot)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00222">mediator.cpp:222</a></div></div>
+<div class="ttc" id="aclassMediator_html_a1bc333451fdba008fa7eb985dfa824ab"><div class="ttname"><a href="classMediator.html#a1bc333451fdba008fa7eb985dfa824ab">Mediator::build_wings</a></div><div class="ttdeci">void build_wings(std::bitset< 3 > &wings, int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00429">mediator.cpp:429</a></div></div>
+<div class="ttc" id="aclassMediator_html"><div class="ttname"><a href="classMediator.html">Mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="mediator_8h_source.html#l00012">mediator.h:12</a></div></div>
+<div class="ttc" id="aclassMediator_html_a5fe305318a23ed8967b76f897dfb6659"><div class="ttname"><a href="classMediator.html#a5fe305318a23ed8967b76f897dfb6659">Mediator::generate_Ground</a></div><div class="ttdeci">std::vector< pcl::PointXYZ > generate_Ground(const tf2::Vector3 origin, const float diameter, float resolution)</div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassMediator_html_a102d4e690501ce83fd6789309326fc95"><div class="ttname"><a href="classMediator.html#a102d4e690501ce83fd6789309326fc95">Mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00105">mediator.cpp:105</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html_a9838c41eeb97aef668cd7213f0e2e9a6"><div class="ttname"><a href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">Abstract_mediator::wings</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00052">impl/abstract_mediator.h:52</a></div></div>
+<div class="ttc" id="aclassMediator_html_acd53d6e32bb1e65cb2f0197acdd101cd"><div class="ttname"><a href="classMediator.html#acd53d6e32bb1e65cb2f0197acdd101cd">Mediator::write_file</a></div><div class="ttdeci">void write_file(Robot *A, Robot *B)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00303">mediator.cpp:303</a></div></div>
+<div class="ttc" id="aclassMediator_html_aa16035737db08e657c36a5d69374a67f"><div class="ttname"><a href="classMediator.html#aa16035737db08e657c36a5d69374a67f">Mediator::set_wings</a></div><div class="ttdeci">void set_wings(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00042">mediator.cpp:42</a></div></div>
+<div class="ttc" id="aclassMediator_html_a04f3617b928e20bdd364244420a014ae"><div class="ttname"><a href="classMediator.html#a04f3617b928e20bdd364244420a014ae">Mediator::calculate</a></div><div class="ttdeci">void calculate(std::vector< tf2::Transform > &ground_per_robot)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00144">mediator.cpp:144</a></div></div>
+<div class="ttc" id="aclassMediator_html_a47c455b2e15e19e16565d9267528ff6e"><div class="ttname"><a href="classMediator.html#a47c455b2e15e19e16565d9267528ff6e">Mediator::setup_rviz</a></div><div class="ttdeci">void setup_rviz()</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00008">mediator.cpp:8</a></div></div>
+<div class="ttc" id="aclassMediator_html_a754b1266d12b93c214e4ca9f2bffde27"><div class="ttname"><a href="classMediator.html#a754b1266d12b93c214e4ca9f2bffde27">Mediator::check_collision</a></div><div class="ttdeci">bool check_collision(const int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00055">mediator.cpp:55</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassMediator_html_ad12e69c15639193aeff3ac95263d7774"><div class="ttname"><a href="classMediator.html#ad12e69c15639193aeff3ac95263d7774">Mediator::publish</a></div><div class="ttdeci">void publish(Robot *r)</div><div class="ttdef"><b>Definition:</b> <a href="mediator_8cpp_source.html#l00448">mediator.cpp:448</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/menu.js b/doc/html/menu.js
new file mode 100644
index 0000000000000000000000000000000000000000..433c15b8f01814eb5f5ee0e9bba623e07fc04cb2
--- /dev/null
+++ b/doc/html/menu.js
@@ -0,0 +1,50 @@
+/*
+ @licstart The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
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+ <div class="headertitle">
+<div class="title">moveit_grasp_mediator.cpp File Reference</div> </div>
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+<div class="textblock"><code>#include "<a class="el" href="moveit__grasp__mediator_8h_source.html">impl/moveit_grasp_mediator.h</a>"</code><br />
+<code>#include <regex></code><br />
+<code>#include <gb_grasp/MapConfigLoader.h></code><br />
+<code>#include <moveit/robot_state/conversions.h></code><br />
+<code>#include "<a class="el" href="wing__moveit__decorator_8h_source.html">impl/wing_moveit_decorator.h</a>"</code><br />
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+Include dependency graph for moveit_grasp_mediator.cpp:</div>
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+<p><a href="moveit__grasp__mediator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">moveit_grasp_mediator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="moveit__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="moveit__grasp__mediator_8h.html">impl/moveit_grasp_mediator.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <regex></span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <gb_grasp/MapConfigLoader.h></span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <moveit/robot_state/conversions.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="wing__moveit__decorator_8h.html">impl/wing_moveit_decorator.h</a>"</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="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558"> 8</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">Moveit_grasp_mediator::connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) {</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.push_back(robot);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  ROS_INFO(<span class="stringliteral">"%s connected..."</span>, robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().c_str());</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keyword">auto</span> mr = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(robot);</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>  <a class="code" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">manipulate_grasp_data</a>(mr);</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="keyword">auto</span> map_gen = std::make_shared<MapGenerator>(*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>, <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>, <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>, mr->map().at(<span class="stringliteral">"eef_name"</span>), mr->name().c_str(), <a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>->getJointModelGroup(mr->name().c_str()), <a class="code" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">mgi</a>().get()->getCurrentState(), <a class="code" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a>);</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordtype">double</span> min_quality, max_candidates;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keywordtype">bool</span> top_only;</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>  rosparam_shortcuts::get(<a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str(),*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>,<span class="stringliteral">"min_quality"</span>,min_quality);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  rosparam_shortcuts::get(<a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str(),*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>,<span class="stringliteral">"max_candidate_count"</span>,max_candidates);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  rosparam_shortcuts::get(<a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str(),*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>,<span class="stringliteral">"top_grasps_only"</span>,top_only);</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>  ROS_INFO(<span class="stringliteral">"min_quality: %f"</span>, min_quality);</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  ROS_INFO(<span class="stringliteral">"max_candidate_count: %f"</span>, max_candidates);</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ROS_INFO(<span class="stringliteral">"top_grasps_only: %f"</span>, top_only);</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"> 28</span>  map_gen->SetQuality(min_quality);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  map_gen->SetMaxGrasp(max_candidates);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  map_gen->SetZGraspOnly(top_only);</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  mr->set_grasp_map_generator(map_gen);</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>  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc"> 35</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">Moveit_grasp_mediator::manipulate_mapspace</a>(tf2::Transform& tf, tf2::Vector3& size){</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">double</span> r,p,y;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  std::vector<double> rot_mapspace(3,0);</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>  tf2::Matrix3x3 m(tf.getRotation());</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  m.getRPY(r,p, y);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/mapspace/rot"</span>, std::vector<double>({r,p,y}));</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/mapspace/pos"</span>, std::vector<double>({tf.getOrigin().getX(), tf.getOrigin().getY(), 0.91f}));</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/mapspace/dim"</span>, std::vector<double>({size.getX(), size.getY(), size.getZ()}));</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">//nh_->setParam("/voxel_space/dim", std::vector<float>({0.3f,0.3f,0.2f}));</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">//nh_->setParam("/voxel_space/pos", std::vector<double>({tf.getOrigin().getX(), tf.getOrigin().getY(), tf.getOrigin().getZ()}));</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">//nh_->setParam("/voxel_space/rot", std::vector<double>({r,p,y}));</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>  </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5"> 49</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">Moveit_grasp_mediator::manipulate_grasp_data</a>(<a class="code" href="classMoveit__robot.html">Moveit_robot</a>* robot) {</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  XmlRpc::XmlRpcValue data;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->getParam(<span class="stringliteral">"/"</span>, data);</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>  std::regex rx(<span class="stringliteral">"panda_arm([0-9]+)"</span>);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  std::smatch match;</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  std::regex_match(robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>(), match, rx);</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  data[<span class="stringliteral">"base_link"</span>]= <span class="stringliteral">"world"</span>;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"end_effector_name"</span>] = robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str();</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"end_effector_type"</span>] = <span class="stringliteral">"finger"</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_resolution"</span>] = 0.001;</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"angle_resolution"</span>] = 45;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_max_depth"</span>] = 0.035;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_min_depth"</span>] = 0.01;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_depth_resolution"</span>] = 0.005;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"approach_distance_desired"</span>] = 0.05;</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"retreat_distance_desired"</span>] = 0.05;</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"lift_distance_desired"</span>] = 0.02;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_padding_on_approach"</span>] = 0.005;</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>  std::stringstream ss;</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  ss << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_tool_center_point"</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"define_tcp_by_name"</span>] = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_name"</span>] = ss.str().c_str();</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_to_eef_mount_transform"</span>][0] = 0;</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_to_eef_mount_transform"</span>][1] = 0;</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_to_eef_mount_transform"</span>][2] = -0.105;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_to_eef_mount_transform"</span>][3] = 0;</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_to_eef_mount_transform"</span>][4] = 0;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"tcp_to_eef_mount_transform"</span>][5] = -0.7853;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"pregrasp_time_from_start"</span>] = 0;</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_time_from_start"</span>] = 0;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"pregrasp_posture"</span>][0] = 0.04;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"grasp_posture"</span>][0] = 0;</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"joints"</span>][0] = robot-><a class="code" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">mgi_hand</a>()->getJoints()[1].c_str();</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"max_finger_width"</span>] = 0.085;</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"min_finger_width"</span>] = 0.06;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"max_grasp_width"</span>] = 0.08;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"gripper_finger_width"</span>] = 0.015;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"active_suction_range_x"</span>] = 0.022;</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"active_suction_range_y"</span>] = 0.012;</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>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"suction_rows_count"</span>] = 2;</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  data[robot-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"eef_name"</span>).c_str()][<span class="stringliteral">"suction_cols_count"</span>] = 2;</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/"</span>, data);</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"><a class="line" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d"> 108</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">Moveit_grasp_mediator::generateRandomCuboid</a>(std::string& object_name, geometry_msgs::Pose& object_pose, <span class="keywordtype">double</span>& x_depth,</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">double</span>& y_width, <span class="keywordtype">double</span>& z_height)</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="comment">// Generate random cuboid</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">double</span> xmin = 0.1;</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordtype">double</span> xmax = 0.7;</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">double</span> ymin = -0.25;</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">double</span> ymax = 0.25;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">double</span> zmin = 0.89;</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">double</span> zmax = 1.2;</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  rviz_visual_tools::RandomPoseBounds pose_bounds(xmin, xmax, ymin, ymax, zmin, zmax);</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>  <span class="keywordtype">double</span> cuboid_size_min = 0.01;</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">double</span> cuboid_size_max = 0.03;</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  rviz_visual_tools::RandomCuboidBounds cuboid_bounds(cuboid_size_min, cuboid_size_max);</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>  object_name = <span class="stringliteral">"pick_target"</span>;</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->generateRandomCuboid(object_pose, x_depth, y_width, z_height, pose_bounds, cuboid_bounds);</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishCollisionCuboid(object_pose, x_depth, y_width, z_height, object_name, rviz_visual_tools::RED);</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishAxis(object_pose, rviz_visual_tools::MEDIUM);</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->trigger();</div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordtype">bool</span> success = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">double</span> timeout = 5; <span class="comment">// seconds</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  ros::Rate rate(100);</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">while</span> (success && !<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>->getPlanningScene()->knowsFrameTransform(object_name))</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  {</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  rate.sleep();</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  success = rate.cycleTime().toSec() < timeout;</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">return</span> success;</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> }</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
+<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8"> 141</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator::mediate</a>(){</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->deleteAllMarkers();</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>  ROS_INFO(<span class="stringliteral">"ns is %s"</span>, <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str());</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  MapConfigLoader map_config(*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>, <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str());</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">auto</span> cbd = <span class="keyword">static_cast<</span><a class="code" href="classCuboid__reader.html">Cuboid_reader</a>*<span class="keyword">></span>(<a class="code" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a>.get())->cuboid_bin();</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  map_config.SetObjects(cbd);</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordtype">float</span> object_offset = 0.02f;</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>  tf2::Vector3 middle_pt(0,0,0);</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  std::vector<double> x;</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  std::vector<double> y;</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>* ar: <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>){</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* r = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(ar);</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  tf2::Vector3 pos = r-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin();</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  pos.setZ((pos.getZ()*2) +object_offset);</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  tf2::Transform man_tf(r-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getRotation(), pos);</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">manipulate_mapspace</a>(man_tf, r-><a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>());</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  map_config.Create(<a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a>);</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  middle_pt+= pos;</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  ROS_INFO(<span class="stringliteral">"X: %f, Y: %f, Z: %f"</span>, pos.getX(), pos.getY(), pos.getZ());</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>  tf2::Transform A = r-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() * r-><a class="code" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()[0];</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  tf2::Transform B = r-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() * r-><a class="code" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()[1];</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  tf2::Transform C = r-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() * r-><a class="code" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()[2];</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  tf2::Transform D = r-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>() * r-><a class="code" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()[3];</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  x.push_back(A.getOrigin().getX());</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  x.push_back(B.getOrigin().getX());</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  x.push_back(C.getOrigin().getX());</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  x.push_back(D.getOrigin().getX());</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  y.push_back(A.getOrigin().getY());</div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  y.push_back(B.getOrigin().getY());</div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  y.push_back(C.getOrigin().getY());</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  y.push_back(D.getOrigin().getY());</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  r-><a class="code" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">grasp_map_generator</a>()->SampleMap(<a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a>.front());</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>* are: r-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()){</div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keyword">auto</span> wmd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keyword">auto</span> w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(wmd->wing());</div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  pos.setX(w->world_tf().getOrigin().getX());</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  pos.setY(w->world_tf().getOrigin().getY());</div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  man_tf.setRotation(w->world_tf().getRotation());</div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  man_tf.setOrigin(pos);</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">manipulate_mapspace</a>(man_tf, w->size());</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  map_config.Create(<a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a>);</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  middle_pt+= pos;</div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  ROS_INFO(<span class="stringliteral">"X: %f, Y: %f, Z: %f"</span>, pos.getX(), pos.getY(), pos.getZ());</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>  A = w->world_tf() * w->bounds()[0];</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  B = w->world_tf() * w->bounds()[1];</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  C = w->world_tf() * w->bounds()[2];</div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  D = w->world_tf() * w->bounds()[3];</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  x.push_back(A.getOrigin().getX());</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  x.push_back(B.getOrigin().getX());</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  x.push_back(C.getOrigin().getX());</div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  x.push_back(D.getOrigin().getX());</div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  y.push_back(A.getOrigin().getY());</div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  y.push_back(B.getOrigin().getY());</div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  y.push_back(C.getOrigin().getY());</div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  y.push_back(D.getOrigin().getY());</div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  r-><a class="code" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">grasp_map_generator</a>()->SampleMap(<a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a>.front());</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  }</div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  ROS_INFO_STREAM(<span class="stringliteral">"number of maps: "</span><< <a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a>.size());</div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  middle_pt/= <a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</a>.size();</div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  ROS_INFO(<span class="stringliteral">"X: %f, Y: %f, Z: %f"</span>, middle_pt.getX(), middle_pt.getY(), middle_pt.getZ());</div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keyword">auto</span> x_min = *std::min_element(x.begin(),x.end());</div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keyword">auto</span> x_max = *std::max_element(x.begin(),x.end());</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keyword">auto</span> y_min = *std::min_element(y.begin(),y.end());</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keyword">auto</span> y_max = *std::max_element(y.begin(),y.end());</div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  ROS_INFO(<span class="stringliteral">"width: %f"</span>, x_max-x_min);</div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  ROS_INFO(<span class="stringliteral">"height: %f"</span>, y_max-y_min);</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>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->setAlpha(0.1);</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a>->Voxelize();</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>  <span class="keyword">auto</span> cod = <span class="keyword">static_cast<</span><a class="code" href="classCuboid__reader.html">Cuboid_reader</a>*<span class="keyword">></span>(<a class="code" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a>.get())->cuboid_obstacle();</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&o:cod){</div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a>->GetCuboidCollisions(o,<a class="code" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">voxel_environment_</a>);</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>  <a class="code" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a>->Voxelize(<span class="keyword">true</span>);</div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">// -----------------------------------</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="comment">// Generate random object to grasp</span></div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  geometry_msgs::Pose object_pose;</div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordtype">double</span> object_x_depth;</div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">double</span> object_y_width;</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">double</span> object_z_height;</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  std::string object_name;</div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">if</span> (!<a class="code" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">generateRandomCuboid</a>(object_name, object_pose, object_x_depth, object_y_width, object_z_height))</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>  ROS_INFO(<span class="stringliteral">"Failed to add random cuboid ot planning scene"</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"> 236</span>  <span class="comment">// -----------------------------------</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="comment">// Generate grasp candidates</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  std::vector<moveit_grasps::GraspCandidatePtr> grasp_candidates;</div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  </div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="comment">// Configure the desired types of grasps</span></div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  moveit_grasps::TwoFingerGraspCandidateConfig grasp_generator_config =</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  moveit_grasps::TwoFingerGraspCandidateConfig();</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  grasp_generator_config.disableAll();</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  grasp_generator_config.enable_face_grasps_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  grasp_generator_config.generate_y_axis_grasps_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  grasp_generator_config.generate_x_axis_grasps_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  grasp_generator_config.generate_z_axis_grasps_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keyword">auto</span> grasp_generator_ =std::make_shared<moveit_grasps::TwoFingerGraspGenerator>(<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>);</div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="comment">// Set the ideal grasp orientation for scoring</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  std::vector<double> ideal_grasp_rpy = { 3.14, 0.0, 0.0 };</div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  grasp_generator_->setIdealTCPGraspPoseRPY(ideal_grasp_rpy);</div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  </div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">// Set custom grasp score weights</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keyword">auto</span> grasp_score_weights = std::make_shared<moveit_grasps::TwoFingerGraspScoreWeights>();</div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  grasp_score_weights->orientation_x_score_weight_ = 2.0;</div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  grasp_score_weights->orientation_y_score_weight_ = 2.0;</div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  grasp_score_weights->orientation_z_score_weight_ = 2.0;</div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  grasp_score_weights->translation_x_score_weight_ = 1.0;</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  grasp_score_weights->translation_y_score_weight_ = 1.0;</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  grasp_score_weights->translation_z_score_weight_ = 1.0;</div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="comment">// Finger gripper specific weights.</span></div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  grasp_score_weights->depth_score_weight_ = 2.0;</div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  grasp_score_weights->width_score_weight_ = 2.0;</div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="comment">// Assign the grasp score weights in the grasp_generator</span></div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  grasp_generator_->setGraspScoreWeights(grasp_score_weights);</div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keyword">auto</span> grasp_data_ = std::make_shared<moveit_grasps::TwoFingerGraspData>(*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>, <span class="stringliteral">"hand_1"</span>, <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->getRobotModel());</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">if</span> (!grasp_data_->loadGraspData(*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>, <span class="stringliteral">"hand_1"</span>))</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>  ROS_INFO(<span class="stringliteral">"Failed to load Grasp Data parameters."</span>);</div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  exit(-1);</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>  </div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  grasp_generator_->setGraspCandidateConfig(grasp_generator_config);</div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">if</span> (!grasp_generator_->generateGrasps(<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->convertPose(object_pose), object_x_depth, object_y_width,</div>
+<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  object_z_height, grasp_data_, grasp_candidates))</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>  ROS_INFO(<span class="stringliteral">"Grasp generator failed to generate any valid grasps"</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>  </div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="comment">// --------------------------------------------</span></div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="comment">// Generating a seed state for filtering grasps</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keyword">auto</span> seed_state = std::make_shared<robot_state::RobotState>(*<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->getSharedRobotState());</div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  Eigen::Isometry3d eef_mount_grasp_pose =</div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->convertPose(object_pose) * grasp_data_->tcp_to_eef_mount_.inverse();</div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">if</span> (!<a class="code" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">getIKSolution</a>(<a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>->getJointModelGroup(<span class="stringliteral">"panda_arm1"</span>), eef_mount_grasp_pose, *seed_state, grasp_data_->parent_link_->getName()))</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>  ROS_INFO(<span class="stringliteral">"The ideal seed state is not reachable. Using start state as seed."</span>);</div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</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"> 292</span>  <span class="comment">// --------------------------------------------</span></div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="comment">// Filtering grasps</span></div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="comment">// Note: This step also solves for the grasp and pre-grasp states and stores them in grasp candidates)</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordtype">bool</span> filter_pregrasps = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keyword">auto</span> grasp_filter_ = std::make_shared<moveit_grasps::TwoFingerGraspFilter>(<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->getSharedRobotState(), <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>);</div>
+<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">if</span> (!grasp_filter_->filterGrasps(grasp_candidates, <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>, <a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>->getJointModelGroup(<span class="stringliteral">"panda_arm1"</span>), seed_state, filter_pregrasps,</div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  object_name))</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>  ROS_INFO(<span class="stringliteral">"Filter grasps failed"</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">if</span> (!grasp_filter_->removeInvalidAndFilter(grasp_candidates))</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>  ROS_INFO(<span class="stringliteral">"Grasp filtering removed all grasps"</span>);</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>  </div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="comment">// Plan free-space approach, cartesian approach, lift and retreat trajectories</span></div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  moveit_grasps::GraspCandidatePtr selected_grasp_candidate;</div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  moveit_msgs::MotionPlanResponse pre_approach_plan;</div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">if</span> (!<a class="code" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">planFullGrasp</a>(grasp_candidates, selected_grasp_candidate, pre_approach_plan, object_name))</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>  ROS_INFO(<span class="stringliteral">"Failed to plan grasp motions"</span>);</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  }</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  </div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <a class="code" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">visualizePick</a>(selected_grasp_candidate, pre_approach_plan);</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>  </div>
+<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb"> 318</a></span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">Moveit_grasp_mediator::visualizePick</a>(<span class="keyword">const</span> moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,</div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keyword">const</span> moveit_msgs::MotionPlanResponse& pre_approach_plan)</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>  EigenSTL::vector_Isometry3d waypoints;</div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  moveit_grasps::GraspGenerator::getGraspWaypoints(valid_grasp_candidate, waypoints);</div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  </div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="comment">// Visualize waypoints</span></div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishAxisLabeled(waypoints[0], <span class="stringliteral">"pregrasp"</span>);</div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishAxisLabeled(waypoints[1], <span class="stringliteral">"grasp"</span>);</div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishAxisLabeled(waypoints[2], <span class="stringliteral">"lifted"</span>);</div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishAxisLabeled(waypoints[3], <span class="stringliteral">"retreat"</span>);</div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->trigger();</div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  </div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="comment">// Get the pre and post grasp states</span></div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->prompt(<span class="stringliteral">"pre_grasp"</span>);</div>
+<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  robot_state::RobotStatePtr pre_grasp_state =</div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  std::make_shared<robot_state::RobotState>(*<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->getSharedRobotState());</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  valid_grasp_candidate->getPreGraspState(pre_grasp_state);</div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishRobotState(pre_grasp_state, rviz_visual_tools::ORANGE);</div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  robot_state::RobotStatePtr grasp_state =</div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  std::make_shared<robot_state::RobotState>(*<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->getSharedRobotState());</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordflow">if</span> (valid_grasp_candidate->getGraspStateClosed(grasp_state))</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>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->prompt(<span class="stringliteral">"grasp"</span>);</div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishRobotState(grasp_state, rviz_visual_tools::YELLOW);</div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  }</div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordflow">if</span> (valid_grasp_candidate->segmented_cartesian_traj_.size() > 1 &&</div>
+<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  valid_grasp_candidate->segmented_cartesian_traj_[1].size())</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  {</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->prompt(<span class="stringliteral">"lift"</span>);</div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishRobotState(valid_grasp_candidate->segmented_cartesian_traj_[1].back(),</div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  rviz_visual_tools::BLUE);</div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  }</div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">if</span> (valid_grasp_candidate->segmented_cartesian_traj_.size() > 2 &&</div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  valid_grasp_candidate->segmented_cartesian_traj_[2].size())</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>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->prompt(<span class="stringliteral">"retreat"</span>);</div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishRobotState(valid_grasp_candidate->segmented_cartesian_traj_[2].back(),</div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  rviz_visual_tools::PURPLE);</div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  }</div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->prompt(<span class="stringliteral">"show free space approach"</span>);</div>
+<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->hideRobot();</div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->trigger();</div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordtype">bool</span> wait_for_animation = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishTrajectoryPath(pre_approach_plan.trajectory, pre_grasp_state, wait_for_animation);</div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  ros::Duration(0.25).sleep();</div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">if</span> (valid_grasp_candidate->segmented_cartesian_traj_.size() > moveit_grasps::APPROACH)</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishTrajectoryPath(valid_grasp_candidate->segmented_cartesian_traj_[moveit_grasps::APPROACH],</div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  valid_grasp_candidate->grasp_data_->arm_jmg_, wait_for_animation);</div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  ros::Duration(0.25).sleep();</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  </div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">if</span> (valid_grasp_candidate->segmented_cartesian_traj_.size() > moveit_grasps::LIFT)</div>
+<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishTrajectoryPath(valid_grasp_candidate->segmented_cartesian_traj_[moveit_grasps::LIFT],</div>
+<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  valid_grasp_candidate->grasp_data_->arm_jmg_, wait_for_animation);</div>
+<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  ros::Duration(0.25).sleep();</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>  <span class="keywordflow">if</span> (valid_grasp_candidate->segmented_cartesian_traj_.size() > moveit_grasps::RETREAT)</div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishTrajectoryPath(valid_grasp_candidate->segmented_cartesian_traj_[moveit_grasps::RETREAT],</div>
+<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  valid_grasp_candidate->grasp_data_->arm_jmg_, wait_for_animation);</div>
+<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  ros::Duration(0.25).sleep();</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>  </div>
+<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e"> 382</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator::planFullGrasp</a>(std::vector<moveit_grasps::GraspCandidatePtr>& grasp_candidates,</div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  moveit_msgs::MotionPlanResponse& pre_approach_plan, <span class="keyword">const</span> std::string& object_name)</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>  moveit::core::RobotStatePtr current_state;</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>  boost::scoped_ptr<planning_scene_monitor::LockedPlanningSceneRW> ls(</div>
+<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keyword">new</span> planning_scene_monitor::LockedPlanningSceneRW(<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>));</div>
+<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  current_state = std::make_shared<robot_state::RobotState>((*ls)->getCurrentState());</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>  </div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  std::shared_ptr<moveit_grasps::GraspPlanner>grasp_planner_ = std::make_shared<moveit_grasps::GraspPlanner>(<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>);</div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  </div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="comment">// MoveIt Grasps allows for a manual breakpoint debugging tool to be optionally passed in</span></div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  grasp_planner_->setWaitForNextStepCallback(boost::bind(&<a class="code" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">Moveit_grasp_mediator::waitForNextStep</a>, <span class="keyword">this</span>, <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>, _1));</div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  </div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordflow">for</span> (; !grasp_candidates.empty(); grasp_candidates.erase(grasp_candidates.begin()))</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>  valid_grasp_candidate = grasp_candidates.front();</div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  valid_grasp_candidate->getPreGraspState(current_state);</div>
+<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <span class="keywordflow">if</span> (!grasp_planner_->planApproachLiftRetreat(valid_grasp_candidate, current_state, <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>, <span class="keyword">false</span>,</div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  object_name))</div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  {</div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  ROS_INFO(<span class="stringliteral">"failed to plan approach lift retreat"</span>);</div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  }</div>
+<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
+<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  robot_state::RobotStatePtr pre_grasp_state =</div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  valid_grasp_candidate->segmented_cartesian_traj_[moveit_grasps::APPROACH].front();</div>
+<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="keywordflow">if</span> (!<a class="code" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">planPreApproach</a>(*pre_grasp_state, pre_approach_plan))</div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  {</div>
+<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  ROS_INFO(<span class="stringliteral">"failed to plan to pregrasp_state"</span>);</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>  </div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  success = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="keywordflow">break</span>;</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>  <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00422"></a><span class="lineno"> 422</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"><a class="line" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4"> 424</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">Moveit_grasp_mediator::waitForNextStep</a>(<span class="keyword">const</span> moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, <span class="keyword">const</span> std::string& prompt)</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>  visual_tools->prompt(prompt);</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"><a class="line" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83"> 429</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">Moveit_grasp_mediator::planPreApproach</a>(<span class="keyword">const</span> robot_state::RobotState& goal_state, moveit_msgs::MotionPlanResponse& pre_approach_plan)</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>  planning_interface::MotionPlanRequest req;</div>
+<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  planning_interface::MotionPlanResponse res;</div>
+<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  </div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keywordtype">double</span> tolerance_above = 0.01;</div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="keywordtype">double</span> tolerance_below = 0.01;</div>
+<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="comment">// req.planner_id = "RRTConnectkConfigDefault";</span></div>
+<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  req.group_name = <span class="stringliteral">"panda_1_arm1"</span>;</div>
+<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  req.num_planning_attempts = 5;</div>
+<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  req.allowed_planning_time = 1.5;</div>
+<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  moveit_msgs::Constraints goal =</div>
+<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  kinematic_constraints::constructGoalConstraints(goal_state, <a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>->getJointModelGroup(<span class="stringliteral">"panda_arm1"</span>), tolerance_below, tolerance_above);</div>
+<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  </div>
+<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  req.goal_constraints.push_back(goal);</div>
+<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  boost::scoped_ptr<planning_scene_monitor::LockedPlanningSceneRW> ls(</div>
+<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keyword">new</span> planning_scene_monitor::LockedPlanningSceneRW(<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>));</div>
+<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  </div>
+<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="comment">// ---------------------------------</span></div>
+<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="comment">// Change the robot current state</span></div>
+<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="comment">// NOTE: We have to do this since Panda start configuration is in self collision.</span></div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  robot_state::RobotState rs = (*ls)->getCurrentState();</div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  std::vector<double> starting_joint_values = { 0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785 };</div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  std::vector<std::string> joint_names = { <span class="stringliteral">"panda_1_joint1"</span>, <span class="stringliteral">"panda_1_joint2"</span>, <span class="stringliteral">"panda_1_joint3"</span>, <span class="stringliteral">"panda_1_joint4"</span>,</div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  <span class="stringliteral">"panda_1_joint5"</span>, <span class="stringliteral">"panda_1_joint6"</span>, <span class="stringliteral">"panda_1_joint7"</span> };</div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="comment">// arm_jmg_->getActiveJointModelNames();</span></div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < joint_names.size(); ++i)</div>
+<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  {</div>
+<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  rs.setJointPositions(joint_names[i], &starting_joint_values[i]);</div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  }</div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  rs.update();</div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  robot_state::robotStateToRobotStateMsg(rs, req.start_state);</div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="comment">// ---------------------------</span></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>  <a class="code" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">planning_pipeline_</a>->generatePlan(*ls, req, res);</div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordflow">if</span> (res.error_code_.val != res.error_code_.SUCCESS)</div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  {</div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  ROS_INFO( <span class="stringliteral">"Failed to plan approach successfully"</span>);</div>
+<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00468"></a><span class="lineno"> 468</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>  res.getMessage(pre_approach_plan);</div>
+<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  </div>
+<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311"> 474</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator::isStateValid</a>(<span class="keyword">const</span> planning_scene::PlanningScene* planning_scene,</div>
+<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="keyword">const</span> moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, robot_state::RobotState* robot_state,</div>
+<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <span class="keyword">const</span> robot_model::JointModelGroup* group, <span class="keyword">const</span> <span class="keywordtype">double</span>* ik_solution)</div>
+<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> {</div>
+<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  robot_state->setJointGroupPositions(group, ik_solution);</div>
+<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  robot_state->update();</div>
+<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordflow">return</span> !planning_scene->isStateColliding(*robot_state, group->getName());</div>
+<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> }</div>
+<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  </div>
+<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519"> 483</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">Moveit_grasp_mediator::getIKSolution</a>(<span class="keyword">const</span> moveit::core::JointModelGroup* arm_jmg, <span class="keyword">const</span> Eigen::Isometry3d& target_pose,</div>
+<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  robot_state::RobotState& solution, <span class="keyword">const</span> std::string& link_name)</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>  boost::scoped_ptr<planning_scene_monitor::LockedPlanningSceneRW> ls(</div>
+<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <span class="keyword">new</span> planning_scene_monitor::LockedPlanningSceneRW(<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>));</div>
+<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  </div>
+<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  moveit::core::GroupStateValidityCallbackFn constraint_fn = boost::bind(</div>
+<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  &<a class="code" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator::isStateValid</a>,<span class="keyword">this</span>, <span class="keyword">static_cast<</span><span class="keyword">const </span>planning_scene::PlanningSceneConstPtr&<span class="keyword">></span>(*ls).get(), <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>, _1, _2, _3);</div>
+<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  </div>
+<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="comment">// seed IK call with current state</span></div>
+<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  solution = (*ls)->getCurrentState();</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>  <span class="comment">// Solve IK problem for arm</span></div>
+<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="comment">// disable explicit restarts to guarantee close solution if one exists</span></div>
+<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> timeout = 0.1;</div>
+<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="keywordflow">return</span> solution.setFromIK(arm_jmg, target_pose, link_name, timeout, constraint_fn);</div>
+<div class="line"><a name="l00499"></a><span class="lineno"> 499</span> }</div>
+<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  </div>
+<div class="line"><a name="l00501"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f"> 501</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">Moveit_grasp_mediator::scene_setup</a>(){</div>
+<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keywordflow">for</span>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* ar: <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>) ar->notify();</div>
+<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->setAlpha(1.0);</div>
+<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <span class="keyword">auto</span> cbd = <span class="keyword">static_cast<</span><a class="code" href="classCuboid__reader.html">Cuboid_reader</a>*<span class="keyword">></span>(<a class="code" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a>.get())->cuboid_bin();</div>
+<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keyword">auto</span> cod = <span class="keyword">static_cast<</span><a class="code" href="classCuboid__reader.html">Cuboid_reader</a>*<span class="keyword">></span>(<a class="code" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a>.get())->cuboid_obstacle();</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>  ROS_INFO(<span class="stringliteral">"%li die cuboids"</span>, cbd.size());</div>
+<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  ROS_INFO(<span class="stringliteral">"%li cuboids"</span>, cod.size());</div>
+<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  </div>
+<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&o:cod){</div>
+<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  o.publishCOwait(<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>,<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>,rviz_visual_tools::GREY);</div>
+<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->addCollisionObjects({o.getCoMsg()});</div>
+<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  }</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>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&o:cbd){</div>
+<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <span class="comment">//o.publish(visual_tools_,rviz_visual_tools::GREEN);</span></div>
+<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->addCollisionObjects({o.getCoMsg()});</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>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->publishRobotState(<a class="code" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a>->getCurrentState());</div>
+<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->trigger();</div>
+<div class="line"><a name="l00522"></a><span class="lineno"> 522</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>  </div>
+<div class="line"><a name="l00525"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84"> 525</a></span> <a class="code" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator::Moveit_grasp_mediator</a>(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub, std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh)</div>
+<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  : <a class="code" href="classMoveit__mediator.html">Moveit_mediator</a>(objects, pub, nh)</div>
+<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  , robot_reader_(std::make_unique<<a class="code" href="classRobot__reader.html">Robot_reader</a>>(nh))</div>
+<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  , wing_reader_(std::make_unique<<a class="code" href="classWing__reader.html">Wing_reader</a>>(nh))</div>
+<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  , cuboid_reader_(std::make_unique<<a class="code" href="classCuboid__reader.html">Cuboid_reader</a>>(nh)) {</div>
+<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <span class="comment">// , job_reader_(std::make_unique<Job_reader>(nh)) {</span></div>
+<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a> = std::make_shared<moveit_visual_tools::MoveItVisualTools>(</div>
+<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>->getModelFrame(), <span class="stringliteral">"/rviz_visual_tools"</span>, <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>);</div>
+<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->loadMarkerPub();</div>
+<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->loadRemoteControl();</div>
+<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->setPlanningSceneMonitor(<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>);</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>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->loadRobotStatePub(<span class="stringliteral">"/display_robot_state"</span>);</div>
+<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->setRobotStateTopic(<span class="stringliteral">"/robot_state_publisher"</span>);</div>
+<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->loadTrajectoryPub(<span class="stringliteral">"/display_planned_path"</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>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->loadSharedRobotState();</div>
+<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->enableBatchPublishing();</div>
+<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->deleteAllMarkers();</div>
+<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->removeAllCollisionObjects();</div>
+<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>->trigger();</div>
+<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  </div>
+<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->getParam(<span class="stringliteral">"/grasps_ns"</span>, <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>);</div>
+<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a> = <span class="stringliteral">"grasps_ns"</span>;</div>
+<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  ROS_INFO(<span class="stringliteral">"ns is %s"</span>, <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str());</div>
+<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  </div>
+<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  <a class="code" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">planning_pipeline_</a> = std::make_shared<planning_pipeline::PlanningPipeline>(<a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>, *<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>, <span class="stringliteral">"planning_plugin"</span>, <span class="stringliteral">"request_adapter"</span>);</div>
+<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  <a class="code" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a> = std::make_shared<VoxelManager>(*<a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>, <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>.c_str() ,<a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>,<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>);</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>  <span class="keyword">auto</span> rd = <a class="code" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">robot_reader_</a>->robot_data();</div>
+<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < rd.size() ;i++) <a class="code" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">connect_robots</a>(<span class="keyword">new</span> <a class="code" href="classMoveit__robot.html">Moveit_robot</a>(rd[i].name_, rd[i].pose_, rd[i].size_));</div>
+<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00557"></a><span class="lineno"> 557</span> <span class="comment"> auto wd = static_cast<Wing_reader*>(wing_reader_.get())->wing_data();</span></div>
+<div class="line"><a name="l00558"></a><span class="lineno"> 558</span> <span class="comment"> for (int i = 0; i < robots_.size(); i++){</span></div>
+<div class="line"><a name="l00559"></a><span class="lineno"> 559</span> <span class="comment"> for(object_data& w : wd[i].first){</span></div>
+<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> <span class="comment"> w.pose_ = robots_[i]->tf().inverse() * w.pose_;</span></div>
+<div class="line"><a name="l00561"></a><span class="lineno"> 561</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> <span class="comment"> robots_[i]->set_observer_mask(static_cast<wing_config>(wd[i].second));</span></div>
+<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00564"></a><span class="lineno"> 564</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00565"></a><span class="lineno"> 565</span> <span class="comment"> set_wings(wd); </span></div>
+<div class="line"><a name="l00566"></a><span class="lineno"> 566</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00567"></a><span class="lineno"> 567</span> <span class="comment"> for (int i = 0; i < robots_.size(); i++){</span></div>
+<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> <span class="comment"> std::bitset<3> bs = wd[i].second;</span></div>
+<div class="line"><a name="l00569"></a><span class="lineno"> 569</span> <span class="comment"> build_wings(bs, i);</span></div>
+<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00571"></a><span class="lineno"> 571</span> <span class="comment"> */</span></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>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>* r : <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>)r->notify();</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>  <a class="code" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a>();</div>
+<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <a class="code" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">scene_setup</a>();</div>
+<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  };</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a1c5f2ad1dedf0b71711725e2d96c3b2d"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">Moveit_grasp_mediator::generateRandomCuboid</a></div><div class="ttdeci">bool generateRandomCuboid(std::string &object_name, geometry_msgs::Pose &object_pose, double &x_depth, double &y_width, double &z_height)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00108">moveit_grasp_mediator.cpp:108</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa9b3d92f1177b7ed103400bd5e1aa558"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">Moveit_grasp_mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00008">moveit_grasp_mediator.cpp:8</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ad10c0b3b2e683870e784262123ba779c"><div class="ttname"><a href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">Moveit_robot::map</a></div><div class="ttdeci">std::map< std::string, std::string > & map()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00048">moveit_robot.h:48</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_a7b52336368bd778fafb637ca2f20fc04"><div class="ttname"><a href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">Moveit_robot::mgi_hand</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00044">moveit_robot.h:44</a></div></div>
+<div class="ttc" id="aclassRobot_html_aeb6c8c47edbcc561f15b00d551a045e6"><div class="ttname"><a href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot::observers</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & observers()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00029">robot.h:29</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html"><div class="ttname"><a href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00013">wing_moveit_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a054489ae555d8ecd197b23d09e40be47"><div class="ttname"><a href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator::publish_tables</a></div><div class="ttdeci">void publish_tables()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00024">moveit_mediator.cpp:24</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ace031e7894f77a460ce5782a6e3160e8"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00141">moveit_grasp_mediator.cpp:141</a></div></div>
+<div class="ttc" id="aclassWing__reader_html"><div class="ttname"><a href="classWing__reader.html">Wing_reader</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="aclassMoveit__mediator_html_ac3d550e1db30b83e6f6bf25536dd5c78"><div class="ttname"><a href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">Moveit_mediator::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#l00061">moveit_mediator.h:61</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a2c03d26fbb07ddfce88c0134a269db26"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">Moveit_grasp_mediator::planning_pipeline_</a></div><div class="ttdeci">std::shared_ptr< planning_pipeline::PlanningPipeline > planning_pipeline_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00025">moveit_grasp_mediator.h:25</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a61afc06c74fcadd24af49e74e69730cc"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">Moveit_grasp_mediator::grasp_ns_</a></div><div class="ttdeci">std::string grasp_ns_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00027">moveit_grasp_mediator.h:27</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_add410bc786e487285644dbbfd1cc4435"><div class="ttname"><a href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">Moveit_grasp_mediator::voxel_environment_</a></div><div class="ttdeci">boost::dynamic_bitset voxel_environment_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00028">moveit_grasp_mediator.h:28</a></div></div>
+<div class="ttc" id="aclassCuboid__reader_html"><div class="ttname"><a href="classCuboid__reader.html">Cuboid_reader</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="aclassMoveit__mediator_html_a9673dc2802ed32e576ff58bde8dc52eb"><div class="ttname"><a href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">Moveit_mediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00056">moveit_mediator.h:56</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a6ed9b1a3d7b66a75cc2f0c5712cf7a62"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">Moveit_grasp_mediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< Abstract_param_reader > cuboid_reader_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00035">moveit_grasp_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a306c73cd3d0772a033fca3677fa547cc"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">Moveit_grasp_mediator::manipulate_mapspace</a></div><div class="ttdeci">void manipulate_mapspace(tf2::Transform &tf, tf2::Vector3 &size)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00035">moveit_grasp_mediator.cpp:35</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_adb66e0ab29aa994a762ec03d501dff09"><div class="ttname"><a href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">Moveit_grasp_mediator::robot_reader_</a></div><div class="ttdeci">std::unique_ptr< Robot_reader > robot_reader_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00033">moveit_grasp_mediator.h:33</a></div></div>
+<div class="ttc" id="amoveit__grasp__mediator_8h_html"><div class="ttname"><a href="moveit__grasp__mediator_8h.html">moveit_grasp_mediator.h</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aafcbc3db53825d13dacdf6417e207d84"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator::Moveit_grasp_mediator</a></div><div class="ttdeci">Moveit_grasp_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00525">moveit_grasp_mediator.cpp:525</a></div></div>
+<div class="ttc" id="awing__moveit__decorator_8h_html"><div class="ttname"><a href="wing__moveit__decorator_8h.html">wing_moveit_decorator.h</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a7358966adab0fea05c2587e492273cb0"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">Moveit_grasp_mediator::grasp_maps_</a></div><div class="ttdeci">std::vector< GraspMap > grasp_maps_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00029">moveit_grasp_mediator.h:29</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a4c349f21f00ee6ec4cbb290557fe6a39"><div class="ttname"><a href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</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="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ab9c8056fd38678f42c75119bc2b057e4"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">Moveit_grasp_mediator::waitForNextStep</a></div><div class="ttdeci">void waitForNextStep(const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, const std::string &prompt)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00424">moveit_grasp_mediator.cpp:424</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ad2e01237a4927df1d71d99276e56761e"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator::planFullGrasp</a></div><div class="ttdeci">bool planFullGrasp(std::vector< moveit_grasps::GraspCandidatePtr > &grasp_candidates, moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, moveit_msgs::MotionPlanResponse &pre_approach_plan, const std::string &object_name)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00382">moveit_grasp_mediator.cpp:382</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aba249a3b9ac5f2b4c426de836eb7d6eb"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">Moveit_grasp_mediator::visualizePick</a></div><div class="ttdeci">void visualizePick(const moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, const moveit_msgs::MotionPlanResponse &pre_approach_plan)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00318">moveit_grasp_mediator.cpp:318</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html"><div class="ttname"><a href="classMoveit__robot.html">Moveit_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00012">moveit_robot.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a97f68aabffc7f663ab03927084044311"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator::isStateValid</a></div><div class="ttdeci">bool isStateValid(const planning_scene::PlanningScene *planning_scene, const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, robot_state::RobotState *robot_state, const robot_model::JointModelGroup *group, const double *ik_solution)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00474">moveit_grasp_mediator.cpp:474</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa285fd973936b65c68cfb19c054edfb5"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">Moveit_grasp_mediator::manipulate_grasp_data</a></div><div class="ttdeci">void manipulate_grasp_data(Moveit_robot *robot)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00049">moveit_grasp_mediator.cpp:49</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ae22e5102cea0d7c0ad9da4b2fad997f0"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">Moveit_grasp_mediator::voxel_manager_</a></div><div class="ttdeci">std::shared_ptr< VoxelManager > voxel_manager_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00026">moveit_grasp_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html"><div class="ttname"><a href="classMoveit__mediator.html">Moveit_mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00054">moveit_mediator.h:54</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ae5368a1e8034689de7c2fd15c680b7e5"><div class="ttname"><a href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">Moveit_mediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</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="aclassAbstract__mediator_html_a66416f41c207636fcf0b5223c2f70061"><div class="ttname"><a href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00035">impl/abstract_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa469150a38fcf4e8a3d9acde59e4b519"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">Moveit_grasp_mediator::getIKSolution</a></div><div class="ttdeci">bool getIKSolution(const moveit::core::JointModelGroup *arm_jmg, const Eigen::Isometry3d &target_pose, robot_state::RobotState &solution, const std::string &link_name)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00483">moveit_grasp_mediator.cpp:483</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a64ae098f7cadad8237e663658f038663"><div class="ttname"><a href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">Abstract_robot::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00061">impl/abstract_robot.h:61</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ac3a9f2cfc74a1304a1faea5516252c28"><div class="ttname"><a href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">Moveit_robot::grasp_map_generator</a></div><div class="ttdeci">std::shared_ptr< MapGenerator > grasp_map_generator()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00045">moveit_robot.h:45</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a6f4a8f20841b33341c4991ee00fef75e"><div class="ttname"><a href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00057">moveit_mediator.h:57</a></div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aac9157796fc133cdab1b22ef66ef8889"><div class="ttname"><a href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">Moveit_mediator::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#l00087">moveit_mediator.h:87</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa27d054a12c40a0e4fe3e94da271df83"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">Moveit_grasp_mediator::planPreApproach</a></div><div class="ttdeci">bool planPreApproach(const robot_state::RobotState &goal_state, moveit_msgs::MotionPlanResponse &pre_approach_plan)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00429">moveit_grasp_mediator.cpp:429</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html"><div class="ttname"><a href="classRobot__reader.html">Robot_reader</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="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_af4c5933ccfcbf7ca153a039ad00a865f"><div class="ttname"><a href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">Moveit_grasp_mediator::scene_setup</a></div><div class="ttdeci">void scene_setup()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00501">moveit_grasp_mediator.cpp:501</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_af2b6e5e089fbfc61afb5f0c25a320571"><div class="ttname"><a href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">Moveit_mediator::visual_tools_</a></div><div class="ttdeci">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00058">moveit_mediator.h:58</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/moveit__grasp__mediator_8h.html b/doc/html/moveit__grasp__mediator_8h.html
new file mode 100644
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_grasp_mediator.h File Reference</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">moveit_grasp_mediator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include "<a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="moveit__mediator_8h_source.html">impl/moveit_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_8h_source.html">impl/robot.h</a>"</code><br />
+<code>#include <gb_grasp/VoxelManager.h></code><br />
+<code>#include <gb_grasp/GraspMap.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="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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for moveit_grasp_mediator.h:</div>
+<div class="dyncontent">
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+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="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">moveit_grasp_mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="moveit__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 MOVEIT_GRASP_MEDIATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define MOVEIT_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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <fstream></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="moveit__mediator_8h.html">impl/moveit_mediator.h</a>"</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"> 11</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">impl/robot.h</a>"</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <gb_grasp/VoxelManager.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <gb_grasp/GraspMap.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</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="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</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="l00018"></a><span class="lineno"> 18</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="l00019"></a><span class="lineno"> 19</span>  </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>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html"> 23</a></span> <span class="keyword">class </span><a class="code" href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a> : <span class="keyword">public</span> <a class="code" href="classMoveit__mediator.html">Moveit_mediator</a>{</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26"> 25</a></span>  std::shared_ptr<planning_pipeline::PlanningPipeline> <a class="code" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">planning_pipeline_</a>;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0"> 26</a></span>  std::shared_ptr<VoxelManager> <a class="code" href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">voxel_manager_</a>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc"> 27</a></span>  std::string <a class="code" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">grasp_ns_</a>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435"> 28</a></span>  boost::dynamic_bitset<> <a class="code" href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">voxel_environment_</a>;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0"> 29</a></span>  std::vector<GraspMap> <a class="code" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">grasp_maps_</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="l00032"></a><span class="lineno"> 32</span>  <span class="comment">// Readers </span></div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09"> 33</a></span>  std::unique_ptr<Robot_reader> <a class="code" href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">robot_reader_</a>;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf"> 34</a></span>  std::unique_ptr<Abstract_param_reader> <a class="code" href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf">wing_reader_</a>;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62"> 35</a></span>  std::unique_ptr<Abstract_param_reader> <a class="code" href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">cuboid_reader_</a>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118"> 36</a></span>  std::unique_ptr<Job_reader> <a class="code" href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118">job_reader_</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="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator</a>(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub, std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh);</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"> 43</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">mediate</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) <span class="keyword">override</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="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">manipulate_grasp_data</a>(<a class="code" href="classMoveit__robot.html">Moveit_robot</a>* robot);</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">scene_setup</a>();</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">manipulate_mapspace</a>(tf2::Transform& tf, tf2::Vector3& size);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">generateRandomCuboid</a>(std::string& object_name, geometry_msgs::Pose& object_pose, <span class="keywordtype">double</span>& x_depth, <span class="keywordtype">double</span>& y_width, <span class="keywordtype">double</span>& z_height);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">getIKSolution</a>(<span class="keyword">const</span> moveit::core::JointModelGroup* arm_jmg, <span class="keyword">const</span> Eigen::Isometry3d& target_pose, robot_state::RobotState& solution, <span class="keyword">const</span> std::string& link_name);</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">planFullGrasp</a>(std::vector<moveit_grasps::GraspCandidatePtr>& grasp_candidates,</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  moveit_msgs::MotionPlanResponse& pre_approach_plan, <span class="keyword">const</span> std::string& object_name);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">visualizePick</a>(<span class="keyword">const</span> moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">const</span> moveit_msgs::MotionPlanResponse& pre_approach_plan);</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">waitForNextStep</a>(<span class="keyword">const</span> moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, <span class="keyword">const</span> std::string& prompt);</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">planPreApproach</a>(<span class="keyword">const</span> robot_state::RobotState& goal_state, moveit_msgs::MotionPlanResponse& pre_approach_plan);</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">bool</span> <a class="code" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">isStateValid</a>(<span class="keyword">const</span> planning_scene::PlanningScene* planning_scene,</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, robot_state::RobotState* robot_state,</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">const</span> robot_model::JointModelGroup* group, <span class="keyword">const</span> <span class="keywordtype">double</span>* ik_solution);</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>  </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> };</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a1c5f2ad1dedf0b71711725e2d96c3b2d"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a1c5f2ad1dedf0b71711725e2d96c3b2d">Moveit_grasp_mediator::generateRandomCuboid</a></div><div class="ttdeci">bool generateRandomCuboid(std::string &object_name, geometry_msgs::Pose &object_pose, double &x_depth, double &y_width, double &z_height)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00108">moveit_grasp_mediator.cpp:108</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa9b3d92f1177b7ed103400bd5e1aa558"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa9b3d92f1177b7ed103400bd5e1aa558">Moveit_grasp_mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00008">moveit_grasp_mediator.cpp:8</a></div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</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="ajob__reader_8h_html"><div class="ttname"><a href="job__reader_8h.html">job_reader.h</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ace031e7894f77a460ce5782a6e3160e8"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ace031e7894f77a460ce5782a6e3160e8">Moveit_grasp_mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00141">moveit_grasp_mediator.cpp:141</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a2c03d26fbb07ddfce88c0134a269db26"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">Moveit_grasp_mediator::planning_pipeline_</a></div><div class="ttdeci">std::shared_ptr< planning_pipeline::PlanningPipeline > planning_pipeline_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00025">moveit_grasp_mediator.h:25</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="aclassMoveit__grasp__mediator_html_a61afc06c74fcadd24af49e74e69730cc"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">Moveit_grasp_mediator::grasp_ns_</a></div><div class="ttdeci">std::string grasp_ns_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00027">moveit_grasp_mediator.h:27</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html"><div class="ttname"><a href="classMoveit__grasp__mediator.html">Moveit_grasp_mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00023">moveit_grasp_mediator.h:23</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_add410bc786e487285644dbbfd1cc4435"><div class="ttname"><a href="classMoveit__grasp__mediator.html#add410bc786e487285644dbbfd1cc4435">Moveit_grasp_mediator::voxel_environment_</a></div><div class="ttdeci">boost::dynamic_bitset voxel_environment_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00028">moveit_grasp_mediator.h:28</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a6ed9b1a3d7b66a75cc2f0c5712cf7a62"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">Moveit_grasp_mediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< Abstract_param_reader > cuboid_reader_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00035">moveit_grasp_mediator.h:35</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ada64005701a160ab15e54664a0a9f118"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ada64005701a160ab15e54664a0a9f118">Moveit_grasp_mediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< Job_reader > job_reader_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00036">moveit_grasp_mediator.h:36</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a306c73cd3d0772a033fca3677fa547cc"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a306c73cd3d0772a033fca3677fa547cc">Moveit_grasp_mediator::manipulate_mapspace</a></div><div class="ttdeci">void manipulate_mapspace(tf2::Transform &tf, tf2::Vector3 &size)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00035">moveit_grasp_mediator.cpp:35</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_adb66e0ab29aa994a762ec03d501dff09"><div class="ttname"><a href="classMoveit__grasp__mediator.html#adb66e0ab29aa994a762ec03d501dff09">Moveit_grasp_mediator::robot_reader_</a></div><div class="ttdeci">std::unique_ptr< Robot_reader > robot_reader_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00033">moveit_grasp_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aafcbc3db53825d13dacdf6417e207d84"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator::Moveit_grasp_mediator</a></div><div class="ttdeci">Moveit_grasp_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00525">moveit_grasp_mediator.cpp:525</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a7358966adab0fea05c2587e492273cb0"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">Moveit_grasp_mediator::grasp_maps_</a></div><div class="ttdeci">std::vector< GraspMap > grasp_maps_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00029">moveit_grasp_mediator.h:29</a></div></div>
+<div class="ttc" id="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ab9c8056fd38678f42c75119bc2b057e4"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ab9c8056fd38678f42c75119bc2b057e4">Moveit_grasp_mediator::waitForNextStep</a></div><div class="ttdeci">void waitForNextStep(const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, const std::string &prompt)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00424">moveit_grasp_mediator.cpp:424</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ad2e01237a4927df1d71d99276e56761e"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator::planFullGrasp</a></div><div class="ttdeci">bool planFullGrasp(std::vector< moveit_grasps::GraspCandidatePtr > &grasp_candidates, moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, moveit_msgs::MotionPlanResponse &pre_approach_plan, const std::string &object_name)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00382">moveit_grasp_mediator.cpp:382</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="aclassMoveit__grasp__mediator_html_aba249a3b9ac5f2b4c426de836eb7d6eb"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aba249a3b9ac5f2b4c426de836eb7d6eb">Moveit_grasp_mediator::visualizePick</a></div><div class="ttdeci">void visualizePick(const moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, const moveit_msgs::MotionPlanResponse &pre_approach_plan)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00318">moveit_grasp_mediator.cpp:318</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html"><div class="ttname"><a href="classMoveit__robot.html">Moveit_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00012">moveit_robot.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_a97f68aabffc7f663ab03927084044311"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator::isStateValid</a></div><div class="ttdeci">bool isStateValid(const planning_scene::PlanningScene *planning_scene, const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, robot_state::RobotState *robot_state, const robot_model::JointModelGroup *group, const double *ik_solution)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00474">moveit_grasp_mediator.cpp:474</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa285fd973936b65c68cfb19c054edfb5"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa285fd973936b65c68cfb19c054edfb5">Moveit_grasp_mediator::manipulate_grasp_data</a></div><div class="ttdeci">void manipulate_grasp_data(Moveit_robot *robot)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00049">moveit_grasp_mediator.cpp:49</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_ae22e5102cea0d7c0ad9da4b2fad997f0"><div class="ttname"><a href="classMoveit__grasp__mediator.html#ae22e5102cea0d7c0ad9da4b2fad997f0">Moveit_grasp_mediator::voxel_manager_</a></div><div class="ttdeci">std::shared_ptr< VoxelManager > voxel_manager_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00026">moveit_grasp_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html"><div class="ttname"><a href="classMoveit__mediator.html">Moveit_mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00054">moveit_mediator.h:54</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa469150a38fcf4e8a3d9acde59e4b519"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa469150a38fcf4e8a3d9acde59e4b519">Moveit_grasp_mediator::getIKSolution</a></div><div class="ttdeci">bool getIKSolution(const moveit::core::JointModelGroup *arm_jmg, const Eigen::Isometry3d &target_pose, robot_state::RobotState &solution, const std::string &link_name)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00483">moveit_grasp_mediator.cpp:483</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="aclassMoveit__grasp__mediator_html_a0807f49aeb0b5a21b2f9ce52a9d690bf"><div class="ttname"><a href="classMoveit__grasp__mediator.html#a0807f49aeb0b5a21b2f9ce52a9d690bf">Moveit_grasp_mediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< Abstract_param_reader > wing_reader_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8h_source.html#l00034">moveit_grasp_mediator.h:34</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_aa27d054a12c40a0e4fe3e94da271df83"><div class="ttname"><a href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">Moveit_grasp_mediator::planPreApproach</a></div><div class="ttdeci">bool planPreApproach(const robot_state::RobotState &goal_state, moveit_msgs::MotionPlanResponse &pre_approach_plan)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00429">moveit_grasp_mediator.cpp:429</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassMoveit__grasp__mediator_html_af4c5933ccfcbf7ca153a039ad00a865f"><div class="ttname"><a href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">Moveit_grasp_mediator::scene_setup</a></div><div class="ttdeci">void scene_setup()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__grasp__mediator_8cpp_source.html#l00501">moveit_grasp_mediator.cpp:501</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+</body>
+</html>
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+<div class="header">
+ <div class="summary">
+<a href="#var-members">Variables</a> </div>
+ <div class="headertitle">
+<div class="title">moveit_mediator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="moveit__mediator_8h_source.html">impl/moveit_mediator.h</a>"</code><br />
+<code>#include <thread></code><br />
+<code>#include <mutex></code><br />
+<code>#include <algorithm></code><br />
+<code>#include <gb_grasp/MapGenerator.h></code><br />
+<code>#include <regex></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for moveit_mediator.cpp:</div>
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+<p><a href="moveit__mediator_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="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a07c246a655c93c294c5895333d59f9fb"><td class="memItemLeft" align="right" valign="top">thread_local moveit_task_constructor_msgs::ExecuteTaskSolutionGoal </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__mediator_8cpp.html#a07c246a655c93c294c5895333d59f9fb">etsg_</a></td></tr>
+<tr class="separator:a07c246a655c93c294c5895333d59f9fb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83e709b064acbbdd1ba1382937d57cec"><td class="memItemLeft" align="right" valign="top">thread_local moveit::task_constructor::Task </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__mediator_8cpp.html#a83e709b064acbbdd1ba1382937d57cec">task__</a></td></tr>
+<tr class="separator:a83e709b064acbbdd1ba1382937d57cec"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3b3de631e576c4bb7c9567578f6f4ad2"><td class="memItemLeft" align="right" valign="top">std::mutex </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2">task_writing</a></td></tr>
+<tr class="separator:a3b3de631e576c4bb7c9567578f6f4ad2"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a07c246a655c93c294c5895333d59f9fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a07c246a655c93c294c5895333d59f9fb">◆ </a></span>etsg_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">thread_local moveit_task_constructor_msgs::ExecuteTaskSolutionGoal etsg_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00009">9</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a83e709b064acbbdd1ba1382937d57cec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a83e709b064acbbdd1ba1382937d57cec">◆ </a></span>task__</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">thread_local moveit::task_constructor::Task task__</td>
+ </tr>
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+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00008">8</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
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+<h2 class="memtitle"><span class="permalink"><a href="#a3b3de631e576c4bb7c9567578f6f4ad2">◆ </a></span>task_writing</h2>
+
+<div class="memitem">
+<div class="memproto">
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+ <tr>
+ <td class="memname">std::mutex task_writing</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00011">11</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
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+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+<div class="contents">
+<a href="moveit__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="moveit__mediator_8h.html">impl/moveit_mediator.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <thread></span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <mutex></span> </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <algorithm></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <gb_grasp/MapGenerator.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <regex></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="moveit__mediator_8cpp.html#a83e709b064acbbdd1ba1382937d57cec"> 8</a></span> thread_local moveit::task_constructor::Task <a class="code" href="moveit__mediator_8cpp.html#a83e709b064acbbdd1ba1382937d57cec">task__</a>;</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="moveit__mediator_8cpp.html#a07c246a655c93c294c5895333d59f9fb"> 9</a></span> thread_local moveit_task_constructor_msgs::ExecuteTaskSolutionGoal <a class="code" href="moveit__mediator_8cpp.html#a07c246a655c93c294c5895333d59f9fb">etsg_</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"><a class="line" href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2"> 11</a></span> std::mutex <a class="code" href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2">task_writing</a>;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">//std::mutex publish;</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"><a class="line" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b"> 14</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">Moveit_mediator::connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) {</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.push_back(robot);</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  ROS_INFO(<span class="stringliteral">"%s connected..."</span>, robot-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>().c_str());</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>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(robot);</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"base"</span>).c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: mr-><a class="code" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a>()->getLinkNames()) <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: mr-><a class="code" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">mgi_hand</a>()->getLinkNames()) <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</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="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47"> 24</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator::publish_tables</a>(){</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ros::WallDuration sleep_time(1.0);</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>.size();i++){</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[i]);</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">/*</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> moveit_msgs::CollisionObject table;</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> table.id = ceti->map().at("base").c_str();</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> table.header.frame_id = "world";</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> table.header.stamp = ros::Time::now();</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> table.primitives.resize(1);</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> table.primitives[0].type = table.primitives[0].BOX;</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> table.primitives[0].dimensions.resize(3);</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> table.primitives[0].dimensions[0] = ceti->size().getX();</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> table.primitives[0].dimensions[1] = ceti->size().getY();</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> table.primitives[0].dimensions[2] = ceti->tf().getOrigin().getZ() * 2;</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> table.primitive_poses.resize(1);</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> table.primitive_poses[0].position.x = ceti->tf().getOrigin().getX();</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> table.primitive_poses[0].position.y = ceti->tf().getOrigin().getY();</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> table.primitive_poses[0].position.z = ceti->tf().getOrigin().getZ();</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> table.primitive_poses[0].orientation.x = ceti->tf().getRotation().getX();</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> table.primitive_poses[0].orientation.y = ceti->tf().getRotation().getY();</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> table.primitive_poses[0].orientation.z = ceti->tf().getRotation().getZ();</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> table.primitive_poses[0].orientation.w = ceti->tf().getRotation().getW();</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> table.operation = table.ADD;</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="comment">//psi_->applyCollisionObject(table);</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>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are : ceti-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()) {</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a>* wmd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->applyCollisionObject(*wmd-><a class="code" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>());</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(wmd-><a class="code" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>()->id.c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  sleep_time.sleep();</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>  }</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>  </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a"> 61</a></span> <span class="keywordtype">bool</span> <a class="code" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator::check_collision</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>& robot){</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">auto</span> env = <a class="code" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a>->getCollisionEnvNonConst();</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="classCollision__helper.html">Collision_helper</a>* ch = <span class="keyword">static_cast<</span><a class="code" href="classCollision__helper.html">Collision_helper</a>*<span class="keyword">></span>(env.get());</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">return</span> ch-><a class="code" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">collision_detector</a>(<span class="stringliteral">"object_A"</span>, <span class="stringliteral">"object_B"</span>); <span class="comment">//</span></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="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff"> 67</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator::mediate</a>(){</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a>();</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">task_planner</a>();</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">setup_task</a>(); </div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  ros::waitForShutdown();</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> };</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f"> 76</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator::build_wings</a>(std::bitset<3>& wing, <span class="keywordtype">int</span>& robot){</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  std::bitset<3> result = <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]->observer_mask() & wing;</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="classRobot.html">Robot</a>* ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classRobot.html">Robot</a>*<span class="keyword">></span>(<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>[robot]);</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> (std::size_t i = 0; i < result.size(); i++){</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">if</span> (result[i]){</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  ceti-><a class="code" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a>(<a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>[robot][i]);</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="l00087"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3"> 87</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">Moveit_mediator::set_wings</a>(std::vector<std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& wbp){</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i =0; i < wbp.size(); i++){</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  std::vector<Abstract_robot_element*> v;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j =0; j < wbp[i].first.size(); j++){</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are = <span class="keyword">new</span> <a class="code" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a>( <span class="keyword">new</span> <a class="code" href="classWing.html">Wing</a>(wbp[i].first[j].name_, wbp[i].first[j].pose_,wbp[i].first[j].size_));</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  v.push_back(are);</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>  <a class="code" href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">wings_</a>.push_back(v);</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>  </div>
+<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838"> 98</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">Moveit_mediator::setup_task</a>(){</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  ROS_INFO(<span class="stringliteral">"=> write Task Constructor Objects"</span>);</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& a: <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>) a.second.resize(<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.size(), 0);</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> bool coop = false;</span></div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> for(int i = 0; i < objects_.size(); i++){</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> if (i+1 < objects_.size()){</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> for (long unsigned int j = objects_[i].size()-1; j > 0; j--){</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> if(objects_[i][j].getOrigin().distance(objects_[i+1].back().getOrigin()) == 0) {</span></div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> objects_[i+1].pop_back(); </span></div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> coop= true;</span></div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> if(coop){</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> moveit_msgs::CollisionObject bottle;</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> bottle.id = "bottle";</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> bottle.header.frame_id = "world";</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> bottle.header.stamp = ros::Time::now();</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> bottle.primitives.resize(1);</span></div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> bottle.primitives[0].type = bottle.primitives[0].BOX;</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> bottle.primitives[0].dimensions.resize(3);</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> bottle.primitives[0].dimensions[0] = box_size.getX();</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> bottle.primitives[0].dimensions[1] = box_size.getY();</span></div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> bottle.primitives[0].dimensions[2] = box_size.getZ();</span></div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> bottle.primitive_poses.resize(1);</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> bottle.primitive_poses[0].position.x = -0.3f;</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> bottle.primitive_poses[0].position.y = -0.6f;</span></div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> bottle.primitive_poses[0].position.z = 0.9355f;</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> bottle.primitive_poses[0].orientation.x = 0;</span></div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> bottle.primitive_poses[0].orientation.y = 0;</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> bottle.primitive_poses[0].orientation.z = 0;</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> bottle.primitive_poses[0].orientation.w = 1;</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> bottle.operation = bottle.ADD;</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> psi_->applyCollisionObject(bottle);</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> for( int i = 0; i < objects_.size();i++){</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"> for(int j =0; j < objects_[i].size();j++){</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"> Moveit_robot* mr = dynamic_cast<Moveit_robot*>(robots_[i]);</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> moveit::task_constructor::Task task = create_Task(mr, psi_->getObjects().at("bottle"), objects_[i][j]);</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> if (task.plan(1)){</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> task.execute(*task.solutions().front());</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> } else {</span></div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> acm_.insert(std::pair<std::string, std::vector<uint8_t>>("bottle0", std::vector<uint8_t>()));</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"> acm_.insert(std::pair<std::string, std::vector<uint8_t>>("bottle1", std::vector<uint8_t>()));</span></div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> moveit_msgs::CollisionObject bottle1;</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> bottle1.id = "bottle0";</span></div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> bottle1.header.frame_id = "world";</span></div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="comment"> bottle1.header.stamp = ros::Time::now();</span></div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="comment"> bottle1.primitives.resize(1);</span></div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="comment"> bottle1.primitives[0].type = bottle1.primitives[0].BOX;</span></div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="comment"> bottle1.primitives[0].dimensions.resize(3);</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="comment"> bottle1.primitives[0].dimensions[0] = box_size.getX();</span></div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="comment"> bottle1.primitives[0].dimensions[1] = box_size.getY();</span></div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment"> bottle1.primitives[0].dimensions[2] = box_size.getZ();</span></div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> <span class="comment"> bottle1.primitive_poses.resize(1);</span></div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="comment"> bottle1.primitive_poses[0].position.x = objects_[0][0].getOrigin().getX();</span></div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"> bottle1.primitive_poses[0].position.y = objects_[0][0].getOrigin().getY();</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> bottle1.primitive_poses[0].position.z = 0.9355f;</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> bottle1.primitive_poses[0].orientation.x = 0;</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> bottle1.primitive_poses[0].orientation.y = 0;</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> bottle1.primitive_poses[0].orientation.z = 0;</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment"> bottle1.primitive_poses[0].orientation.w = 1;</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="comment"> bottle1.operation = bottle1.ADD;</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="comment"> moveit_msgs::CollisionObject bottle2;</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment"> bottle2.id = "bottle1";</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"> bottle2.header.frame_id = "world";</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"> bottle2.header.stamp = ros::Time::now();</span></div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> bottle2.primitives.resize(1);</span></div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"> bottle2.primitives[0].type = bottle2.primitives[0].BOX;</span></div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> bottle2.primitives[0].dimensions.resize(3);</span></div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> bottle2.primitives[0].dimensions[0] = box_size.getX();</span></div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment"> bottle2.primitives[0].dimensions[1] = box_size.getY();</span></div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment"> bottle2.primitives[0].dimensions[2] = box_size.getZ();</span></div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"> bottle2.primitive_poses.resize(1);</span></div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> bottle2.primitive_poses[0].position.x = objects_[1][0].getOrigin().getX(); </span></div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"> bottle2.primitive_poses[0].position.y = objects_[1][0].getOrigin().getY();</span></div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> bottle2.primitive_poses[0].position.z = 0.9355f;</span></div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> bottle2.primitive_poses[0].orientation.x = 0;</span></div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment"> bottle2.primitive_poses[0].orientation.y = 0;</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"> bottle2.primitive_poses[0].orientation.z = 0;</span></div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"> bottle2.primitive_poses[0].orientation.w = 1;</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"> bottle2.operation = bottle2.ADD;</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> psi_->applyCollisionObject(bottle1);</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> psi_->applyCollisionObject(bottle2);</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="comment"> std::vector<std::thread> ths;</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> <span class="comment"> std::vector<std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>> tasks;</span></div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment"> for (int i = 0 ; i < objects_.size(); i++){</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"> std::stringstream ss;</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> ss << "bottle" << std::to_string(i);</span></div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment"> Moveit_robot* mr = dynamic_cast<Moveit_robot*>(robots_[i]);</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="comment"> std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> tasks_per_robot;</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"> for (int j = 1; j < objects_[i].size(); j++){</span></div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> moveit::task_constructor::Task mgt = create_Task(mr, psi_->getObjects().at(ss.str()), objects_[i][j]);</span></div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="comment"> if(mgt.plan(1)) {</span></div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"> moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;</span></div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment"> mgt.solutions().front()->fillMessage(e.solution, &mgt.introspection());</span></div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="comment"> tasks_per_robot.push(e);</span></div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="comment"> moveit_msgs::CollisionObject temp = psi_->getObjects().at(ss.str());</span></div>
+<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="comment"> temp.operation = temp.MOVE;</span></div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="comment"> temp.pose.position.x = objects_[i][j].getOrigin().getX();</span></div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="comment"> temp.pose.position.y = objects_[i][j].getOrigin().getY();</span></div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="comment"> psi_->applyCollisionObject(temp);</span></div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="comment"> moveit_msgs::CollisionObject temp = psi_->getObjects().at(ss.str());</span></div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment"> temp.operation = temp.MOVE;</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"> temp.pose.position.x = objects_[i][0].getOrigin().getX();</span></div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"> temp.pose.position.y = objects_[i][0].getOrigin().getY();</span></div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"> psi_->applyCollisionObject(temp);</span></div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> tasks.push_back(tasks_per_robot);</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="comment"> //ths.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), psi_->getObjects().at(ss.str()), objects_[i]));</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"> for(auto& a: acm_) a.second.resize(acm_.size(), 0);</span></div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="comment"> while (!tasks[0].empty() && !tasks[1].empty()){</span></div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="comment"> for (int i =0; i < std::max(tasks[0].front().solution.sub_trajectory.size(), tasks[1].front().solution.sub_trajectory.size()); i++){</span></div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment"> moveit_msgs::RobotTrajectory* t1 = nullptr;</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="comment"> moveit_msgs::RobotTrajectory* t2 = nullptr;</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="comment"> moveit_msgs::PlanningScene* ps1 = nullptr;</span></div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="comment"> moveit_msgs::PlanningScene* ps2 = nullptr;</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment"> moveit_msgs::PlanningScene ps_m;</span></div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="comment"> std::vector<moveit_msgs::PlanningScene::_allowed_collision_matrix_type> acm_m;</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> //for(auto entry: acm_) ROS_INFO("%s", entry.first.c_str());</span></div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"> if (i < tasks[0].front().solution.sub_trajectory.size()){</span></div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"> t1 = &tasks[0].front().solution.sub_trajectory[i].trajectory;</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"> ps1 = &tasks[0].front().solution.sub_trajectory[i].scene_diff;</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"> if (i < tasks[1].front().solution.sub_trajectory.size()){</span></div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"> t2 = &tasks[1].front().solution.sub_trajectory[i].trajectory;</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment"> ps2 = &tasks[1].front().solution.sub_trajectory[i].scene_diff;</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="comment"> std::vector<std::thread> th;</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="comment"> if (t1){</span></div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="comment"> Moveit_robot* mr = dynamic_cast<Moveit_robot*>(robots_[0]);</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"> th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), *t1, *ps1));</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> // First find ID from panda to start with</span></div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> std::regex rx_panda("panda_arm([0-9]+)");</span></div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> std::smatch match;</span></div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"> std::regex_match(mr->name(), match, rx_panda);</span></div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="comment"> // build panda link regex</span></div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="comment"> std::stringstream ss;</span></div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="comment"> ss << "panda_" << match[1] << "_.*";</span></div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment"> std::regex rx_panda_links(ss.str());</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="comment"> std::regex rx_box("bottle.*");</span></div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"> std::regex rx_table("table.*");</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> // Iterate task collsion matrix</span></div>
+<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> for(int j = 0; j < ps1->allowed_collision_matrix.entry_names.size(); j++ ){</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="comment"> if( mr->map().at("base") == ps1->allowed_collision_matrix.entry_names[j]){</span></div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", mr->map().at("base").c_str(), j);</span></div>
+<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> <span class="comment"> for(int k = 0; k < ps1->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps1->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</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> <span class="comment"></span> </div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment"> } </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="comment"> if (mr->map().at("base")== ps1->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> if(std::regex_match(ps1->allowed_collision_matrix.entry_names[j], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", ps1->allowed_collision_matrix.entry_names[j].c_str(), j);</span></div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="comment"> for(int k = 0; k < ps1->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps1->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="comment"> if (mr->map().at("base")== ps1->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> if(std::regex_match(ps1->allowed_collision_matrix.entry_names[j], match, rx_box)){</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", ps1->allowed_collision_matrix.entry_names[j].c_str(), j);</span></div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> for(int k = 0; k < ps1->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps1->allowed_collision_matrix.entry_names[k])); </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"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="comment"> if (mr->map().at("base")== ps1->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> <span class="comment"> if(std::regex_match(ps1->allowed_collision_matrix.entry_names[j], match, rx_table)){</span></div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", ps1->allowed_collision_matrix.entry_names[j], j);</span></div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> <span class="comment"> for(int k = 0; k < ps1->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps1->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00379"></a><span class="lineno"> 379</span> <span class="comment"> if (std::regex_match(ps1->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> <span class="comment"> if (mr->map().at("base")== ps1->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00386"></a><span class="lineno"> 386</span> <span class="comment"> acm_.at(ps1->allowed_collision_matrix.entry_names[k])[distance] = ps1->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> <span class="comment"> }</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"> merge_ps(ps_m, ps1, mr);</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"></span> </div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="comment"> if (t2){</span></div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="comment"> Moveit_robot* mr = dynamic_cast<Moveit_robot*>(robots_[1]);</span></div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> <span class="comment"> th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), *t2, *ps2)); </span></div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> <span class="comment"> std::regex rx_panda("panda_arm([0-9]+)");</span></div>
+<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> <span class="comment"> std::smatch match;</span></div>
+<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> <span class="comment"> std::regex_match(mr->name(), match, rx_panda);</span></div>
+<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span> <span class="comment"> // build panda link regex</span></div>
+<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> <span class="comment"> std::stringstream ss;</span></div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> <span class="comment"> ss << "panda_" << match[1] << "_.*";</span></div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="comment"> std::regex rx_panda_links(ss.str());</span></div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> <span class="comment"> std::regex rx_box("bottle.*");</span></div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> <span class="comment"> std::regex rx_table("table.*");</span></div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> <span class="comment"> // Iterate task collsion matrix</span></div>
+<div class="line"><a name="l00410"></a><span class="lineno"> 410</span> <span class="comment"> for(int j = 0; j < ps2->allowed_collision_matrix.entry_names.size(); j++ ){</span></div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span> <span class="comment"> if( mr->map().at("base") == ps2->allowed_collision_matrix.entry_names[j]){</span></div>
+<div class="line"><a name="l00412"></a><span class="lineno"> 412</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", mr->map().at("base").c_str(), j);</span></div>
+<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> <span class="comment"> for(int k = 0; k < ps2->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00416"></a><span class="lineno"> 416</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps2->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00420"></a><span class="lineno"> 420</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00421"></a><span class="lineno"> 421</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00422"></a><span class="lineno"> 422</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00423"></a><span class="lineno"> 423</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00424"></a><span class="lineno"> 424</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00425"></a><span class="lineno"> 425</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00426"></a><span class="lineno"> 426</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00428"></a><span class="lineno"> 428</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00432"></a><span class="lineno"> 432</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <span class="comment"> if (mr->map().at("base")== ps2->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00436"></a><span class="lineno"> 436</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00437"></a><span class="lineno"> 437</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00440"></a><span class="lineno"> 440</span> <span class="comment"> if(std::regex_match(ps2->allowed_collision_matrix.entry_names[j], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00441"></a><span class="lineno"> 441</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00442"></a><span class="lineno"> 442</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", ps2->allowed_collision_matrix.entry_names[j].c_str(), j);</span></div>
+<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> <span class="comment"> for(int k = 0; k < ps2->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00445"></a><span class="lineno"> 445</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps2->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00448"></a><span class="lineno"> 448</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00449"></a><span class="lineno"> 449</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span> <span class="comment"> } </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> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00462"></a><span class="lineno"> 462</span> <span class="comment"> if (mr->map().at("base")== ps2->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00467"></a><span class="lineno"> 467</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00468"></a><span class="lineno"> 468</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00469"></a><span class="lineno"> 469</span> <span class="comment"> if(std::regex_match(ps2->allowed_collision_matrix.entry_names[j], match, rx_box)){</span></div>
+<div class="line"><a name="l00470"></a><span class="lineno"> 470</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00471"></a><span class="lineno"> 471</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", ps2->allowed_collision_matrix.entry_names[j].c_str(), j);</span></div>
+<div class="line"><a name="l00472"></a><span class="lineno"> 472</span> <span class="comment"> for(int k = 0; k < ps2->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps2->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00475"></a><span class="lineno"> 475</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00478"></a><span class="lineno"> 478</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> <span class="comment"> }</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"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00482"></a><span class="lineno"> 482</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00483"></a><span class="lineno"> 483</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00484"></a><span class="lineno"> 484</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00485"></a><span class="lineno"> 485</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00486"></a><span class="lineno"> 486</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00488"></a><span class="lineno"> 488</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00489"></a><span class="lineno"> 489</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00490"></a><span class="lineno"> 490</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00491"></a><span class="lineno"> 491</span> <span class="comment"> if (mr->map().at("base")== ps2->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00492"></a><span class="lineno"> 492</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00493"></a><span class="lineno"> 493</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00494"></a><span class="lineno"> 494</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00496"></a><span class="lineno"> 496</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00498"></a><span class="lineno"> 498</span> <span class="comment"> if(std::regex_match(ps2->allowed_collision_matrix.entry_names[j], match, rx_table)){</span></div>
+<div class="line"><a name="l00499"></a><span class="lineno"> 499</span> <span class="comment"> In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00500"></a><span class="lineno"> 500</span> <span class="comment"> ROS_INFO("entry matches link %s at index %i", ps2->allowed_collision_matrix.entry_names[j], j);</span></div>
+<div class="line"><a name="l00501"></a><span class="lineno"> 501</span> <span class="comment"> for(int k = 0; k < ps2->allowed_collision_matrix.entry_values[j].enabled.size(); k++){</span></div>
+<div class="line"><a name="l00502"></a><span class="lineno"> 502</span> <span class="comment"> For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00503"></a><span class="lineno"> 503</span> <span class="comment"> int distance = std::distance(acm_.begin(),acm_.find(ps2->allowed_collision_matrix.entry_names[k])); </span></div>
+<div class="line"><a name="l00504"></a><span class="lineno"> 504</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00505"></a><span class="lineno"> 505</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</span></div>
+<div class="line"><a name="l00506"></a><span class="lineno"> 506</span> <span class="comment"> ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00507"></a><span class="lineno"> 507</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00508"></a><span class="lineno"> 508</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00509"></a><span class="lineno"> 509</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_box)){</span></div>
+<div class="line"><a name="l00511"></a><span class="lineno"> 511</span> <span class="comment"> ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00512"></a><span class="lineno"> 512</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00513"></a><span class="lineno"> 513</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00514"></a><span class="lineno"> 514</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00515"></a><span class="lineno"> 515</span> <span class="comment"> if (std::regex_match(ps2->allowed_collision_matrix.entry_names[k], match, rx_table)){</span></div>
+<div class="line"><a name="l00516"></a><span class="lineno"> 516</span> <span class="comment"> ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());</span></div>
+<div class="line"><a name="l00517"></a><span class="lineno"> 517</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00518"></a><span class="lineno"> 518</span> <span class="comment"> } </span></div>
+<div class="line"><a name="l00519"></a><span class="lineno"> 519</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> <span class="comment"> if (mr->map().at("base")== ps2->allowed_collision_matrix.entry_names[k]){</span></div>
+<div class="line"><a name="l00521"></a><span class="lineno"> 521</span> <span class="comment"> ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());</span></div>
+<div class="line"><a name="l00522"></a><span class="lineno"> 522</span> <span class="comment"> acm_.at(ps2->allowed_collision_matrix.entry_names[k])[distance] = ps2->allowed_collision_matrix.entry_values[j].enabled[k];</span></div>
+<div class="line"><a name="l00523"></a><span class="lineno"> 523</span> <span class="comment"> }</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> <span class="comment"> merge_ps(ps_m, ps2, mr);</span></div>
+<div class="line"><a name="l00528"></a><span class="lineno"> 528</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00529"></a><span class="lineno"> 529</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00530"></a><span class="lineno"> 530</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00531"></a><span class="lineno"> 531</span> <span class="comment"> for(int i = 0; i < th.size(); i++){</span></div>
+<div class="line"><a name="l00532"></a><span class="lineno"> 532</span> <span class="comment"> th[i].join();</span></div>
+<div class="line"><a name="l00533"></a><span class="lineno"> 533</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00534"></a><span class="lineno"> 534</span> <span class="comment"> merge_acm(ps_m);</span></div>
+<div class="line"><a name="l00535"></a><span class="lineno"> 535</span> <span class="comment"> planning_scene_diff_publisher_->publish(ps_m);</span></div>
+<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> <span class="comment"></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"> tasks[0].pop();</span></div>
+<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> <span class="comment"> tasks[1].pop();</span></div>
+<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00541"></a><span class="lineno"> 541</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> <span class="comment"> */</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"> 545</span>  std::regex item(<span class="stringliteral">"box_([0-9]+)"</span>);</div>
+<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  std::smatch match;</div>
+<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  ROS_INFO(<span class="stringliteral">"tasks %li"</span>, <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.size());</div>
+<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  </div>
+<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  <span class="keywordflow">while</span>(!<a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.empty()){</div>
+<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  ROS_INFO(<span class="stringliteral">"in tasks"</span>);</div>
+<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  std::vector<std::pair<std::string, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> q_ets;</div>
+<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>*r:<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>){</div>
+<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  ROS_INFO(<span class="stringliteral">"robot iteration"</span>);</div>
+<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  <span class="keyword">auto</span> itlow = <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.lower_bound (r->name()); <span class="comment">// itlow points to b</span></div>
+<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keyword">auto</span> itup = <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.upper_bound (r->name()); </div>
+<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> it=itlow; it!=itup; ++it){</div>
+<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  tf2::Vector3 b_start_position = (*it).second.first;</div>
+<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_co : <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->getObjects()){</div>
+<div class="line"><a name="l00559"></a><span class="lineno"> 559</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="l00560"></a><span class="lineno"> 560</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(b_start_position, 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="l00561"></a><span class="lineno"> 561</span>  q_ets.push_back(std::pair<std::string, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>(r->name(), (*it).second.second));</div>
+<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.erase(it);</div>
+<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  }</div>
+<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  }</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>  }</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>  ROS_INFO(<span class="stringliteral">"tasks %li"</span>, <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.size());</div>
+<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  ROS_INFO(<span class="stringliteral">"jobs %li"</span>, q_ets.size());</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="comment">// now execution should be possible, but with bocking</span></div>
+<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  std::vector<std::thread> th;</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="keywordflow">while</span>(!q_ets.empty()){</div>
+<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  moveit_msgs::PlanningScene ps_m;</div>
+<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  ps_m.is_diff = 0;</div>
+<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>*r:<a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>){</div>
+<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& s_qets : q_ets){</div>
+<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="keywordflow">if</span>(s_qets.first == r->name()){</div>
+<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="keywordflow">if</span>(!s_qets.second.front().solution.sub_trajectory.empty()){</div>
+<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  moveit_msgs::RobotTrajectory* rt = (!s_qets.second.front().solution.sub_trajectory.empty()) ? &s_qets.second.front().solution.sub_trajectory.front().trajectory : <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  moveit_msgs::PlanningScene* ps = (!s_qets.second.front().solution.sub_trajectory.empty()) ? &s_qets.second.front().solution.sub_trajectory.front().scene_diff : <span class="keyword">nullptr</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"> 585</span>  <span class="keywordflow">if</span> (rt){</div>
+<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(r);</div>
+<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  <span class="comment">// mr->mgi()->execute(*rt);</span></div>
+<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  th.push_back(std::thread(&<a class="code" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">Moveit_mediator::parallel_exec</a>, <span class="keyword">this</span>, std::ref(*mr), *rt, *ps));</div>
+<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  </div>
+<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  <span class="comment">// First find ID from panda to start with</span></div>
+<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  std::regex rx_panda(<span class="stringliteral">"panda_arm([0-9]+)"</span>);</div>
+<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  std::smatch match;</div>
+<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  std::regex_match(mr-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>(), match, rx_panda);</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="comment">// build panda link regex</span></div>
+<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  ss << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_.*"</span>;</div>
+<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  std::regex rx_panda_links(ss.str());</div>
+<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  std::regex rx_box(<span class="stringliteral">"box.*"</span>);</div>
+<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  std::regex rx_table(<span class="stringliteral">"table.*"</span>);</div>
+<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  </div>
+<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="keywordflow">if</span>(ps){</div>
+<div class="line"><a name="l00603"></a><span class="lineno"> 603</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="l00604"></a><span class="lineno"> 604</span>  <span class="keywordflow">if</span>( mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"base"</span>) == ps->allowed_collision_matrix.entry_names[j]){</div>
+<div class="line"><a name="l00605"></a><span class="lineno"> 605</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="l00606"></a><span class="lineno"> 606</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.begin(),<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.find(ps->allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00607"></a><span class="lineno"> 607</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="l00608"></a><span class="lineno"> 608</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  }</div>
+<div class="line"><a name="l00610"></a><span class="lineno"> 610</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="l00611"></a><span class="lineno"> 611</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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">if</span> (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  } </div>
+<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <span class="keywordflow">if</span> (mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"base"</span>)== ps->allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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>  }</div>
+<div class="line"><a name="l00620"></a><span class="lineno"> 620</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="keywordflow">if</span>(std::regex_match(ps->allowed_collision_matrix.entry_names[j], match, rx_panda_links)){</div>
+<div class="line"><a name="l00623"></a><span class="lineno"> 623</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="l00624"></a><span class="lineno"> 624</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.begin(),<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.find(ps->allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00625"></a><span class="lineno"> 625</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="l00626"></a><span class="lineno"> 626</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  }</div>
+<div class="line"><a name="l00628"></a><span class="lineno"> 628</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="l00629"></a><span class="lineno"> 629</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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">if</span> (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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>  <span class="keywordflow">if</span> (mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"base"</span>)== ps->allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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>  }</div>
+<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  </div>
+<div class="line"><a name="l00640"></a><span class="lineno"> 640</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="l00641"></a><span class="lineno"> 641</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="l00642"></a><span class="lineno"> 642</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.begin(),<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.find(ps->allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00643"></a><span class="lineno"> 643</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="l00644"></a><span class="lineno"> 644</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  }</div>
+<div class="line"><a name="l00646"></a><span class="lineno"> 646</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="l00647"></a><span class="lineno"> 647</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  } </div>
+<div class="line"><a name="l00649"></a><span class="lineno"> 649</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="l00650"></a><span class="lineno"> 650</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  } </div>
+<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="keywordflow">if</span> (mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"base"</span>)== ps->allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  }</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>  }</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="keywordflow">if</span>(std::regex_match(ps->allowed_collision_matrix.entry_names[j], match, rx_table)){</div>
+<div class="line"><a name="l00659"></a><span class="lineno"> 659</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="l00660"></a><span class="lineno"> 660</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.begin(),<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.find(ps->allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00661"></a><span class="lineno"> 661</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="l00662"></a><span class="lineno"> 662</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  }</div>
+<div class="line"><a name="l00664"></a><span class="lineno"> 664</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="l00665"></a><span class="lineno"> 665</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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>  <span class="keywordflow">if</span> (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  } </div>
+<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <span class="keywordflow">if</span> (mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>().at(<span class="stringliteral">"base"</span>)== ps->allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];</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>  }</div>
+<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  }</div>
+<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <a class="code" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">merge_ps</a>(ps_m, ps, mr);</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>  s_qets.second.front().solution.sub_trajectory.erase(s_qets.second.front().solution.sub_trajectory.begin());</div>
+<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  }</div>
+<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  } <span class="keywordflow">else</span> {s_qets.second.pop();}; </div>
+<div class="line"><a name="l00681"></a><span class="lineno"> 681</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>  }</div>
+<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < th.size(); i++){</div>
+<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <span class="keywordflow">if</span>(th[i].joinable()) th[i].join();</div>
+<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  }</div>
+<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <a class="code" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">merge_acm</a>(ps_m);</div>
+<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  <span class="keywordflow">if</span>(ps_m.is_diff) <a class="code" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">planning_scene_diff_publisher_</a>->publish(ps_m);</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>  </div>
+<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  }</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>  </div>
+<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  </div>
+<div class="line"><a name="l00696"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6"> 696</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">Moveit_mediator::task_planner</a>(){</div>
+<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  <span class="comment">/* There are 2 ways to interprete a Task </span></div>
+<div class="line"><a name="l00698"></a><span class="lineno"> 698</span> <span class="comment"> 1. A box position in acm is also the first entry in task, </span></div>
+<div class="line"><a name="l00699"></a><span class="lineno"> 699</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="l00700"></a><span class="lineno"> 700</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  <span class="keyword">auto</span> jq = <a class="code" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">job_reader_</a>->robot_data();</div>
+<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  <span class="keyword">auto</span> cd = <a class="code" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">cuboid_reader_</a>->cuboid_bin();</div>
+<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  </div>
+<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  <span class="comment">//std::vector<std::string> objs = {"bottle1", "bottle2"};</span></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>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div>
+<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  ss << <span class="stringliteral">"box_"</span> << i;</div>
+<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  </div>
+<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  moveit_msgs::CollisionObject item;</div>
+<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  item.id = ss.str();</div>
+<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  item.header.stamp = ros::Time::now();</div>
+<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  item.primitives.resize(1);</div>
+<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  item.primitives[0].type = item.primitives[0].BOX;</div>
+<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  item.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div>
+<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div>
+<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</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>  item.primitive_poses.resize(1);</div>
+<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  item.primitive_poses[0].position.x = cd[i].Pose.position.x;</div>
+<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  item.primitive_poses[0].position.y = cd[i].Pose.position.y;</div>
+<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  item.primitive_poses[0].position.z = cd[i].Pose.position.z;</div>
+<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  item.primitive_poses[0].orientation.x = cd[i].Pose.orientation.x;</div>
+<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  item.primitive_poses[0].orientation.y = cd[i].Pose.orientation.y;</div>
+<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  item.primitive_poses[0].orientation.z = cd[i].Pose.orientation.z;</div>
+<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  item.primitive_poses[0].orientation.w = cd[i].Pose.orientation.w;</div>
+<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  item.operation = item.ADD;</div>
+<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  </div>
+<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->applyCollisionObject(item);</div>
+<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(item.id, std::vector<uint8_t>()));</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">// Could also safe id's somewhere</span></div>
+<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  }</div>
+<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  </div>
+<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  std::regex item(<span class="stringliteral">"box_([0-9]+)"</span>);</div>
+<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  std::smatch match;</div>
+<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  </div>
+<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  <span class="comment">// circular buffer is job-q</span></div>
+<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  <span class="keywordflow">while</span>(!jq.empty()){</div>
+<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_co : <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->getObjects()){</div>
+<div class="line"><a name="l00743"></a><span class="lineno"> 743</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="l00744"></a><span class="lineno"> 744</span>  std::pair<std::string, job_data> temp = jq.front();</div>
+<div class="line"><a name="l00745"></a><span class="lineno"> 745</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="l00746"></a><span class="lineno"> 746</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="l00747"></a><span class="lineno"> 747</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="l00748"></a><span class="lineno"> 748</span>  std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> tasks_per_robot;</div>
+<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  <span class="comment">// get rob by name</span></div>
+<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr;</div>
+<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>* r: <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>) <span class="keywordflow">if</span> (r->name() == temp.first) mr = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(r);</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="comment">// loop jobs</span></div>
+<div class="line"><a name="l00754"></a><span class="lineno"> 754</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="l00755"></a><span class="lineno"> 755</span>  moveit::task_constructor::Task mgt = <a class="code" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">create_Task</a>(mr, <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->getObjects().at(s_co.first), temp.second.jobs_[k]);</div>
+<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  <span class="keywordflow">if</span>(mgt.plan(1)) {</div>
+<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;</div>
+<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  mgt.solutions().front()->fillMessage(e.solution, &mgt.introspection());</div>
+<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  tasks_per_robot.push(e);</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>  moveit_msgs::CollisionObject temp_co = <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->getObjects().at(s_co.first);</div>
+<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  temp_co.operation = temp_co.MOVE;</div>
+<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  temp_co.pose.position.x = temp.second.jobs_[k].getOrigin().getX();</div>
+<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  temp_co.pose.position.y = temp.second.jobs_[k].getOrigin().getY();</div>
+<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  temp_co.pose.position.z = temp.second.jobs_[k].getOrigin().getZ();</div>
+<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  temp_co.pose.orientation.x = temp.second.jobs_[k].getRotation().getX();</div>
+<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  temp_co.pose.orientation.y = temp.second.jobs_[k].getRotation().getY();</div>
+<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  temp_co.pose.orientation.z = temp.second.jobs_[k].getRotation().getZ();</div>
+<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  temp_co.pose.orientation.w = temp.second.jobs_[k].getRotation().getW();</div>
+<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->applyCollisionObject(temp_co);</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>  std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>> pair(temp.second.jobs_.front().getOrigin(), tasks_per_robot);</div>
+<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>.insert(std::pair<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>(mr-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>(), pair));</div>
+<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  jq.pop_front();</div>
+<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  } <span class="keywordflow">else</span> {jq.push_back(temp);}</div>
+<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  }</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>  </div>
+<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  <span class="comment">// clean up</span></div>
+<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div>
+<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  ss << <span class="stringliteral">"box_"</span> << i;</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>  moveit_msgs::CollisionObject item;</div>
+<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  item.id = ss.str();</div>
+<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  item.header.stamp = ros::Time::now();</div>
+<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  item.primitives.resize(1);</div>
+<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  item.primitives[0].type = item.primitives[0].BOX;</div>
+<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  item.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div>
+<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div>
+<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</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>  item.pose.position.x = cd[i].Pose.position.x;</div>
+<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  item.pose.position.y = cd[i].Pose.position.y;</div>
+<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  item.pose.position.z = cd[i].Pose.position.z;</div>
+<div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div>
+<div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div>
+<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div>
+<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div>
+<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  item.operation = item.MOVE;</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>  <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>->applyCollisionObject(item);</div>
+<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  <span class="comment">// Could also safe id's somewhere</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> }</div>
+<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  </div>
+<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  </div>
+<div class="line"><a name="l00812"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4"> 812</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">Moveit_mediator::merge_acm</a>(moveit_msgs::PlanningScene& ps_m){</div>
+<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  moveit_msgs::PlanningScene::_allowed_collision_matrix_type acmt;</div>
+<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  acmt.entry_values.resize(<a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>.size());</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="keywordtype">int</span> i = 0;</div>
+<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& a : <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>){</div>
+<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  acmt.entry_names.push_back(a.first);</div>
+<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  acmt.entry_values[i].enabled = a.second;</div>
+<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>  i++;</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>  </div>
+<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  ps_m.allowed_collision_matrix = acmt;</div>
+<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  ROS_INFO(<span class="stringliteral">"broken after merge"</span>);</div>
+<div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  </div>
+<div class="line"><a name="l00826"></a><span class="lineno"> 826</span> }</div>
+<div class="line"><a name="l00827"></a><span class="lineno"> 827</span>  </div>
+<div class="line"><a name="l00828"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417"> 828</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">Moveit_mediator::merge_ps</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene* in, <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr){</div>
+<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  <span class="comment">// get full mr link list </span></div>
+<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  std::vector<std::string> links;</div>
+<div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : mr-><a class="code" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a>()->getLinkNames())links.push_back(link);</div>
+<div class="line"><a name="l00832"></a><span class="lineno"> 832</span>  links.push_back(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"left_finger"</span>]);</div>
+<div class="line"><a name="l00833"></a><span class="lineno"> 833</span>  links.push_back(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"right_finger"</span>]);</div>
+<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  links.push_back(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_link"</span>]);</div>
+<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  links.push_back(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"base"</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>  </div>
+<div class="line"><a name="l00838"></a><span class="lineno"> 838</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="l00839"></a><span class="lineno"> 839</span>  <span class="keywordflow">if</span> (in->robot_state.is_diff) out.robot_state.is_diff = in->robot_state.is_diff;</div>
+<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  <span class="keywordflow">if</span> (in->is_diff) out.is_diff = in->is_diff;</div>
+<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  out.robot_state.joint_state.header = in->robot_state.joint_state.header;</div>
+<div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  out.robot_model_name = <span class="stringliteral">"panda"</span>;</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="keywordflow">for</span> (<span class="keyword">auto</span> link : links) {</div>
+<div class="line"><a name="l00847"></a><span class="lineno"> 847</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="l00848"></a><span class="lineno"> 848</span>  <span class="keywordflow">if</span>(link.c_str() == in->robot_state.joint_state.name[i].c_str()){</div>
+<div class="line"><a name="l00849"></a><span class="lineno"> 849</span>  out.robot_state.joint_state.effort.push_back(in->robot_state.joint_state.effort[i]);</div>
+<div class="line"><a name="l00850"></a><span class="lineno"> 850</span>  out.robot_state.joint_state.position.push_back(in->robot_state.joint_state.position[i]);</div>
+<div class="line"><a name="l00851"></a><span class="lineno"> 851</span>  out.robot_state.joint_state.velocity.push_back(in->robot_state.joint_state.velocity[i]);</div>
+<div class="line"><a name="l00852"></a><span class="lineno"> 852</span>  ROS_INFO(<span class="stringliteral">"check"</span>);</div>
+<div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  }</div>
+<div class="line"><a name="l00854"></a><span class="lineno"> 854</span>  }</div>
+<div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  </div>
+<div class="line"><a name="l00856"></a><span class="lineno"> 856</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="l00857"></a><span class="lineno"> 857</span>  <span class="keywordflow">if</span>(link.c_str() == in->link_padding[i].link_name.c_str()){</div>
+<div class="line"><a name="l00858"></a><span class="lineno"> 858</span>  out.link_padding.push_back(in->link_padding[i]);</div>
+<div class="line"><a name="l00859"></a><span class="lineno"> 859</span>  }</div>
+<div class="line"><a name="l00860"></a><span class="lineno"> 860</span>  }</div>
+<div class="line"><a name="l00861"></a><span class="lineno"> 861</span>  </div>
+<div class="line"><a name="l00862"></a><span class="lineno"> 862</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="l00863"></a><span class="lineno"> 863</span>  <span class="keywordflow">if</span>(link.c_str() == in->link_scale[i].link_name.c_str()){</div>
+<div class="line"><a name="l00864"></a><span class="lineno"> 864</span>  out.link_scale.push_back(in->link_scale[i]);</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>  </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>  </div>
+<div class="line"><a name="l00871"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3"> 871</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">Moveit_mediator::parallel_exec</a>(<a class="code" href="classMoveit__robot.html">Moveit_robot</a>& mr, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps){</div>
+<div class="line"><a name="l00872"></a><span class="lineno"> 872</span>  mr.<a class="code" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a>()->execute(rt);</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>  </div>
+<div class="line"><a name="l00876"></a><span class="lineno"> 876</span>  </div>
+<div class="line"><a name="l00877"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5"> 877</a></span> moveit::task_constructor::Task <a class="code" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator::create_Task</a>(<a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr, moveit_msgs::CollisionObject& source, tf2::Transform& target){</div>
+<div class="line"><a name="l00878"></a><span class="lineno"> 878</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="l00879"></a><span class="lineno"> 879</span>  std::string support_surface1 = <span class="stringliteral">"nichts"</span>;</div>
+<div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  std::string support_surface2 = <span class="stringliteral">"nichts"</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="keywordflow">for</span> (<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* ar : <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>){</div>
+<div class="line"><a name="l00884"></a><span class="lineno"> 884</span>  std::string str;</div>
+<div class="line"><a name="l00885"></a><span class="lineno"> 885</span>  <span class="keywordflow">if</span>(ar->check_single_object_collision(t, str)) support_surface1 = str;</div>
+<div class="line"><a name="l00886"></a><span class="lineno"> 886</span>  <span class="keywordflow">if</span>(ar->check_single_object_collision(target, str)) support_surface2= str;</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>  ROS_INFO(<span class="stringliteral">"ss1 %s"</span>, support_surface1.c_str());</div>
+<div class="line"><a name="l00890"></a><span class="lineno"> 890</span>  ROS_INFO(<span class="stringliteral">"ss2 %s"</span>, support_surface2.c_str());</div>
+<div class="line"><a name="l00891"></a><span class="lineno"> 891</span>  </div>
+<div class="line"><a name="l00892"></a><span class="lineno"> 892</span>  </div>
+<div class="line"><a name="l00893"></a><span class="lineno"> 893</span>  <span class="keyword">const</span> std::string <span class="keywordtype">object</span> = source.id;</div>
+<div class="line"><a name="l00894"></a><span class="lineno"> 894</span>  moveit::task_constructor::Task task_;</div>
+<div class="line"><a name="l00895"></a><span class="lineno"> 895</span>  </div>
+<div class="line"><a name="l00896"></a><span class="lineno"> 896</span>  std::string name = <span class="stringliteral">"Pick&Place"</span>;</div>
+<div class="line"><a name="l00897"></a><span class="lineno"> 897</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="l00898"></a><span class="lineno"> 898</span>  task_.loadRobotModel();</div>
+<div class="line"><a name="l00899"></a><span class="lineno"> 899</span>  task_.setRobotModel(mr-><a class="code" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a>()->getRobotModel());</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>  <span class="comment">// Set task properties</span></div>
+<div class="line"><a name="l00902"></a><span class="lineno"> 902</span>  task_.setProperty(<span class="stringliteral">"group"</span>, mr-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>());</div>
+<div class="line"><a name="l00903"></a><span class="lineno"> 903</span>  task_.setProperty(<span class="stringliteral">"eef"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00904"></a><span class="lineno"> 904</span>  task_.setProperty(<span class="stringliteral">"hand"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_group_name"</span>]);</div>
+<div class="line"><a name="l00905"></a><span class="lineno"> 905</span>  task_.setProperty(<span class="stringliteral">"hand_grasping_frame"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00906"></a><span class="lineno"> 906</span>  task_.setProperty(<span class="stringliteral">"ik_frame"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</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>  moveit::task_constructor::Stage* current_state_ptr = <span class="keyword">nullptr</span>; </div>
+<div class="line"><a name="l00909"></a><span class="lineno"> 909</span>  {</div>
+<div class="line"><a name="l00910"></a><span class="lineno"> 910</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="l00911"></a><span class="lineno"> 911</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="l00912"></a><span class="lineno"> 912</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="l00913"></a><span class="lineno"> 913</span>  <span class="keywordflow">if</span> (s.start()->scene()->getCurrentState().hasAttachedBody(<span class="keywordtype">object</span>)) {</div>
+<div class="line"><a name="l00914"></a><span class="lineno"> 914</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="l00915"></a><span class="lineno"> 915</span>  return false;</div>
+<div class="line"><a name="l00916"></a><span class="lineno"> 916</span>  }</div>
+<div class="line"><a name="l00917"></a><span class="lineno"> 917</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</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>  current_state_ptr = applicability_filter.get();</div>
+<div class="line"><a name="l00921"></a><span class="lineno"> 921</span>  task_.add(std::move(applicability_filter));</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>  { <span class="comment">// Open Hand</span></div>
+<div class="line"><a name="l00925"></a><span class="lineno"> 925</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="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>);</div>
+<div class="line"><a name="l00926"></a><span class="lineno"> 926</span>  stage->setGroup(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00927"></a><span class="lineno"> 927</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div>
+<div class="line"><a name="l00928"></a><span class="lineno"> 928</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l00929"></a><span class="lineno"> 929</span>  }</div>
+<div class="line"><a name="l00930"></a><span class="lineno"> 930</span>  </div>
+<div class="line"><a name="l00931"></a><span class="lineno"> 931</span>  { <span class="comment">// Move-to pre-grasp</span></div>
+<div class="line"><a name="l00932"></a><span class="lineno"> 932</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::Connect>(</div>
+<div class="line"><a name="l00933"></a><span class="lineno"> 933</span>  <span class="stringliteral">"move to pick"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>(), <a class="code" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>} });</div>
+<div class="line"><a name="l00934"></a><span class="lineno"> 934</span>  stage->setTimeout(5.0);</div>
+<div class="line"><a name="l00935"></a><span class="lineno"> 935</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div>
+<div class="line"><a name="l00936"></a><span class="lineno"> 936</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l00937"></a><span class="lineno"> 937</span>  }</div>
+<div class="line"><a name="l00938"></a><span class="lineno"> 938</span>  </div>
+<div class="line"><a name="l00939"></a><span class="lineno"> 939</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="l00940"></a><span class="lineno"> 940</span>  {</div>
+<div class="line"><a name="l00941"></a><span class="lineno"> 941</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="l00942"></a><span class="lineno"> 942</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="l00943"></a><span class="lineno"> 943</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="l00944"></a><span class="lineno"> 944</span>  </div>
+<div class="line"><a name="l00945"></a><span class="lineno"> 945</span>  </div>
+<div class="line"><a name="l00946"></a><span class="lineno"> 946</span>  { <span class="comment">// Approach Obj</span></div>
+<div class="line"><a name="l00947"></a><span class="lineno"> 947</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="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>);</div>
+<div class="line"><a name="l00948"></a><span class="lineno"> 948</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"approach_object"</span>);</div>
+<div class="line"><a name="l00949"></a><span class="lineno"> 949</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00950"></a><span class="lineno"> 950</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00951"></a><span class="lineno"> 951</span>  stage->setMinMaxDistance(0.07, 0.2);</div>
+<div class="line"><a name="l00952"></a><span class="lineno"> 952</span>  </div>
+<div class="line"><a name="l00953"></a><span class="lineno"> 953</span>  <span class="comment">// Set hand forward direction</span></div>
+<div class="line"><a name="l00954"></a><span class="lineno"> 954</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l00955"></a><span class="lineno"> 955</span>  vec.header.frame_id = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>];</div>
+<div class="line"><a name="l00956"></a><span class="lineno"> 956</span>  vec.vector.z = 1.0;</div>
+<div class="line"><a name="l00957"></a><span class="lineno"> 957</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l00958"></a><span class="lineno"> 958</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00959"></a><span class="lineno"> 959</span>  }</div>
+<div class="line"><a name="l00960"></a><span class="lineno"> 960</span>  </div>
+<div class="line"><a name="l00961"></a><span class="lineno"> 961</span>  {</div>
+<div class="line"><a name="l00962"></a><span class="lineno"> 962</span>  <span class="comment">// Sample grasp pose</span></div>
+<div class="line"><a name="l00963"></a><span class="lineno"> 963</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="l00964"></a><span class="lineno"> 964</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div>
+<div class="line"><a name="l00965"></a><span class="lineno"> 965</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"grasp_pose"</span>);</div>
+<div class="line"><a name="l00966"></a><span class="lineno"> 966</span>  stage->setPreGraspPose(<span class="stringliteral">"open"</span>);</div>
+<div class="line"><a name="l00967"></a><span class="lineno"> 967</span>  stage->setObject(<span class="keywordtype">object</span>);</div>
+<div class="line"><a name="l00968"></a><span class="lineno"> 968</span>  stage->setAngleDelta(M_PI / 12);</div>
+<div class="line"><a name="l00969"></a><span class="lineno"> 969</span>  stage->setMonitoredStage(current_state_ptr); <span class="comment">// Hook into current state</span></div>
+<div class="line"><a name="l00970"></a><span class="lineno"> 970</span>  </div>
+<div class="line"><a name="l00971"></a><span class="lineno"> 971</span>  <span class="comment">// Compute IK</span></div>
+<div class="line"><a name="l00972"></a><span class="lineno"> 972</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div>
+<div class="line"><a name="l00973"></a><span class="lineno"> 973</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div>
+<div class="line"><a name="l00974"></a><span class="lineno"> 974</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div>
+<div class="line"><a name="l00975"></a><span class="lineno"> 975</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div>
+<div class="line"><a name="l00976"></a><span class="lineno"> 976</span>  Eigen::Isometry3d ik = eigen * trans;</div>
+<div class="line"><a name="l00977"></a><span class="lineno"> 977</span>  </div>
+<div class="line"><a name="l00978"></a><span class="lineno"> 978</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="l00979"></a><span class="lineno"> 979</span>  wrapper->setMaxIKSolutions(8);</div>
+<div class="line"><a name="l00980"></a><span class="lineno"> 980</span>  wrapper->setMinSolutionDistance(1.0);</div>
+<div class="line"><a name="l00981"></a><span class="lineno"> 981</span>  wrapper->setIKFrame(ik, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00982"></a><span class="lineno"> 982</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="l00983"></a><span class="lineno"> 983</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div>
+<div class="line"><a name="l00984"></a><span class="lineno"> 984</span>  grasp->insert(std::move(wrapper));</div>
+<div class="line"><a name="l00985"></a><span class="lineno"> 985</span>  }</div>
+<div class="line"><a name="l00986"></a><span class="lineno"> 986</span>  </div>
+<div class="line"><a name="l00987"></a><span class="lineno"> 987</span>  {</div>
+<div class="line"><a name="l00988"></a><span class="lineno"> 988</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="l00989"></a><span class="lineno"> 989</span>  stage->allowCollisions(</div>
+<div class="line"><a name="l00990"></a><span class="lineno"> 990</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div>
+<div class="line"><a name="l00991"></a><span class="lineno"> 991</span>  <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00992"></a><span class="lineno"> 992</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00993"></a><span class="lineno"> 993</span>  }</div>
+<div class="line"><a name="l00994"></a><span class="lineno"> 994</span>  </div>
+<div class="line"><a name="l00995"></a><span class="lineno"> 995</span>  {</div>
+<div class="line"><a name="l00996"></a><span class="lineno"> 996</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="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>);</div>
+<div class="line"><a name="l00997"></a><span class="lineno"> 997</span>  stage->setGroup(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00998"></a><span class="lineno"> 998</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div>
+<div class="line"><a name="l00999"></a><span class="lineno"> 999</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>  }</div>
+<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>  </div>
+<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>  { <span class="comment">// Attach obj</span></div>
+<div class="line"><a name="l01003"></a><span class="lineno"> 1003</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="l01004"></a><span class="lineno"> 1004</span>  stage->attachObject(<span class="keywordtype">object</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>  attach_object_stage = stage.get();</div>
+<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>  }</div>
+<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>  </div>
+<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>  { <span class="comment">// Allow Collision obj table</span></div>
+<div class="line"><a name="l01010"></a><span class="lineno"> 1010</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="l01011"></a><span class="lineno"> 1011</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>  }</div>
+<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>  </div>
+<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>  {</div>
+<div class="line"><a name="l01016"></a><span class="lineno"> 1016</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="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>);</div>
+<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>  stage->setMinMaxDistance(0.1, 0.2);</div>
+<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>  stage->setIKFrame(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lift_object"</span>);</div>
+<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>  </div>
+<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>  <span class="comment">// Set upward direction</span></div>
+<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>  vec.vector.z = 1.0;</div>
+<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>  }</div>
+<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>  </div>
+<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>  { <span class="comment">// forbid collision</span></div>
+<div class="line"><a name="l01031"></a><span class="lineno"> 1031</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="l01032"></a><span class="lineno"> 1032</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">false</span>);</div>
+<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>  }</div>
+<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>  </div>
+<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>  <span class="comment">// Add grasp container to task</span></div>
+<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>  task_.add(std::move(grasp));</div>
+<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>  }</div>
+<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>  </div>
+<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>  {</div>
+<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::Connect>(</div>
+<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>  <span class="stringliteral">"move to place"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>(), <a class="code" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a> } });</div>
+<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>  stage->setTimeout(5.0);</div>
+<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div>
+<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>  }</div>
+<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>  </div>
+<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>  {</div>
+<div class="line"><a name="l01049"></a><span class="lineno"> 1049</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="l01050"></a><span class="lineno"> 1050</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="l01051"></a><span class="lineno"> 1051</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="l01052"></a><span class="lineno"> 1052</span>  </div>
+<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>  {</div>
+<div class="line"><a name="l01054"></a><span class="lineno"> 1054</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="l01055"></a><span class="lineno"> 1055</span>  stage->allowCollisions( {<span class="keywordtype">object</span>} , support_surface2, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>  }</div>
+<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>  </div>
+<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>  </div>
+<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>  {</div>
+<div class="line"><a name="l01061"></a><span class="lineno"> 1061</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="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>);</div>
+<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lower_object"</span>);</div>
+<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>  stage->setMinMaxDistance(.03, .13);</div>
+<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>  </div>
+<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>  <span class="comment">// Set downward direction</span></div>
+<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>  vec.vector.z = -1.0;</div>
+<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>  }</div>
+<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>  </div>
+<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>  {</div>
+<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>  <span class="comment">// Generate Place Pose</span></div>
+<div class="line"><a name="l01077"></a><span class="lineno"> 1077</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="l01078"></a><span class="lineno"> 1078</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"ik_frame"</span> });</div>
+<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"place_pose"</span>);</div>
+<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>  stage->setObject(<span class="keywordtype">object</span>);</div>
+<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>  </div>
+<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>  <span class="comment">// Set target pose</span></div>
+<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>  geometry_msgs::PoseStamped p;</div>
+<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>  p.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>  p.pose.position.x = target.getOrigin().getX();</div>
+<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>  p.pose.position.y = target.getOrigin().getY();</div>
+<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>  p.pose.position.z = target.getOrigin().getZ();</div>
+<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>  p.pose.orientation.x = target.getRotation().getX();</div>
+<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>  p.pose.orientation.y = target.getRotation().getY();</div>
+<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>  p.pose.orientation.z = target.getRotation().getZ();</div>
+<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>  p.pose.orientation.w = target.getRotation().getW();</div>
+<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>  </div>
+<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>  </div>
+<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>  </div>
+<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>  stage->setPose(p);</div>
+<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>  stage->setMonitoredStage(attach_object_stage); <span class="comment">// Hook into attach_object_stage</span></div>
+<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>  </div>
+<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>  <span class="comment">// Compute IK</span></div>
+<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div>
+<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div>
+<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div>
+<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div>
+<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>  Eigen::Isometry3d ik = eigen * trans;</div>
+<div class="line"><a name="l01104"></a><span class="lineno"> 1104</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="l01105"></a><span class="lineno"> 1105</span>  wrapper->setMaxIKSolutions(2);</div>
+<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>  wrapper->setIKFrame(ik, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l01107"></a><span class="lineno"> 1107</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="l01108"></a><span class="lineno"> 1108</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div>
+<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>  place->insert(std::move(wrapper));</div>
+<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>  }</div>
+<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>  </div>
+<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>  {</div>
+<div class="line"><a name="l01113"></a><span class="lineno"> 1113</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="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>);</div>
+<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>  stage->setGroup(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div>
+<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>  }</div>
+<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>  </div>
+<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>  {</div>
+<div class="line"><a name="l01120"></a><span class="lineno"> 1120</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="l01121"></a><span class="lineno"> 1121</span>  stage->allowCollisions(</div>
+<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div>
+<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>  <span class="keyword">false</span>);</div>
+<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>  }</div>
+<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>  </div>
+<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>  {</div>
+<div class="line"><a name="l01128"></a><span class="lineno"> 1128</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="l01129"></a><span class="lineno"> 1129</span>  stage->detachObject(<span class="keywordtype">object</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>  }</div>
+<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>  </div>
+<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>  {</div>
+<div class="line"><a name="l01134"></a><span class="lineno"> 1134</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="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>);</div>
+<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>  stage->setMinMaxDistance(.1, .2);</div>
+<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>  stage->setIKFrame(mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"retreat"</span>);</div>
+<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>  vec.header.frame_id = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_frame"</span>];</div>
+<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>  vec.vector.z = -1.0;</div>
+<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>  }</div>
+<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>  </div>
+<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>  <span class="comment">// Add place container to task</span></div>
+<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>  task_.add(std::move(place));</div>
+<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>  }</div>
+<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>  </div>
+<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>  {</div>
+<div class="line"><a name="l01151"></a><span class="lineno"> 1151</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="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>);</div>
+<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>  stage->setGoal(<span class="stringliteral">"ready"</span>);</div>
+<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>  stage->restrictDirection(moveit::task_constructor::stages::MoveTo::FORWARD);</div>
+<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>  }</div>
+<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>  </div>
+<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>  <span class="keywordflow">return</span> task_;</div>
+<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span> }</div>
+<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>  </div>
+<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>  </div>
+<div class="line"><a name="l01162"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c"> 1162</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator::rewrite_task_template</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* r, moveit_msgs::CollisionObject& source, tf2::Transform& target){</div>
+<div class="line"><a name="l01163"></a><span class="lineno"> 1163</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="l01164"></a><span class="lineno"> 1164</span>  <span class="comment">// unique ids cartesian, samplimg, interpolation, ready, hand_open, pick_up</span></div>
+<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>  </div>
+<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>  std::string support_surface1 = <span class="stringliteral">"nichts"</span>;</div>
+<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>  std::string support_surface2 = <span class="stringliteral">"nichts"</span>;</div>
+<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>  </div>
+<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>  XmlRpc::XmlRpcValue task;</div>
+<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->getParam(<span class="stringliteral">"task/stages"</span>, task);</div>
+<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>  </div>
+<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>  </div>
+<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>  </div>
+<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* ar : <a class="code" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">robots_</a>){</div>
+<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>  std::string str;</div>
+<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>  <span class="keywordflow">if</span>(ar->check_single_object_collision(t, str)) support_surface1 = str;</div>
+<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>  <span class="keywordflow">if</span>(ar->check_single_object_collision(target, str)) support_surface2= str;</div>
+<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>  }</div>
+<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>  </div>
+<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>  <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveit__robot.html">Moveit_robot</a>*<span class="keyword">></span>(r);</div>
+<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>  </div>
+<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>  ROS_INFO(<span class="stringliteral">"%f %f %f source"</span>, t.getOrigin().getX(), t.getOrigin().getY(), t.getOrigin().getZ());</div>
+<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>  </div>
+<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>  ROS_INFO(<span class="stringliteral">"surface1 %s"</span>, support_surface1.c_str());</div>
+<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>  ROS_INFO(<span class="stringliteral">"surface2 %s"</span>, support_surface2.c_str());</div>
+<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>  </div>
+<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>  </div>
+<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/task/properties/group"</span>, r-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>());</div>
+<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/task/properties/eef"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"eef"</span>]);</div>
+<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/task/properties/hand_grasping_frame"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand_grasping_frame"</span>]);</div>
+<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/task/properties/ik_frame"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>]);</div>
+<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"/task/properties/hand"</span>, mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand"</span>]);</div>
+<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>  </div>
+<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>  XmlRpc::XmlRpcValue a, b, c, d, e, h;</div>
+<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>  a[<span class="stringliteral">"group"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand"</span>];</div>
+<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>  e[<span class="stringliteral">"joint_model_group_name"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"hand"</span>];</div>
+<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>  </div>
+<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>  b = task[4][<span class="stringliteral">"stages"</span>];</div>
+<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>  b[1][<span class="stringliteral">"stage"</span>][<span class="stringliteral">"properties"</span>][<span class="stringliteral">"object"</span>] = source.id;</div>
+<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>  b[3][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>  b[2][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>] = source.id;</div>
+<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>  b[2][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>] = e;</div>
+<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>  </div>
+<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>  c = task[6][<span class="stringliteral">"stages"</span>];</div>
+<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>  </div>
+<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>  c[0][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>] = source.id;</div>
+<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>  c[0][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>] = support_surface2;</div>
+<div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>  c[3][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>  c[6][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>  c[4][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>] = source.id;</div>
+<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>  c[4][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>] = e;</div>
+<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>  </div>
+<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>  c[2][<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"pose"</span>][<span class="stringliteral">"point"</span>][<span class="stringliteral">"x"</span>]= <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(target.getOrigin().getX());</div>
+<div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>  c[2][<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"pose"</span>][<span class="stringliteral">"point"</span>][<span class="stringliteral">"y"</span>]= <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(target.getOrigin().getY());</div>
+<div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>  c[2][<span class="stringliteral">"stage"</span>][<span class="stringliteral">"set"</span>][<span class="stringliteral">"pose"</span>][<span class="stringliteral">"point"</span>][<span class="stringliteral">"z"</span>]= <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(target.getOrigin().getZ());</div>
+<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>  </div>
+<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>  </div>
+<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>  task[2][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>  </div>
+<div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>  XmlRpc::XmlRpcValue connect, f, g;</div>
+<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>  f[r-><a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()] = <span class="stringliteral">"sampling"</span>;</div>
+<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>  g[<span class="stringliteral">"source"</span>] = <span class="stringliteral">"PARENT"</span>;</div>
+<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>  connect[<span class="stringliteral">"type"</span>] = <span class="stringliteral">"Connect"</span>;</div>
+<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>  connect[<span class="stringliteral">"group_planner_vector"</span>] = f;</div>
+<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>  connect[<span class="stringliteral">"propertiesConfigureInitFrom"</span>] = g;</div>
+<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>  task[5] = connect;</div>
+<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>  task[3] = connect;</div>
+<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>  </div>
+<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>  a.clear();</div>
+<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>  e.clear();</div>
+<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>  a[<span class="stringliteral">"link"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>  a[<span class="stringliteral">"min_distance"</span>] = 0.07;</div>
+<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>  a[<span class="stringliteral">"max_distance"</span>] = 0.2;</div>
+<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>  c[5][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>  b[0][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>  a[<span class="stringliteral">"min_distance"</span>] = 0.1;</div>
+<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>  a[<span class="stringliteral">"max_distance"</span>] = 0.2;</div>
+<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>  c[1][<span class="stringliteral">"properties"</span>] = a;</div>
+<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>  </div>
+<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>  e[<span class="stringliteral">"object"</span>] = <span class="stringliteral">"bottle"</span>;</div>
+<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>  e[<span class="stringliteral">"link"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>  b[4][<span class="stringliteral">"set"</span>][<span class="stringliteral">"attach_object"</span>] = e;</div>
+<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>  c[4][<span class="stringliteral">"set"</span>][<span class="stringliteral">"detach_object"</span>] = e;</div>
+<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>  c[2][<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"link"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>  c[5][<span class="stringliteral">"set"</span>][<span class="stringliteral">"direction"</span>][<span class="stringliteral">"vector"</span>][<span class="stringliteral">"header"</span>][<span class="stringliteral">"frame_id"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>  b[1][<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"link"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>  b[6][<span class="stringliteral">"set"</span>][<span class="stringliteral">"ik_frame"</span>][<span class="stringliteral">"link"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>  b[0][<span class="stringliteral">"set"</span>][<span class="stringliteral">"direction"</span>][<span class="stringliteral">"vector"</span>][<span class="stringliteral">"header"</span>][<span class="stringliteral">"frame_id"</span>] = mr-><a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>()[<span class="stringliteral">"ik_frame"</span>];</div>
+<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>  </div>
+<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>  b[5][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>] = source.id;</div>
+<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>  b[5][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>] = support_surface1;</div>
+<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>  b[7][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"first"</span>] = source.id;</div>
+<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>  b[7][<span class="stringliteral">"set"</span>][<span class="stringliteral">"allow_collisions"</span>][<span class="stringliteral">"second"</span>] = support_surface1;</div>
+<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>  </div>
+<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>  task[6][<span class="stringliteral">"stages"</span>] = c;</div>
+<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>  task[4][<span class="stringliteral">"stages"</span>] = b;</div>
+<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>  </div>
+<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>  <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>->setParam(<span class="stringliteral">"task/stages"</span>, task);</div>
+<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>  </div>
+<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span> }</div>
+<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>  </div>
+<div class="line"><a name="l01262"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf"> 1262</a></span> <a class="code" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator::Moveit_mediator</a>(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub, std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh)</div>
+<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>  : <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>(objects, pub), nh_(nh)</div>
+<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>  , sampling_planner_(std::make_unique<moveit::task_constructor::solvers::PipelinePlanner>())</div>
+<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>  , cartesian_planner_(std::make_unique<moveit::task_constructor::solvers::CartesianPath>())</div>
+<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>  , psi_(std::make_unique<moveit::planning_interface::PlanningSceneInterface>())</div>
+<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>  , mgi_(std::make_shared<moveit::planning_interface::MoveGroupInterface>(<span class="stringliteral">"panda_arms"</span>))</div>
+<div class="line"><a name="l01268"></a><span class="lineno"> 1268</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="l01269"></a><span class="lineno"> 1269</span>  , planning_scene_monitor_(std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(<span class="stringliteral">"robot_description"</span>))</div>
+<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>  , job_reader_(std::make_unique<<a class="code" href="classJob__reader.html">Job_reader</a>>(nh_))</div>
+<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>  , cuboid_reader_(std::make_unique<<a class="code" href="classCuboid__reader.html">Cuboid_reader</a>>(nh)) {</div>
+<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>  </div>
+<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>  </div>
+<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>  <span class="keywordflow">if</span> (<a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>->getPlanningScene()){</div>
+<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>  <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,</div>
+<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>  <span class="stringliteral">"planning_scene"</span>);</div>
+<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>  <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>->getPlanningScene()->setName(<span class="stringliteral">"planning_scene"</span>);</div>
+<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>  ROS_ERROR_STREAM_NAMED(<span class="stringliteral">"test"</span>, <span class="stringliteral">"Planning scene not configured"</span>);</div>
+<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>  }</div>
+<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>  </div>
+<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>  robot_model_loader::RobotModelLoaderPtr robot_model_loader;</div>
+<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>  robot_model_loader = std::make_shared<robot_model_loader::RobotModelLoader>(<span class="stringliteral">"robot_description"</span>);</div>
+<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>  <a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a> = robot_model_loader->getModel();</div>
+<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>  <a class="code" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a> = std::make_shared<planning_scene::PlanningScene>(<a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>);</div>
+<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>  </div>
+<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>  <span class="comment">// planner </span></div>
+<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>  <a class="code" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>->setProperty(<span class="stringliteral">"goal_joint_tolerance"</span>, 1e-5);</div>
+<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>  </div>
+<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>  <span class="comment">// cartesian</span></div>
+<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>  <a class="code" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>->setMaxVelocityScaling(1.0);</div>
+<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>  <a class="code" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>->setMaxAccelerationScaling(1.0);</div>
+<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>  <a class="code" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>->setStepSize(.01);</div>
+<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>  </div>
+<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>  };</div>
+<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>  </div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMoveit__mediator_html_a40026b9dc0519dbb0bb4e649cdebab37"><div class="ttname"><a href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">Moveit_mediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</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="aclassMoveit__robot_html_ad10c0b3b2e683870e784262123ba779c"><div class="ttname"><a href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">Moveit_robot::map</a></div><div class="ttdeci">std::map< std::string, std::string > & map()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00048">moveit_robot.h:48</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_a7b52336368bd778fafb637ca2f20fc04"><div class="ttname"><a href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">Moveit_robot::mgi_hand</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00044">moveit_robot.h:44</a></div></div>
+<div class="ttc" id="aclassRobot_html_aeb6c8c47edbcc561f15b00d551a045e6"><div class="ttname"><a href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot::observers</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & observers()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00029">robot.h:29</a></div></div>
+<div class="ttc" id="aclassCollision__helper_html"><div class="ttname"><a href="classCollision__helper.html">Collision_helper</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__helper_8h_source.html#l00010">collision_helper.h:10</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html"><div class="ttname"><a href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00013">wing_moveit_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a054489ae555d8ecd197b23d09e40be47"><div class="ttname"><a href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator::publish_tables</a></div><div class="ttdeci">void publish_tables()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00024">moveit_mediator.cpp:24</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a77b4aae7790bdd2a24a2941d9fca43b3"><div class="ttname"><a href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">Moveit_mediator::set_wings</a></div><div class="ttdeci">void set_wings(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00087">moveit_mediator.cpp:87</a></div></div>
+<div class="ttc" id="aclassJob__reader_html"><div class="ttname"><a href="classJob__reader.html">Job_reader</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="aclassWing__moveit__decorator_html_a94dee8fbe873155ed5ed8b65c6189d90"><div class="ttname"><a href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">Wing_moveit_decorator::markers</a></div><div class="ttdeci">moveit_msgs::CollisionObject * markers()</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00021">wing_moveit_decorator.h:21</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aeea1b8bf554a8a338f6548a100624b30"><div class="ttname"><a href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">Moveit_mediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</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="aclassCuboid__reader_html"><div class="ttname"><a href="classCuboid__reader.html">Cuboid_reader</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="aclassMoveit__mediator_html_a9673dc2802ed32e576ff58bde8dc52eb"><div class="ttname"><a href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">Moveit_mediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00056">moveit_mediator.h:56</a></div></div>
+<div class="ttc" id="aclassCollision__helper_html_a0969d2a29f043ad3509bf174ecc103ec"><div class="ttname"><a href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper::collision_detector</a></div><div class="ttdeci">bool collision_detector(const std::string &object1_name, const std::string &object2_name)</div><div class="ttdef"><b>Definition:</b> <a href="collision__helper_8cpp_source.html#l00005">collision_helper.cpp:5</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a08a10d6b7faba5468f45182667be7b4d"><div class="ttname"><a href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">Moveit_mediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< Job_reader > job_reader_</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="aclassMoveit__mediator_html_ad95fe10af2afc29db1dc5bab04d314dd"><div class="ttname"><a href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">Moveit_mediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< Cuboid_reader > cuboid_reader_</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="aclassAbstract__mediator_html_ae7e91c3c5ac234ee1d1bd2d7d6128bc8"><div class="ttname"><a href="classAbstract__mediator.html#ae7e91c3c5ac234ee1d1bd2d7d6128bc8">Abstract_mediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< Abstract_robot_element * > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00040">impl/abstract_mediator.h:40</a></div></div>
+<div class="ttc" id="amoveit__mediator_8cpp_html_a83e709b064acbbdd1ba1382937d57cec"><div class="ttname"><a href="moveit__mediator_8cpp.html#a83e709b064acbbdd1ba1382937d57cec">task__</a></div><div class="ttdeci">thread_local moveit::task_constructor::Task task__</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00008">moveit_mediator.cpp:8</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a061e0ca9e84b36ec1bf33a6bd4104417"><div class="ttname"><a href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">Moveit_mediator::merge_ps</a></div><div class="ttdeci">void merge_ps(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00828">moveit_mediator.cpp:828</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab20eabb5f72715df3bb9305d216ea66a"><div class="ttname"><a href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator::check_collision</a></div><div class="ttdeci">bool check_collision(const int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00061">moveit_mediator.cpp:61</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a1883a9e06be1b1684b76bd44f5925bf3"><div class="ttname"><a href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">Moveit_mediator::parallel_exec</a></div><div class="ttdeci">void parallel_exec(Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00871">moveit_mediator.cpp:871</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a43b776b7aaf2d7203c5bc860cdc6dc5b"><div class="ttname"><a href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">Moveit_mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00014">moveit_mediator.cpp:14</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a4c349f21f00ee6ec4cbb290557fe6a39"><div class="ttname"><a href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</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="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a9ac25277f557f65084d0245ecd8246bf"><div class="ttname"><a href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator::Moveit_mediator</a></div><div class="ttdeci">Moveit_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l01262">moveit_mediator.cpp:1262</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a5724e8b5966c640ff005f4aaae48f2a4"><div class="ttname"><a href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">Moveit_mediator::merge_acm</a></div><div class="ttdeci">void merge_acm(moveit_msgs::PlanningScene &in)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00812">moveit_mediator.cpp:812</a></div></div>
+<div class="ttc" id="amoveit__mediator_8cpp_html_a07c246a655c93c294c5895333d59f9fb"><div class="ttname"><a href="moveit__mediator_8cpp.html#a07c246a655c93c294c5895333d59f9fb">etsg_</a></div><div class="ttdeci">thread_local moveit_task_constructor_msgs::ExecuteTaskSolutionGoal etsg_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00009">moveit_mediator.cpp:9</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html"><div class="ttname"><a href="classMoveit__robot.html">Moveit_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00012">moveit_robot.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab9a1f61e86fa295e426f751ff7ea8838"><div class="ttname"><a href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">Moveit_mediator::setup_task</a></div><div class="ttdeci">void setup_task()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00098">moveit_mediator.cpp:98</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab864f0b277826dafff1944d9f884acff"><div class="ttname"><a href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00067">moveit_mediator.cpp:67</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_adb99cac7a2807485330065b7019f7f2d"><div class="ttname"><a href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">Moveit_mediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00076">moveit_mediator.h:76</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a31a36d397814aff398138b7ce8583155"><div class="ttname"><a href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">Moveit_mediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</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="aclassMoveit__mediator_html_ae5368a1e8034689de7c2fd15c680b7e5"><div class="ttname"><a href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">Moveit_mediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</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="aclassMoveit__mediator_html_a613cd260bba43012848ea0a80452cf09"><div class="ttname"><a href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">Moveit_mediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</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="aclassAbstract__mediator_html_a66416f41c207636fcf0b5223c2f70061"><div class="ttname"><a href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator::robots_</a></div><div class="ttdeci">std::vector< Abstract_robot * > robots_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00035">impl/abstract_mediator.h:35</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="aclassMoveit__mediator_html_a6913d3c81c3a30d9a628d0fe4756776c"><div class="ttname"><a href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator::rewrite_task_template</a></div><div class="ttdeci">void rewrite_task_template(Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l01162">moveit_mediator.cpp:1162</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a6f4a8f20841b33341c4991ee00fef75e"><div class="ttname"><a href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00057">moveit_mediator.h:57</a></div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+<div class="ttc" id="aclassRobot_html_a7eddff501a2c3a3d5feb6c2ec4b016e0"><div class="ttname"><a href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot::register_observers</a></div><div class="ttdeci">void register_observers(Abstract_robot_element *wd)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00182">robot.cpp:182</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aa330766933e58c781067b1b943ce47a6"><div class="ttname"><a href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">Moveit_mediator::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="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00077">moveit_mediator.h:77</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a7582bb7618f935c486681d9435fc02e5"><div class="ttname"><a href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator::create_Task</a></div><div class="ttdeci">moveit::task_constructor::Task create_Task(Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00877">moveit_mediator.cpp:877</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aae1a6378021b727fdfd1f1f3816b41c6"><div class="ttname"><a href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">Moveit_mediator::task_planner</a></div><div class="ttdeci">void task_planner()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00696">moveit_mediator.cpp:696</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="amoveit__mediator_8cpp_html_a3b3de631e576c4bb7c9567578f6f4ad2"><div class="ttname"><a href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2">task_writing</a></div><div class="ttdeci">std::mutex task_writing</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00011">moveit_mediator.cpp:11</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ac23f8ce7d2961979821f7678b551f5c4"><div class="ttname"><a href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">Moveit_robot::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00043">moveit_robot.h:43</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a3196ded3639d69478121db539eaa3d1f"><div class="ttname"><a href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator::build_wings</a></div><div class="ttdeci">void build_wings(std::bitset< 3 > &wing, int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00076">moveit_mediator.cpp:76</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_mediator.h File Reference</title>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
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+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">moveit_mediator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <moveit/planning_scene_interface/planning_scene_interface.h></code><br />
+<code>#include <moveit/move_group_interface/move_group_interface.h></code><br />
+<code>#include <moveit_msgs/ApplyPlanningScene.h></code><br />
+<code>#include <moveit/planning_scene/planning_scene.h></code><br />
+<code>#include <moveit/robot_model_loader/robot_model_loader.h></code><br />
+<code>#include <moveit/kinematic_constraints/utils.h></code><br />
+<code>#include <moveit_visual_tools/moveit_visual_tools.h></code><br />
+<code>#include "<a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_8h_source.html">impl/robot.h</a>"</code><br />
+<code>#include "<a class="el" href="moveit__robot_8h_source.html">impl/moveit_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__moveit__decorator_8h_source.html">impl/wing_moveit_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="collision__helper_8h_source.html">impl/collision_helper.h</a>"</code><br />
+<code>#include <moveit/task_constructor/task.h></code><br />
+<code>#include <moveit/task_constructor/stages/compute_ik.h></code><br />
+<code>#include <moveit/task_constructor/stages/connect.h></code><br />
+<code>#include <moveit/task_constructor/stages/current_state.h></code><br />
+<code>#include <moveit/task_constructor/stages/generate_grasp_pose.h></code><br />
+<code>#include <moveit/task_constructor/stages/generate_place_pose.h></code><br />
+<code>#include <moveit/task_constructor/stages/generate_pose.h></code><br />
+<code>#include <moveit/task_constructor/stages/modify_planning_scene.h></code><br />
+<code>#include <moveit/task_constructor/stages/move_relative.h></code><br />
+<code>#include <moveit/task_constructor/stages/move_to.h></code><br />
+<code>#include <moveit/task_constructor/stages/predicate_filter.h></code><br />
+<code>#include <moveit/task_constructor/solvers/cartesian_path.h></code><br />
+<code>#include <moveit/task_constructor/solvers/pipeline_planner.h></code><br />
+<code>#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h></code><br />
+<code>#include <moveit/task_constructor/properties.h></code><br />
+<code>#include <moveit/task_constructor/solvers/joint_interpolation.h></code><br />
+<code>#include <moveit/task_constructor/solvers/planner_interface.h></code><br />
+<code>#include <moveit/task_constructor/stage.h></code><br />
+<code>#include <moveit/task_constructor/stages/fixed_state.h></code><br />
+<code>#include <eigen_conversions/eigen_msg.h></code><br />
+<code>#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h></code><br />
+<code>#include <moveit/planning_scene_monitor/current_state_monitor.h></code><br />
+<code>#include <moveit/planning_scene_monitor/planning_scene_monitor.h></code><br />
+<code>#include <moveit/moveit_cpp/moveit_cpp.h></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="cuboid__reader_8h_source.html">reader/cuboid_reader.h</a>"</code><br />
+<code>#include <stdint.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for moveit_mediator.h:</div>
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+<p><a href="moveit__mediator_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
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+Classes</h2></td></tr>
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+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_mediator.h 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>
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+});
+/* @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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">moveit_mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="moveit__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 MOVEIT_MEDIATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define MOVEIT_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 <ros/ros.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> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <moveit/robot_model_loader/robot_model_loader.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <moveit/kinematic_constraints/utils.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <moveit_visual_tools/moveit_visual_tools.h></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"> 15</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__mediator_8h.html">impl/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">impl/robot.h</a>"</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="moveit__robot_8h.html">impl/moveit_robot.h</a>"</span></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="preprocessor">#include "<a class="code" href="wing__moveit__decorator_8h.html">impl/wing_moveit_decorator.h</a>"</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "<a class="code" href="collision__helper_8h.html">impl/collision_helper.h</a>"</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> <span class="preprocessor">#include <moveit/task_constructor/task.h></span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <moveit/task_constructor/stages/compute_ik.h></span></div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <moveit/task_constructor/stages/connect.h></span></div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <moveit/task_constructor/stages/current_state.h></span></div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <moveit/task_constructor/stages/generate_grasp_pose.h></span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <moveit/task_constructor/stages/generate_place_pose.h></span></div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include <moveit/task_constructor/stages/generate_pose.h></span></div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include <moveit/task_constructor/stages/modify_planning_scene.h></span></div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#include <moveit/task_constructor/stages/move_relative.h></span></div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#include <moveit/task_constructor/stages/move_to.h></span></div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include <moveit/task_constructor/stages/predicate_filter.h></span></div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/cartesian_path.h></span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/pipeline_planner.h></span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h></span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <moveit/task_constructor/properties.h></span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/joint_interpolation.h></span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/planner_interface.h></span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <moveit/task_constructor/stage.h></span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <moveit/task_constructor/stages/fixed_state.h></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"> 43</span> <span class="preprocessor">#include <eigen_conversions/eigen_msg.h></span></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h></span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <moveit/planning_scene_monitor/current_state_monitor.h></span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <moveit/planning_scene_monitor/planning_scene_monitor.h></span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <moveit/moveit_cpp/moveit_cpp.h></span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</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="l00049"></a><span class="lineno"> 49</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="l00050"></a><span class="lineno"> 50</span>  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include <stdint.h></span></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"><a class="line" href="classMoveit__mediator.html"> 54</a></span> <span class="keyword">class </span><a class="code" href="classMoveit__mediator.html">Moveit_mediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__mediator.html">Abstract_mediator</a>{</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb"> 56</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">nh_</a>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e"> 57</a></span>  std::shared_ptr<moveit::core::RobotModel> <a class="code" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">robot_model_</a>;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571"> 58</a></span>  std::shared_ptr<moveit_visual_tools::MoveItVisualTools> <a class="code" href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">visual_tools_</a>;</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="comment">// planning Interfaces and planing scene </span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78"> 61</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a>;</div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39"> 62</a></span>  std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> <a class="code" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">psi_</a>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09"> 63</a></span>  std::shared_ptr<planning_scene::PlanningScene> <a class="code" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">ps_</a>;</div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37"> 64</a></span>  std::shared_ptr<ros::Publisher> <a class="code" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">planning_scene_diff_publisher_</a>;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5"> 65</a></span>  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> <a class="code" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">planning_scene_monitor_</a>;</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>  <span class="comment">// task constructor</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155"> 69</a></span>  std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> <a class="code" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">sampling_planner_</a>;</div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30"> 70</a></span>  std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> <a class="code" href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">cartesian_planner_</a>;</div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602"> 71</a></span>  std::map<std::string, std::vector<moveit::task_constructor::Task>> <a class="code" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">task_map_</a>;</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d"> 73</a></span>  std::unique_ptr<Job_reader> <a class="code" href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">job_reader_</a>; </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd"> 74</a></span>  std::unique_ptr<Cuboid_reader> <a class="code" href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">cuboid_reader_</a>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d"> 76</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">acm_</a>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6"> 77</a></span>  std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> <a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a>;</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>  </div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub, std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh);</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>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">setup_task</a>();</div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889"> 87</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">mgi</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">mgi_</a>;};</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>  </div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">bool</span> <a class="code" href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">check_collision</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>& robot) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">mediate</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">build_wings</a>(std::bitset<3>& wing,<span class="keywordtype">int</span>& robot) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">set_wings</a>(std::vector<std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& wbp) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">connect_robots</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) <span class="keyword">override</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>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">merge_ps</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene* in, <a class="code" href="classMoveit__robot.html">Moveit_robot</a>* mr);</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">merge_acm</a>(moveit_msgs::PlanningScene& in);</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="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">task_planner</a>();</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">publish_tables</a>();</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">rewrite_task_template</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">parallel_exec</a>(<a class="code" href="classMoveit__robot.html">Moveit_robot</a>& r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps);</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  moveit::task_constructor::Task <a class="code" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">create_Task</a>(<a class="code" href="classMoveit__robot.html">Moveit_robot</a>* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);</div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c"> 105</a></span>  <span class="keyword">inline</span> std::map<std::string, std::vector<moveit::task_constructor::Task>>& <a class="code" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">task_map</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">task_map_</a>;};</div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963"> 106</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">set_tasks</a>(std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>& tasks) {<a class="code" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">tasks_</a> = tasks;};</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>  </div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMoveit__mediator_html_a40026b9dc0519dbb0bb4e649cdebab37"><div class="ttname"><a href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">Moveit_mediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</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="amoveit__robot_8h_html"><div class="ttname"><a href="moveit__robot_8h.html">moveit_robot.h</a></div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</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="ajob__reader_8h_html"><div class="ttname"><a href="job__reader_8h.html">job_reader.h</a></div></div>
+<div class="ttc" id="aclassAbstract__mediator_html"><div class="ttname"><a href="classAbstract__mediator.html">Abstract_mediator</a></div><div class="ttdoc">Abstract mediator.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__mediator_8h_source.html#l00033">impl/abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a054489ae555d8ecd197b23d09e40be47"><div class="ttname"><a href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator::publish_tables</a></div><div class="ttdeci">void publish_tables()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00024">moveit_mediator.cpp:24</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ac3d550e1db30b83e6f6bf25536dd5c78"><div class="ttname"><a href="classMoveit__mediator.html#ac3d550e1db30b83e6f6bf25536dd5c78">Moveit_mediator::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#l00061">moveit_mediator.h:61</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a77b4aae7790bdd2a24a2941d9fca43b3"><div class="ttname"><a href="classMoveit__mediator.html#a77b4aae7790bdd2a24a2941d9fca43b3">Moveit_mediator::set_wings</a></div><div class="ttdeci">void set_wings(std::vector< std::pair< std::vector< object_data >, int >> &wbp) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00087">moveit_mediator.cpp:87</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab11f9ee155b39e5809f75d9dfd44f34c"><div class="ttname"><a href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">Moveit_mediator::task_map</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > & task_map()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00105">moveit_mediator.h:105</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aeea1b8bf554a8a338f6548a100624b30"><div class="ttname"><a href="classMoveit__mediator.html#aeea1b8bf554a8a338f6548a100624b30">Moveit_mediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</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="aclassMoveit__mediator_html_a9673dc2802ed32e576ff58bde8dc52eb"><div class="ttname"><a href="classMoveit__mediator.html#a9673dc2802ed32e576ff58bde8dc52eb">Moveit_mediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00056">moveit_mediator.h:56</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_acf8ec374cb01f96ef41dea8bb0bae963"><div class="ttname"><a href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">Moveit_mediator::set_tasks</a></div><div class="ttdeci">void set_tasks(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#l00106">moveit_mediator.h:106</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a08a10d6b7faba5468f45182667be7b4d"><div class="ttname"><a href="classMoveit__mediator.html#a08a10d6b7faba5468f45182667be7b4d">Moveit_mediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< Job_reader > job_reader_</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="aclassMoveit__mediator_html_ad95fe10af2afc29db1dc5bab04d314dd"><div class="ttname"><a href="classMoveit__mediator.html#ad95fe10af2afc29db1dc5bab04d314dd">Moveit_mediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< Cuboid_reader > cuboid_reader_</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="aclassMoveit__mediator_html_a061e0ca9e84b36ec1bf33a6bd4104417"><div class="ttname"><a href="classMoveit__mediator.html#a061e0ca9e84b36ec1bf33a6bd4104417">Moveit_mediator::merge_ps</a></div><div class="ttdeci">void merge_ps(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00828">moveit_mediator.cpp:828</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab20eabb5f72715df3bb9305d216ea66a"><div class="ttname"><a href="classMoveit__mediator.html#ab20eabb5f72715df3bb9305d216ea66a">Moveit_mediator::check_collision</a></div><div class="ttdeci">bool check_collision(const int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00061">moveit_mediator.cpp:61</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a1883a9e06be1b1684b76bd44f5925bf3"><div class="ttname"><a href="classMoveit__mediator.html#a1883a9e06be1b1684b76bd44f5925bf3">Moveit_mediator::parallel_exec</a></div><div class="ttdeci">void parallel_exec(Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00871">moveit_mediator.cpp:871</a></div></div>
+<div class="ttc" id="awing__moveit__decorator_8h_html"><div class="ttname"><a href="wing__moveit__decorator_8h.html">wing_moveit_decorator.h</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a43b776b7aaf2d7203c5bc860cdc6dc5b"><div class="ttname"><a href="classMoveit__mediator.html#a43b776b7aaf2d7203c5bc860cdc6dc5b">Moveit_mediator::connect_robots</a></div><div class="ttdeci">void connect_robots(Abstract_robot *robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00014">moveit_mediator.cpp:14</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a4c349f21f00ee6ec4cbb290557fe6a39"><div class="ttname"><a href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</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="aimpl_2abstract__mediator_8h_html"><div class="ttname"><a href="impl_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a9ac25277f557f65084d0245ecd8246bf"><div class="ttname"><a href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator::Moveit_mediator</a></div><div class="ttdeci">Moveit_mediator(std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l01262">moveit_mediator.cpp:1262</a></div></div>
+<div class="ttc" id="acollision__helper_8h_html"><div class="ttname"><a href="collision__helper_8h.html">collision_helper.h</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a56194f2f70bc9b469a8422dfef0cf602"><div class="ttname"><a href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">Moveit_mediator::task_map_</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > task_map_</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="aclassMoveit__mediator_html_a5724e8b5966c640ff005f4aaae48f2a4"><div class="ttname"><a href="classMoveit__mediator.html#a5724e8b5966c640ff005f4aaae48f2a4">Moveit_mediator::merge_acm</a></div><div class="ttdeci">void merge_acm(moveit_msgs::PlanningScene &in)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00812">moveit_mediator.cpp:812</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html"><div class="ttname"><a href="classMoveit__robot.html">Moveit_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00012">moveit_robot.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab9a1f61e86fa295e426f751ff7ea8838"><div class="ttname"><a href="classMoveit__mediator.html#ab9a1f61e86fa295e426f751ff7ea8838">Moveit_mediator::setup_task</a></div><div class="ttdeci">void setup_task()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00098">moveit_mediator.cpp:98</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_ab864f0b277826dafff1944d9f884acff"><div class="ttname"><a href="classMoveit__mediator.html#ab864f0b277826dafff1944d9f884acff">Moveit_mediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00067">moveit_mediator.cpp:67</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_adb99cac7a2807485330065b7019f7f2d"><div class="ttname"><a href="classMoveit__mediator.html#adb99cac7a2807485330065b7019f7f2d">Moveit_mediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00076">moveit_mediator.h:76</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html"><div class="ttname"><a href="classMoveit__mediator.html">Moveit_mediator</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00054">moveit_mediator.h:54</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a31a36d397814aff398138b7ce8583155"><div class="ttname"><a href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">Moveit_mediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</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="aclassMoveit__mediator_html_ae5368a1e8034689de7c2fd15c680b7e5"><div class="ttname"><a href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">Moveit_mediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</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="aclassMoveit__mediator_html_a613cd260bba43012848ea0a80452cf09"><div class="ttname"><a href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">Moveit_mediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</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="aclassMoveit__mediator_html_a6913d3c81c3a30d9a628d0fe4756776c"><div class="ttname"><a href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator::rewrite_task_template</a></div><div class="ttdeci">void rewrite_task_template(Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l01162">moveit_mediator.cpp:1162</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a6f4a8f20841b33341c4991ee00fef75e"><div class="ttname"><a href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00057">moveit_mediator.h:57</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aac9157796fc133cdab1b22ef66ef8889"><div class="ttname"><a href="classMoveit__mediator.html#aac9157796fc133cdab1b22ef66ef8889">Moveit_mediator::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#l00087">moveit_mediator.h:87</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aa330766933e58c781067b1b943ce47a6"><div class="ttname"><a href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">Moveit_mediator::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="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00077">moveit_mediator.h:77</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_a7582bb7618f935c486681d9435fc02e5"><div class="ttname"><a href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator::create_Task</a></div><div class="ttdeci">moveit::task_constructor::Task create_Task(Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00877">moveit_mediator.cpp:877</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_aae1a6378021b727fdfd1f1f3816b41c6"><div class="ttname"><a href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">Moveit_mediator::task_planner</a></div><div class="ttdeci">void task_planner()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00696">moveit_mediator.cpp:696</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassMoveit__mediator_html_af2b6e5e089fbfc61afb5f0c25a320571"><div class="ttname"><a href="classMoveit__mediator.html#af2b6e5e089fbfc61afb5f0c25a320571">Moveit_mediator::visual_tools_</a></div><div class="ttdeci">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_</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="aclassMoveit__mediator_html_a3196ded3639d69478121db539eaa3d1f"><div class="ttname"><a href="classMoveit__mediator.html#a3196ded3639d69478121db539eaa3d1f">Moveit_mediator::build_wings</a></div><div class="ttdeci">void build_wings(std::bitset< 3 > &wing, int &robot) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00076">moveit_mediator.cpp:76</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<div class="title">moveit_panel.cpp File Reference</div> </div>
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+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="moveit__panel_8h_source.html">robot_element/observers/moveit_panel.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for moveit_panel.cpp:</div>
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+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+</div>
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+<div class="title">moveit_panel.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="moveit__panel_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="moveit__panel_8h.html">robot_element/observers/moveit_panel.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"> 3</span>  </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5"> 4</a></span> <a class="code" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel::Moveit_panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> : <a class="code" href="classPanel.html">Panel</a>(name, tf, size)</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> marker_.id = name_;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> marker_.header.frame_id = "world";</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> marker_.primitives.resize(1);</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> marker_.primitives[0].type = marker_.primitives[0].BOX;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> marker_.primitives[0].dimensions.resize(3);</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> marker_.primitives[0].dimensions[0] = size_.getX();</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> marker_.primitives[0].dimensions[1] = size_.getY();</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> marker_.primitives[0].dimensions[2] = size_.getZ();</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> marker_.primitive_poses.resize(1);</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> marker_.primitive_poses[0].position.x = world_tf_.getOrigin().getX();</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> marker_.primitive_poses[0].position.y = world_tf_.getOrigin().getY();</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> marker_.primitive_poses[0].position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> marker_.primitive_poses[0].orientation.x = world_tf_.getRotation().getX();</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> marker_.primitive_poses[0].orientation.y = world_tf_.getRotation().getY();</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> marker_.primitive_poses[0].orientation.z = world_tf_.getRotation().getZ();</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> marker_.primitive_poses[0].orientation.w = world_tf_.getRotation().getW();</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> marker_.operation = marker_.ADD;</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> */</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"><a class="line" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331"> 32</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel::update</a>(tf2::Transform& tf){</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel::update</a>(tf);</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>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.id = <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.header.frame_id = <span class="stringliteral">"world"</span>;</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="comment">/*</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> marker_.pose.position.x = world_tf_.getOrigin().getX();</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> marker_.pose.position.y = world_tf_.getOrigin().getY();</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> marker_.pose.position.x = world_tf_.getOrigin().getZ() - size_.getZ()/2;;</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"> marker_.pose.orientation.x = world_tf_.getRotation().getX();</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> marker_.pose.orientation.x = world_tf_.getRotation().getY();</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> marker_.pose.orientation.x = world_tf_.getRotation().getZ();</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> marker_.pose.orientation.x = world_tf_.getRotation().getW();</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>  </div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives.resize(1);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives[0].type = <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives[0].BOX;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives[0].dimensions[0] = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX();</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives[0].dimensions[1] = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY();</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitives[0].dimensions[2] = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getZ();</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>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses.resize(1);</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].position.x = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getOrigin().getX();</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].position.y = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getOrigin().getY();</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].position.z = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getOrigin().getZ() - <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getZ()/2;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].orientation.x = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getX();</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].orientation.y = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getY();</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].orientation.z = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getZ();</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.primitive_poses[0].orientation.w = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getW();</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>  <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.operation = <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>.ADD;</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot__element_html_ad42d8ba185583e644e00af1c2298a38d"><div class="ttname"><a href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00012">impl/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassPanel_html_a2a70a607d1521d4df2360891afd2106f"><div class="ttname"><a href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00014">panel.h:14</a></div></div>
+<div class="ttc" id="aclassPanel_html"><div class="ttname"><a href="classPanel.html">Panel</a></div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00007">panel.h:7</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_adcaadf1f399625d67747ce746a0cc928"><div class="ttname"><a href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00009">robot_element/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_a0f9f446bd773e9ae6345511a66499331"><div class="ttname"><a href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8cpp_source.html#l00032">moveit_panel.cpp:32</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_a4ca4542a08ce50772b2101fa4cd5e24f"><div class="ttname"><a href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">Moveit_panel::marker_</a></div><div class="ttdeci">moveit_msgs::CollisionObject marker_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8h_source.html#l00015">moveit_panel.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a432662f8ece3c1e08739bd36a4c155d6"><div class="ttname"><a href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00012">robot_element/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_ace0a415c711a11c45d6a2e58aa707fb5"><div class="ttname"><a href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel::Moveit_panel</a></div><div class="ttdeci">Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8cpp_source.html#l00004">moveit_panel.cpp:4</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>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/moveit__panel_8h.html b/doc/html/moveit__panel_8h.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/moveit__panel_8h.html
@@ -0,0 +1,79 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_panel.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">moveit_panel.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="panel_8h_source.html">robot_element/observers/panel.h</a>"</code><br />
+<code>#include <moveit/planning_scene_interface/planning_scene_interface.h></code><br />
+<code>#include <moveit/move_group_interface/move_group_interface.h></code><br />
+<code>#include <moveit_msgs/ApplyPlanningScene.h></code><br />
+<code>#include <moveit/planning_scene/planning_scene.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for moveit_panel.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="moveit__panel_8h__incl.png" border="0" usemap="#moveit__panel_8h" alt=""/></div>
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+<area shape="rect" title=" " alt="" coords="297,80,489,136"/>
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+<area shape="rect" title=" " alt="" coords="143,273,341,300"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="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="13,5,136,32"/>
+<area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="5,80,144,107"/>
+</map>
+</div>
+</div>
+<p><a href="moveit__panel_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="classMoveit__panel.html">Moveit_panel</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_panel.h 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">moveit_panel.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="moveit__panel_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 MOVEIT_PANEL_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define MOVEIT_PANEL_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="panel_8h.html">robot_element/observers/panel.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> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.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"><a class="line" href="classMoveit__panel.html"> 13</a></span> <span class="keyword">class </span><a class="code" href="classMoveit__panel.html">Moveit_panel</a> : <span class="keyword">public</span> <a class="code" href="classPanel.html">Panel</a>{</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f"> 15</a></span>  moveit_msgs::CollisionObject <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>;</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="keyword">public</span>:</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a>(std::string <a class="code" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="code" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>);</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">update</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406"> 21</a></span>  <span class="keyword">inline</span> moveit_msgs::CollisionObject& <a class="code" href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406">marker</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">marker_</a>;}</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"> 24</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassMoveit__panel_html"><div class="ttname"><a href="classMoveit__panel.html">Moveit_panel</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="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_a3ea48e6b8a4a0d75297b735ae87e1406"><div class="ttname"><a href="classMoveit__panel.html#a3ea48e6b8a4a0d75297b735ae87e1406">Moveit_panel::marker</a></div><div class="ttdeci">moveit_msgs::CollisionObject & marker()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8h_source.html#l00021">moveit_panel.h:21</a></div></div>
+<div class="ttc" id="aclassPanel_html_abc3a14b055ba9004fa5ebdb34cd5e583"><div class="ttname"><a href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00018">panel.h:18</a></div></div>
+<div class="ttc" id="aclassPanel_html"><div class="ttname"><a href="classPanel.html">Panel</a></div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00007">panel.h:7</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_a0f9f446bd773e9ae6345511a66499331"><div class="ttname"><a href="classMoveit__panel.html#a0f9f446bd773e9ae6345511a66499331">Moveit_panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8cpp_source.html#l00032">moveit_panel.cpp:32</a></div></div>
+<div class="ttc" id="aclassPanel_html_af6a63c29e5a5573b369482528c4b4818"><div class="ttname"><a href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00019">panel.h:19</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_a4ca4542a08ce50772b2101fa4cd5e24f"><div class="ttname"><a href="classMoveit__panel.html#a4ca4542a08ce50772b2101fa4cd5e24f">Moveit_panel::marker_</a></div><div class="ttdeci">moveit_msgs::CollisionObject marker_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8h_source.html#l00015">moveit_panel.h:15</a></div></div>
+<div class="ttc" id="aclassMoveit__panel_html_ace0a415c711a11c45d6a2e58aa707fb5"><div class="ttname"><a href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel::Moveit_panel</a></div><div class="ttdeci">Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8cpp_source.html#l00004">moveit_panel.cpp:4</a></div></div>
+<div class="ttc" id="apanel_8h_html"><div class="ttname"><a href="panel_8h.html">panel.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/moveit__robot_8h.html b/doc/html/moveit__robot_8h.html
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+++ b/doc/html/moveit__robot_8h.html
@@ -0,0 +1,101 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_robot.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">moveit_robot.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="robot_8h_source.html">impl/robot.h</a>"</code><br />
+<code>#include <moveit/planning_pipeline/planning_pipeline.h></code><br />
+<code>#include <gb_grasp/MapGenerator.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for moveit_robot.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="moveit__robot_8h__incl.png" border="0" usemap="#moveit__robot_8h" alt=""/></div>
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+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="moveit__robot_8h__dep__incl.png" border="0" usemap="#moveit__robot_8hdep" alt=""/></div>
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+</div>
+</div>
+<p><a href="moveit__robot_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="classMoveit__robot.html">Moveit_robot</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: moveit_robot.h 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">
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+});
+/* @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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">moveit_robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="moveit__robot_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 MOVEIT_ROBOT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define MOVEIT_ROBOT_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">impl/robot.h</a>"</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> <span class="preprocessor">#include <moveit/planning_pipeline/planning_pipeline.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <gb_grasp/MapGenerator.h></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"> 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"><a class="line" href="classMoveit__robot.html"> 12</a></span> <span class="keyword">class </span><a class="code" href="classMoveit__robot.html">Moveit_robot</a> : <span class="keyword">public</span> <a class="code" href="classRobot.html">Robot</a>{</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59"> 14</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">mgi_</a>;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226"> 15</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a>;</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="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd"> 17</a></span>  std::map<std::string, std::string> <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>; </div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a"> 18</a></span>  std::shared_ptr<MapGenerator> <a class="code" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">grasp_map_generator_</a>;</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>  </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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a"> 23</a></span>  <a class="code" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</a>(std::string& <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>) : <a class="code" href="classRobot.html">Robot</a>(<a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>)</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  , <a class="code" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">mgi_</a>(std::make_shared<moveit::planning_interface::MoveGroupInterface>(<a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</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>  std::stringstream hand_n, ik_frame_n, name_n, base_n;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  hand_n << <span class="stringliteral">"hand_"</span> << <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>.back();</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ik_frame_n << <span class="stringliteral">"panda_"</span> << <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>.back() << <span class="stringliteral">"_link8"</span>;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  base_n << <span class="stringliteral">"base_"</span> << <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>.back();</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a> = std::make_shared<moveit::planning_interface::MoveGroupInterface>(hand_n.str());</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>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"right_finger"</span>, <a class="code" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a>->getLinkNames()[0].c_str()));</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"left_finger"</span>, <a class="code" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a>->getLinkNames()[1].c_str()));</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"hand_link"</span>, <a class="code" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a>->getLinkNames()[2].c_str()));</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"eef_name"</span>, hand_n.str()));</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"hand_frame"</span>, ik_frame_n.str()));</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"hand_group_name"</span>, hand_n.str()));</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"base"</span>, base_n.str()));</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>  </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4"> 43</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">mgi</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">mgi_</a>;}</div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04"> 44</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">mgi_hand</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">mgi_hand_</a>;}</div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28"> 45</a></span>  <span class="keyword">inline</span> std::shared_ptr<MapGenerator> <a class="code" href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">grasp_map_generator</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">grasp_map_generator_</a>;}</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"><a class="line" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c"> 48</a></span>  <span class="keyword">inline</span> std::map<std::string, std::string>& <a class="code" href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">map</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">map_</a>;}</div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0"> 49</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">set_grasp_map_generator</a>(std::shared_ptr<MapGenerator><span class="keyword">const</span>& d ){ <a class="code" href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">grasp_map_generator_</a> = d;}</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ad10c0b3b2e683870e784262123ba779c"><div class="ttname"><a href="classMoveit__robot.html#ad10c0b3b2e683870e784262123ba779c">Moveit_robot::map</a></div><div class="ttdeci">std::map< std::string, std::string > & map()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00048">moveit_robot.h:48</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_a7b52336368bd778fafb637ca2f20fc04"><div class="ttname"><a href="classMoveit__robot.html#a7b52336368bd778fafb637ca2f20fc04">Moveit_robot::mgi_hand</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00044">moveit_robot.h:44</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_aef61abe18fca3cc07578265d3a2c2c59"><div class="ttname"><a href="classMoveit__robot.html#aef61abe18fca3cc07578265d3a2c2c59">Moveit_robot::mgi_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00014">moveit_robot.h:14</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_a9a70514d5e32fa947dfd54235d806ef0"><div class="ttname"><a href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">Moveit_robot::set_grasp_map_generator</a></div><div class="ttdeci">void set_grasp_map_generator(std::shared_ptr< MapGenerator >const &d)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00049">moveit_robot.h:49</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_a14716dcae3fe594d6b16f10bc58ba226"><div class="ttname"><a href="classMoveit__robot.html#a14716dcae3fe594d6b16f10bc58ba226">Moveit_robot::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00015">moveit_robot.h:15</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ade0496c9088ddad701fb06ce2a514e8a"><div class="ttname"><a href="classMoveit__robot.html#ade0496c9088ddad701fb06ce2a514e8a">Moveit_robot::grasp_map_generator_</a></div><div class="ttdeci">std::shared_ptr< MapGenerator > grasp_map_generator_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00018">moveit_robot.h:18</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html"><div class="ttname"><a href="classMoveit__robot.html">Moveit_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00012">moveit_robot.h:12</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_aa9551bfab3c080becc7d6d281dd53dcd"><div class="ttname"><a href="classMoveit__robot.html#aa9551bfab3c080becc7d6d281dd53dcd">Moveit_robot::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00017">moveit_robot.h:17</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ac3a9f2cfc74a1304a1faea5516252c28"><div class="ttname"><a href="classMoveit__robot.html#ac3a9f2cfc74a1304a1faea5516252c28">Moveit_robot::grasp_map_generator</a></div><div class="ttdeci">std::shared_ptr< MapGenerator > grasp_map_generator()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00045">moveit_robot.h:45</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ab991a44b804dab173ca4c787c105d68a"><div class="ttname"><a href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot::Moveit_robot</a></div><div class="ttdeci">Moveit_robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00023">moveit_robot.h:23</a></div></div>
+<div class="ttc" id="aclassMoveit__robot_html_ac23f8ce7d2961979821f7678b551f5c4"><div class="ttname"><a href="classMoveit__robot.html#ac23f8ce7d2961979821f7678b551f5c4">Moveit_robot::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__robot_8h_source.html#l00043">moveit_robot.h:43</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/msg-styles.css b/doc/html/msg-styles.css
new file mode 100644
index 0000000000000000000000000000000000000000..d919faf5a11cfded6b7e9e262c854be023697ef7
--- /dev/null
+++ b/doc/html/msg-styles.css
@@ -0,0 +1,49 @@
+html {
+ background: #333;
+ color: #333;
+ font-family: 'Palatino', serif;
+ font-size: 18px;
+ line-height: 24px;
+ text-align: center;
+ padding: 0px 50px 0px 50px;
+}
+#container {
+ background: white;
+ margin: 25px auto 100px auto;
+ padding: 50px 50px;
+ text-align: left;
+}
+a {
+ text-decoration: none;
+}
+a:hover {
+ text-decoration: underline;
+}
+.msg-title {
+ margin-bottom: 40px;
+ border-bottom: 1px solid #333;
+ padding: 10px 10px 10px 0px;
+}
+.filename {
+ padding: 5px;
+ background-color: #eee;
+ border: 1px solid #333;
+}
+.fancy-msg {
+ width: auto;
+ font-size: 14px;
+ line-height: 16px;
+ border: 1px solid #333;
+ padding: 10px;
+ margin-bottom: 20px;
+}
+
+.raw-msg {
+ font-family: monospace;
+ width: auto;
+ font-size: 14px;
+ line-height: 16px;
+ padding: 5px;
+ border: 1px solid #333;
+ margin-bottom: 20px;
+}
diff --git a/doc/html/mtc2taskspace_8cpp.html b/doc/html/mtc2taskspace_8cpp.html
new file mode 100644
index 0000000000000000000000000000000000000000..bd058fcd61fddba60fe16c80392975d443362d81
--- /dev/null
+++ b/doc/html/mtc2taskspace_8cpp.html
@@ -0,0 +1,104 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mtc2taskspace.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">mtc2taskspace.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><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="task__space__reader_8h_source.html">reader/task_space_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="job__reader_8h_source.html">reader/job_reader.h</a>"</code><br />
+<code>#include <regex></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for mtc2taskspace.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="mtc2taskspace_8cpp__incl.png" border="0" usemap="#mtc2taskspace_8cpp" alt=""/></div>
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+<p><a href="mtc2taskspace_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="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr>
+<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><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="mtc2taskspace_8cpp_source.html#l00008">8</a> of file <a class="el" href="mtc2taskspace_8cpp_source.html">mtc2taskspace.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
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+});
+/* @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">mtc2taskspace.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="mtc2taskspace_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__param__reader_8h.html">reader/abstract_param_reader.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="task__space__reader_8h.html">reader/task_space_reader.h</a>"</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</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="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>  </div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <regex></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="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 8</a></span> <span class="keywordtype">int</span> <a class="code" href="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">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>  ros::init(argc, argv, <span class="stringliteral">"mtc2taskspace"</span>);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  std::shared_ptr<ros::NodeHandle> n(<span class="keyword">new</span> ros::NodeHandle);</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>  <span class="comment">//std::unique_ptr<Abstract_param_reader> ts_reader(new Task_space_reader(n));</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  std::unique_ptr<Abstract_param_reader> ts_reader(<span class="keyword">new</span> <a class="code" href="classJob__reader.html">Job_reader</a>(n));</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> 0;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<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="amtc2taskspace_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="mtc2taskspace_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="mtc2taskspace_8cpp_source.html#l00008">mtc2taskspace.cpp:8</a></div></div>
+<div class="ttc" id="aclassJob__reader_html"><div class="ttname"><a href="classJob__reader.html">Job_reader</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="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="arobot__reader_8h_html"><div class="ttname"><a href="robot__reader_8h.html">robot_reader.h</a></div></div>
+<div class="ttc" id="atask__space__reader_8h_html"><div class="ttname"><a href="task__space__reader_8h.html">task_space_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+});
+/* @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_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li><li class="navelem"><a class="el" href="dir_213ed5268c3d3b5adb84b79e310ac6b7.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">panda_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="panda__decorator_8h_source.html">robot/decorators/panda_decorator.h</a>"</code><br />
+<code>#include <regex></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for panda_decorator.cpp:</div>
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+</div>
+</div>
+<p><a href="panda__decorator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_d623b6b26deaaca15238f927e86bbb46.html">robot</a></li><li class="navelem"><a class="el" href="dir_213ed5268c3d3b5adb84b79e310ac6b7.html">decorators</a></li> </ul>
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+<div class="header">
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+<div class="title">panda_decorator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="panda__decorator_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="panda__decorator_8h.html">robot/decorators/panda_decorator.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <regex></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"><a class="line" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb"> 4</a></span> <a class="code" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator::Panda_decorator</a>(std::unique_ptr<Abstract_robot> next) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  : <a class="code" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a>(std::move(next))</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>  <a class="code" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">spezifie_root_bounds</a>();</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  ROS_INFO(<span class="stringliteral">"penis1"</span>);</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="comment">// spezifie_robot_groups();</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"> 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"> 13</span>  </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876"> 14</a></span> <span class="keywordtype">void</span> <a class="code" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">Panda_decorator::spezifie_root_bounds</a>(){</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="comment">// root</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->robot_root_bounds().clear();</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, 0.095f, 0))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, 0.095f, 0))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 0)));</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"><a class="line" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6"> 23</a></span> <span class="keywordtype">void</span> <a class="code" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">Panda_decorator::spezifie_robot_groups</a>(){</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  std::stringstream hand_n, ik_frame_n, name_n, base_n;</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>  std::regex panda_id(<span class="stringliteral">"panda_arm([0-9]+)"</span>), left_finger(<span class="stringliteral">"left_finger"</span>), right_finger(<span class="stringliteral">"right_finger"</span>), hand_link(<span class="stringliteral">"hand_link"</span>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::smatch match;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  std::regex_match(<a class="code" href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">next_</a>->name(), match, panda_id);</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>  hand_n << <span class="stringliteral">"hand_"</span> << match[1];</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  ik_frame_n << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_link8"</span>;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  base_n << <span class="stringliteral">"base_"</span> << match[1];</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> (<span class="keyword">auto</span>& link : <a class="code" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a>->getLinkNames()){</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, left_finger)) <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"left_finger"</span>, link));</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, right_finger)) <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"right_finger"</span>, link));</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, hand_link)) <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"hand_link"</span>, link));</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>  <a class="code" href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">mgi_hand_</a> = std::make_shared<moveit::planning_interface::MoveGroupInterface>(hand_n.str());</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="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"eef_name"</span>, hand_n.str()));</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"hand_frame"</span>, ik_frame_n.str()));</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"hand_group_name"</span>, hand_n.str()));</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"base"</span>, base_n.str()));</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassPanda__decorator_html_aa06d746a0cb43e4f30780289f606e5cb"><div class="ttname"><a href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator::Panda_decorator</a></div><div class="ttdeci">Panda_decorator(std::unique_ptr< Abstract_robot > next)</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00004">panda_decorator.cpp:4</a></div></div>
+<div class="ttc" id="aclassPanda__decorator_html_ac84d81aaf6ba3bf7c251886ad73c48e6"><div class="ttname"><a href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">Panda_decorator::spezifie_robot_groups</a></div><div class="ttdeci">void spezifie_robot_groups() override</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00023">panda_decorator.cpp:23</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a86429ab626717a96cd34de271bb75c5c"><div class="ttname"><a href="classAbstract__robot__decorator.html#a86429ab626717a96cd34de271bb75c5c">Abstract_robot_decorator::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00024">abstract_robot_decorator.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a9bdb9eee650e25e17647b8626ae74c27"><div class="ttname"><a href="classAbstract__robot__decorator.html#a9bdb9eee650e25e17647b8626ae74c27">Abstract_robot_decorator::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</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="aclassPanda__decorator_html_a09b74248a99c3ce02dc909a3871bb876"><div class="ttname"><a href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">Panda_decorator::spezifie_root_bounds</a></div><div class="ttdeci">void spezifie_root_bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00014">panda_decorator.cpp:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_a41ecd95589c9236d7fc82921276339c7"><div class="ttname"><a href="classAbstract__robot__decorator.html#a41ecd95589c9236d7fc82921276339c7">Abstract_robot_decorator::next_</a></div><div class="ttdeci">std::unique_ptr< Abstract_robot > next_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00020">abstract_robot_decorator.h:20</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html"><div class="ttname"><a href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00018">abstract_robot_decorator.h:18</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/panda__decorator_8h.html b/doc/html/panda__decorator_8h.html
new file mode 100644
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+++ b/doc/html/panda__decorator_8h.html
@@ -0,0 +1,81 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: panda_decorator.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li><li class="navelem"><a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">panda_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__robot__decorator_8h_source.html">robot/decorators/abstract_robot_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for panda_decorator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="panda__decorator_8h__incl.png" border="0" usemap="#panda__decorator_8h" alt=""/></div>
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+<area shape="rect" title=" " alt="" coords="1683,184,1873,211"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="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="108,5,251,32"/>
+<area shape="rect" href="panda__decorator_8cpp.html" title=" " alt="" coords="5,87,164,114"/>
+<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="188,80,360,121"/>
+</map>
+</div>
+</div>
+<p><a href="panda__decorator_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="classPanda__decorator.html">Panda_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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index 0000000000000000000000000000000000000000..cb292b13464d07fe06880fd961dc8bd28aa05f4b
--- /dev/null
+++ b/doc/html/panda__decorator_8h_source.html
@@ -0,0 +1,64 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: panda_decorator.h 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li><li class="navelem"><a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">panda_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="panda__decorator_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 PANDA_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define PANDA_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="abstract__robot__decorator_8h.html">robot/decorators/abstract_robot_decorator.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="classPanda__decorator.html"> 9</a></span> <span class="keyword">class </span><a class="code" href="classPanda__decorator.html">Panda_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a>{</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator</a>(std::unique_ptr<Abstract_robot> <a class="code" href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">next</a>);</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="keywordtype">void</span> <a class="code" href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">spezifie_root_bounds</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordtype">void</span> <a class="code" href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">spezifie_robot_groups</a>() <span class="keyword">override</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"> 17</span>  </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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassPanda__decorator_html_aa06d746a0cb43e4f30780289f606e5cb"><div class="ttname"><a href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator::Panda_decorator</a></div><div class="ttdeci">Panda_decorator(std::unique_ptr< Abstract_robot > next)</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00004">panda_decorator.cpp:4</a></div></div>
+<div class="ttc" id="aclassPanda__decorator_html_ac84d81aaf6ba3bf7c251886ad73c48e6"><div class="ttname"><a href="classPanda__decorator.html#ac84d81aaf6ba3bf7c251886ad73c48e6">Panda_decorator::spezifie_robot_groups</a></div><div class="ttdeci">void spezifie_robot_groups() override</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00023">panda_decorator.cpp:23</a></div></div>
+<div class="ttc" id="aclassPanda__decorator_html"><div class="ttname"><a href="classPanda__decorator.html">Panda_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8h_source.html#l00009">panda_decorator.h:9</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="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassPanda__decorator_html_a09b74248a99c3ce02dc909a3871bb876"><div class="ttname"><a href="classPanda__decorator.html#a09b74248a99c3ce02dc909a3871bb876">Panda_decorator::spezifie_root_bounds</a></div><div class="ttdeci">void spezifie_root_bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00014">panda_decorator.cpp:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html"><div class="ttname"><a href="classAbstract__robot__decorator.html">Abstract_robot_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00018">abstract_robot_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__decorator_html_aea8ffc58bc7a4187d8d28440e4395174"><div class="ttname"><a href="classAbstract__robot__decorator.html#aea8ffc58bc7a4187d8d28440e4395174">Abstract_robot_decorator::next</a></div><div class="ttdeci">Abstract_robot * next()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00045">abstract_robot_decorator.h:45</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/panel_8cpp.html b/doc/html/panel_8cpp.html
new file mode 100644
index 0000000000000000000000000000000000000000..c5de028927d80d80327e64e6713f91a5312e499f
--- /dev/null
+++ b/doc/html/panel_8cpp.html
@@ -0,0 +1,52 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: panel.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><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">panel.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="panel_8h_source.html">robot_element/observers/panel.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for panel.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="panel_8cpp__incl.png" border="0" usemap="#panel_8cpp" alt=""/></div>
+<map name="panel_8cpp" id="panel_8cpp">
+<area shape="rect" title=" " alt="" coords="65,5,150,32"/>
+<area shape="rect" href="panel_8h.html" title=" " alt="" coords="15,80,200,121"/>
+<area shape="rect" title=" " alt="" coords="5,259,84,285"/>
+<area shape="rect" href="robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="83,169,257,211"/>
+<area shape="rect" title=" " alt="" coords="108,259,307,285"/>
+</map>
+</div>
+</div>
+<p><a href="panel_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/panel_8cpp__incl.map b/doc/html/panel_8cpp__incl.map
new file mode 100644
index 0000000000000000000000000000000000000000..16e415b022ad4e637bf411cbdf45b403ca735947
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+++ b/doc/html/panel_8cpp__incl.map
@@ -0,0 +1,7 @@
+<map id="panel.cpp" name="panel.cpp">
+<area shape="rect" id="node1" title=" " alt="" coords="65,5,150,32"/>
+<area shape="rect" id="node2" href="$panel_8h.html" title=" " alt="" coords="15,80,200,121"/>
+<area shape="rect" id="node3" title=" " alt="" coords="5,259,84,285"/>
+<area shape="rect" id="node4" href="$robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="83,169,257,211"/>
+<area shape="rect" id="node5" title=" " alt="" coords="108,259,307,285"/>
+</map>
diff --git a/doc/html/panel_8cpp__incl.md5 b/doc/html/panel_8cpp__incl.md5
new file mode 100644
index 0000000000000000000000000000000000000000..f1fbe04ac2f36e828bf28fb2b675a652d3ee7a2b
--- /dev/null
+++ b/doc/html/panel_8cpp__incl.md5
@@ -0,0 +1 @@
+64b8d58c22a55af2b9686d419f21bc2a
\ No newline at end of file
diff --git a/doc/html/panel_8cpp__incl.png b/doc/html/panel_8cpp__incl.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf0158b977b573f30f41595983c3659259aa4faf
Binary files /dev/null and b/doc/html/panel_8cpp__incl.png differ
diff --git a/doc/html/panel_8cpp_source.html b/doc/html/panel_8cpp_source.html
new file mode 100644
index 0000000000000000000000000000000000000000..9e9a6125142501cfb4d74c68c108c5bc0123a26d
--- /dev/null
+++ b/doc/html/panel_8cpp_source.html
@@ -0,0 +1,52 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: panel.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><li class="navelem"><a class="el" href="dir_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">panel.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="panel_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="panel_8h.html">robot_element/observers/panel.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="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda"> 3</a></span> <a class="code" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel::Panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> : <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>(tf, name, size)</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>  <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX()/2.f, <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY()/2.f,0))); <span class="comment">//++</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX()/2.f, <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY()/-2.f,0))); <span class="comment">//+-</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX()/-2.f, <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY()/-2.f,0))); <span class="comment">//--</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX()/-2.f, <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY()/2.f,0))); <span class="comment">//-+</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot__element_html_a4d44edf1d412564ef916f16ee9035116"><div class="ttname"><a href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">Abstract_robot_element::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00014">robot_element/abstract_robot_element.h:14</a></div></div>
+<div class="ttc" id="aclassPanel_html_a2f673224275e5ecb0db4d778f93e0bda"><div class="ttname"><a href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel::Panel</a></div><div class="ttdeci">Panel(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="panel_8cpp_source.html#l00003">panel.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a432662f8ece3c1e08739bd36a4c155d6"><div class="ttname"><a href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00012">robot_element/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="apanel_8h_html"><div class="ttname"><a href="panel_8h.html">panel.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/panel_8h.html b/doc/html/panel_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..0ad21dd51c8cd5b41eaca72194dac5ea7acc8a52
--- /dev/null
+++ b/doc/html/panel_8h.html
@@ -0,0 +1,80 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: panel.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">panel.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for panel.h:</div>
+<div class="dyncontent">
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+</div>
+<p><a href="panel_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="classPanel.html">Panel</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: panel.h 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">panel.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="panel_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 PANEL_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define PANEL_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</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"><a class="line" href="classPanel.html"> 7</a></span> <span class="keyword">class </span><a class="code" href="classPanel.html">Panel</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>{</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel</a>(std::string <a class="code" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="code" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</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"><a class="line" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e"> 11</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">set_name</a>(std::string str) {<a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a> = str;}</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497"> 12</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">set_set</a>(tf2::Vector3& vec) {<a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a> = vec;}</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f"> 14</a></span>  <span class="keywordtype">void</span> <a class="code" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{this-><a class="code" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf);}</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="classPanel.html#af4477404926c93431f4c369d36e945d6"> 16</a></span>  std::vector<tf2::Transform>& <a class="code" href="classPanel.html#af4477404926c93431f4c369d36e945d6">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>;}</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7"> 17</a></span>  tf2::Transform& <a class="code" href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">world_tf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>;};</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583"> 18</a></span>  std::string& <a class="code" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>;}</div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818"> 19</a></span>  tf2::Vector3& <a class="code" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>;}</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> };</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassPanel_html_af865f7bb6545e057fcb0a76fd774a497"><div class="ttname"><a href="classPanel.html#af865f7bb6545e057fcb0a76fd774a497">Panel::set_set</a></div><div class="ttdeci">void set_set(tf2::Vector3 &vec)</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00012">panel.h:12</a></div></div>
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a4d44edf1d412564ef916f16ee9035116"><div class="ttname"><a href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">Abstract_robot_element::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00014">robot_element/abstract_robot_element.h:14</a></div></div>
+<div class="ttc" id="aclassPanel_html_abc3a14b055ba9004fa5ebdb34cd5e583"><div class="ttname"><a href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00018">panel.h:18</a></div></div>
+<div class="ttc" id="aclassPanel_html_a2f673224275e5ecb0db4d778f93e0bda"><div class="ttname"><a href="classPanel.html#a2f673224275e5ecb0db4d778f93e0bda">Panel::Panel</a></div><div class="ttdeci">Panel(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="panel_8cpp_source.html#l00003">panel.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad42d8ba185583e644e00af1c2298a38d"><div class="ttname"><a href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00012">impl/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassPanel_html_a2a70a607d1521d4df2360891afd2106f"><div class="ttname"><a href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00014">panel.h:14</a></div></div>
+<div class="ttc" id="aclassPanel_html"><div class="ttname"><a href="classPanel.html">Panel</a></div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00007">panel.h:7</a></div></div>
+<div class="ttc" id="aclassPanel_html_aaa3899db59afd593ef4ec2eb343f71b7"><div class="ttname"><a href="classPanel.html#aaa3899db59afd593ef4ec2eb343f71b7">Panel::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00017">panel.h:17</a></div></div>
+<div class="ttc" id="aclassPanel_html_a58081e744b584114f23b80c1f3cee22e"><div class="ttname"><a href="classPanel.html#a58081e744b584114f23b80c1f3cee22e">Panel::set_name</a></div><div class="ttdeci">void set_name(std::string str)</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00011">panel.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a19e094e1639e2c72ead481a3c6c9ec24"><div class="ttname"><a href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element::calc_world_tf</a></div><div class="ttdeci">void calc_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00019">impl/abstract_robot_element.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_adcaadf1f399625d67747ce746a0cc928"><div class="ttname"><a href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00009">robot_element/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassPanel_html_af6a63c29e5a5573b369482528c4b4818"><div class="ttname"><a href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00019">panel.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a432662f8ece3c1e08739bd36a4c155d6"><div class="ttname"><a href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00012">robot_element/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassPanel_html_af4477404926c93431f4c369d36e945d6"><div class="ttname"><a href="classPanel.html#af4477404926c93431f4c369d36e945d6">Panel::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00016">panel.h:16</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot_2abstract__robot_8h.html b/doc/html/robot_2abstract__robot_8h.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot.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>
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+<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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> |
+<a href="#enum-members">Enumerations</a> </div>
+ <div class="headertitle">
+<div class="title">robot/abstract_robot.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot/abstract_robot.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot_2abstract__robot_8h__incl.png" border="0" usemap="#abstract__robot_8h" alt=""/></div>
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+<area shape="rect" href="robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="39,80,213,121"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot_2abstract__robot_8h__dep__incl.png" border="0" usemap="#abstract__robot_8hdep" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="robot_2abstract__robot_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="classAbstract__robot.html">Abstract_robot</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:a6772e3f5ff2cf1ed8a24b23c0992dad1"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a> { <br />
+  <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,
+<br />
+  <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,
+<a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 0,
+<br />
+  <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,
+<br />
+  <a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,
+<a class="el" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 0
+<br />
+ }</td></tr>
+<tr class="separator:a6772e3f5ff2cf1ed8a24b23c0992dad1"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a6772e3f5ff2cf1ed8a24b23c0992dad1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6772e3f5ff2cf1ed8a24b23c0992dad1">◆ </a></span>wing_config</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">enum <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"></a>RML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"></a>RM_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"></a>R_L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"></a>R__ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"></a>_ML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"></a>_M_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"></a>__L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"></a>___ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"></a>RML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"></a>RM_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"></a>R_L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"></a>R__ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"></a>_ML </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"></a>_M_ </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"></a>__L </td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"></a>___ </td><td class="fielddoc"></td></tr>
+</table>
+
+<p class="definition">Definition at line <a class="el" href="robot_2abstract__robot_8h_source.html#l00009">9</a> of file <a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot.h 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot/abstract_robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot_2abstract__robot_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 ABSTRACT_ROBOT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.h></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> <span class="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</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="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1"> 9</a></span> <span class="keyword">enum</span> <a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>{</div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"> 10</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"> 11</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"> 12</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"> 13</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"> 14</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"> 15</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"> 16</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"> 17</a></span>  <a class="code" href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 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>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">class </span><a class="code" href="classAbstract__robot.html">Abstract_robot</a> {</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  std::string <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>; </div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  tf2::Vector3 <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a>; </div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  tf2::Transform <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  tf2::Transform <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a>; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot</a>(std::string <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>);</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>  <span class="keyword">virtual</span> std::string& <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>()=0; </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">virtual</span> tf2::Transform& <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>()=0; </div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">virtual</span> tf2::Vector3& <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>()=0; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">virtual</span> tf2::Transform& <a class="code" href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">root_tf</a>()=0; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">virtual</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">bounds</a>()=0; </div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">virtual</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">robot_root_bounds</a>()=0; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61"> 39</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">size</a>(tf2::Vector3& s) { <a class="code" href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">size_</a> = s;}</div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d"> 40</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">set_tf</a>(tf2::Transform& t) { <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> = t;}</div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385"> 41</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">rotate</a>(<span class="keywordtype">float</span> deg) {tf2::Quaternion rot; rot.setRPY(0,0,deg); tf2::Transform t(rot, tf2::Vector3(0,0,0)); <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>= <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>* t;}</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f"> 42</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">translate</a>(tf2::Vector3 t) {tf2::Transform <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>(tf2::Quaternion(0,0,0,1), t); <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>*=<a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>;}</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">notify</a>()= 0;</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">check_single_object_collision</a>(tf2::Transform& obj, std::string& b)= 0;</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj) =0;</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">float</span> <a class="code" href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">area_calculation</a>(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C);</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> };</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>  </div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a></div><div class="ttdeci">@ R_L</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00012">robot/abstract_robot.h:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_acfcaa13dd3824464426f0557ec2e360d"><div class="ttname"><a href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot::notify</a></div><div class="ttdeci">virtual void notify()=0</div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a></div><div class="ttdeci">@ _ML</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00014">robot/abstract_robot.h:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a598a8379918fbdaf44358be840f146b7"><div class="ttname"><a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot::root_tf_</a></div><div class="ttdeci">tf2::Transform root_tf_</div><div class="ttdoc">Robot root on table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00030">impl/abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a72694508ca6d5ada16236775402dd385"><div class="ttname"><a href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot::rotate</a></div><div class="ttdeci">void rotate(float deg)</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00041">robot/abstract_robot.h:41</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a></div><div class="ttdeci">@ ___</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00017">robot/abstract_robot.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aeb08dc2fa1ecdad08544fb77ff60d78e"><div class="ttname"><a href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot::check_single_object_collision</a></div><div class="ttdeci">virtual bool check_single_object_collision(tf2::Transform &obj, std::string &b)=0</div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af29a9894b43fc8124de65712414168f4"><div class="ttname"><a href="classAbstract__robot.html#af29a9894b43fc8124de65712414168f4">Abstract_robot::root_tf</a></div><div class="ttdeci">tf2::Transform & root_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00060">impl/abstract_robot.h:60</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a></div><div class="ttdeci">@ __L</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00016">robot/abstract_robot.h:16</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a1402d06f3393679d585376716cc2a534"><div class="ttname"><a href="classAbstract__robot.html#a1402d06f3393679d585376716cc2a534">Abstract_robot::area_calculation</a></div><div class="ttdeci">float area_calculation(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</div><div class="ttdoc">Triangle area calculator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8cpp_source.html#l00022">abstract_robot.cpp:22</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_abd68b299ae1d193e2c4d5ce89a7a2c61"><div class="ttname"><a href="classAbstract__robot.html#abd68b299ae1d193e2c4d5ce89a7a2c61">Abstract_robot::size</a></div><div class="ttdeci">void size(tf2::Vector3 &s)</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00039">robot/abstract_robot.h:39</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ade9a130588307d054c1d68e861a01717"><div class="ttname"><a href="classAbstract__robot.html#ade9a130588307d054c1d68e861a01717">Abstract_robot::workload_checker</a></div><div class="ttdeci">virtual void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj)=0</div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ab27017c6039446502704b443df934a2d"><div class="ttname"><a href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot::set_tf</a></div><div class="ttdeci">void set_tf(tf2::Transform &t)</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00040">robot/abstract_robot.h:40</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a28c13c43328a26f12659ff086d77394e"><div class="ttname"><a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdoc">Bounds of table top surface.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00031">impl/abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a126e52a7696cf030f5697dd93439775f"><div class="ttname"><a href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">Abstract_robot::translate</a></div><div class="ttdeci">void translate(tf2::Vector3 t)</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00042">robot/abstract_robot.h:42</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a></div><div class="ttdeci">@ _M_</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00015">robot/abstract_robot.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a854a3c8c740dcb60e0ee347fcd5447f6"><div class="ttname"><a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdoc">Pose of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00029">impl/abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a></div><div class="ttdeci">@ RM_</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00011">robot/abstract_robot.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a704bd9522c6fdaff61cc7584ef20850c"><div class="ttname"><a href="classAbstract__robot.html#a704bd9522c6fdaff61cc7584ef20850c">Abstract_robot::Abstract_robot</a></div><div class="ttdeci">Abstract_robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00038">impl/abstract_robot.h:38</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a></div><div class="ttdeci">@ RML</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00010">robot/abstract_robot.h:10</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><div class="ttname"><a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">Name of robot.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00027">impl/abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_af92f5538f28fbe61687d70f15e84fb82"><div class="ttname"><a href="classAbstract__robot.html#af92f5538f28fbe61687d70f15e84fb82">Abstract_robot::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdoc">Size of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00028">impl/abstract_robot.h:28</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a64ae098f7cadad8237e663658f038663"><div class="ttname"><a href="classAbstract__robot.html#a64ae098f7cadad8237e663658f038663">Abstract_robot::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00061">impl/abstract_robot.h:61</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aef7449039e62cf8608dbd22222120289"><div class="ttname"><a href="classAbstract__robot.html#aef7449039e62cf8608dbd22222120289">Abstract_robot::robot_root_bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & robot_root_bounds()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00064">impl/abstract_robot.h:64</a></div></div>
+<div class="ttc" id="arobot_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"><div class="ttname"><a href="robot_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a></div><div class="ttdeci">@ R__</div><div class="ttdef"><b>Definition:</b> <a href="robot_2abstract__robot_8h_source.html#l00013">robot/abstract_robot.h:13</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00014">impl/abstract_robot.h:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a6d8ed98b1820134733f8d1a42eaa00c4"><div class="ttname"><a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot::robot_root_bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > robot_root_bounds_</div><div class="ttdoc">Bounds of robot arm as sub-region of table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00032">impl/abstract_robot.h:32</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+ <div class="headertitle">
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+
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+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
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+</body>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+});
+/* @license-end */</script>
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+<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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot_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="robot_8h.html">impl/robot.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="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">Robot::generate_access_fields</a>(){</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i <= 2; i++){</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j <= 2; j++){</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <span class="keywordflow">if</span>(i == 0 && j == 0) {<span class="keywordflow">continue</span>;}</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  <span class="keywordflow">if</span>(i == 2 && j == 2) {<span class="keywordflow">continue</span>;}</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keywordflow">if</span>(i == 0) {</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
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+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == 0){</div>
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+<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"> 24</span>  <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.push_back(<span class="keyword">new</span> <a class="code" href="classField.html">Field</a>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1.305f,0,0))));</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.push_back(<span class="keyword">new</span> <a class="code" href="classField.html">Field</a>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-1.305f,0,0))));</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.push_back(<span class="keyword">new</span> <a class="code" href="classField.html">Field</a>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,1.305f,0))));</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.push_back(<span class="keyword">new</span> <a class="code" href="classField.html">Field</a>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-1.305f,0)))); </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>  </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801"> 31</a></span> <span class="keywordtype">float</span> <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">Robot::area_calculation</a>(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C){</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordflow">return</span> std::abs(</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  (B.getOrigin().getX() * A.getOrigin().getY()) - (A.getOrigin().getX() * B.getOrigin().getY()) +</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  (C.getOrigin().getX() * B.getOrigin().getY()) - (B.getOrigin().getX() * C.getOrigin().getY()) +</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  (A.getOrigin().getX() * C.getOrigin().getY()) - (C.getOrigin().getX() * A.getOrigin().getY()))*0.5f;</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>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8"> 38</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot::workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj){</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>.size(); i++){</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a> *deco = <span class="keyword">dynamic_cast<</span><a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>*<span class="keyword">></span>(<a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>[i]);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classWing.html">Wing</a>* ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(deco-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  tf2::Transform A = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[0];</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tf2::Transform B = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[1];</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  tf2::Transform C = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[2];</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  tf2::Transform D = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[3];</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>  <span class="keywordtype">float</span> full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,B,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,obj,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,obj,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,obj,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(obj, B, 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"> 50</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) { </div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  count_vector[i]++; <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">continue</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>  }</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>  </div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  tf2::Transform A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[0];</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  tf2::Transform B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[1];</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  tf2::Transform C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[2];</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  tf2::Transform D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,B,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,obj,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,obj,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,obj,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) count_vector.back()++; <span class="keywordflow">return</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"> 68</span>  </div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73"> 70</a></span> <span class="keywordtype">bool</span> <a class="code" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot::check_single_object_collision</a>(tf2::Transform& obj, std::string& str){</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  tf2::Transform A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[0];</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  tf2::Transform B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[1];</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  tf2::Transform C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[2];</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  tf2::Transform D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">root_tf_</a> * <a class="code" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">robot_root_bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,B,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,obj,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,obj,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,obj,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) {<span class="keywordflow">return</span> <span class="keyword">false</span>; } </div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  ss << <span class="stringliteral">"base_"</span> << <a class="code" href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">name_</a>.back();</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[0];</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[1];</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[2];</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[3];</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>  full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,B,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,obj,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,obj,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,obj,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area){</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  str = ss.str();</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  </div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">if</span> (!<a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>.empty()){</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  std::vector<Abstract_robot_element*>::const_iterator it = <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>.begin(); </div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">while</span> (it != <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>.end()) {</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a> *deco = <span class="keyword">dynamic_cast<</span><a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>*<span class="keyword">></span>(*it);</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="classWing.html">Wing</a>* ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(deco-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  tf2::Transform A = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[0];</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  tf2::Transform B = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[1];</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  tf2::Transform C = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[2];</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  tf2::Transform D = ceti-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * ceti-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[3];</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>  full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,B,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,obj,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,obj,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,obj,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) {</div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  str = ceti-><a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>();</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  ++it;</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>  }</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">return</span> <span class="keyword">false</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>  </div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classRobot.html#af626880915da239eeb0793eb41ab7596"> 118</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobot.html#af626880915da239eeb0793eb41ab7596">Robot::reset</a>(){</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>.clear();</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.clear();</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <a class="code" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</a>();</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>().getOrigin().getZ()));</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="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6"> 125</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot::notify</a>(){ </div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">for</span>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* wing : <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>) wing->update(<a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>); </div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">for</span>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* field : <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>) field->update(<a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a>);</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="l00130"></a><span class="lineno"><a class="line" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92"> 130</a></span> <span class="keywordtype">bool</span> <a class="code" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">Robot::check_robot_collision</a>( <a class="code" href="classRobot.html">Robot</a>* rob){</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  tf2::Transform A = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[0];</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  tf2::Transform B = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[1];</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  tf2::Transform C = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[2];</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  tf2::Transform D = <a class="code" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">tf_</a> * <a class="code" href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,B,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,D,C);</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,rob-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>(),D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,rob-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>(),C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,rob-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>(),B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(rob-><a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>(), B, A);</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">for</span>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are : rob-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()) {</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classWing.html">Wing</a>* w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(wrd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</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>  tf2::Transform WA = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[0];</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  tf2::Transform WB = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[1];</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  tf2::Transform WC = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[2];</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  tf2::Transform WD = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[3];</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,WA,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,WA,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,WA,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,WB,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,WB,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,WB,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WB, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,WC,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,WC,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,WC,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WC, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(A,WD,D) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(D,WD,C) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(C,WD,B) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WD, B, A); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</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>  </div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">for</span> (<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* ar : <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>){</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(ar);</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="classWing.html">Wing</a>* w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(wrd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</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>  tf2::Transform WA = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[0];</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  tf2::Transform WB = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[1];</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  tf2::Transform WC = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[2];</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  tf2::Transform WD = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[3];</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>  full_area = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA,WB,WC) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA,WD,WC);</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">for</span>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* are : rob-><a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>()) {</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>* wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a>*<span class="keyword">></span>(are);</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="classWing.html">Wing</a>* w = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span>(wrd-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>());</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  tf2::Transform WA2 = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[0];</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  tf2::Transform WB2 = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[1];</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  tf2::Transform WC2 = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[2];</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  tf2::Transform WD2 = w-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>() * w-><a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>()[3];</div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA,WA2,WD) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WD,WA2,WC) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WC,WA2,WB) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA,WB2,WD) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WD,WB2,WC) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WC,WB2,WB) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WB2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA,WC2,WD) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WD,WC2,WC) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WC,WC2,WB) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WC2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  sum = <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WA,WD2,WD) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WD,WD2,WC) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WC,WD2,WB) + <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(WD2, WB, WA); <span class="keywordflow">if</span> ((std::floor(sum*100)/100.f) <= full_area) <span class="keywordflow">return</span> <span class="keyword">true</span>;</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> }</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>  </div>
+<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0"> 182</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot::register_observers</a>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* wd){</div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>* decorator = <span class="keyword">dynamic_cast<</span><a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>*<span class="keyword">></span>(wd);</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>.push_back(wd);</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  std::vector<tf2::Transform> plane;</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">bool</span> found = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordtype">int</span> index = 0;</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>  <span class="keywordflow">if</span> (decorator-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>().getOrigin().getY()>0){</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.size(); i++){</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span> ((<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>[i]->relative_tf().getOrigin().getY() > 0) && (<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>[i]->relative_tf().getOrigin().getX() == 0)){</div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  found = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  index = i;</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</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>  <span class="keywordflow">if</span>(found) {<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.erase(<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.begin() + index); <span class="keywordflow">return</span>;}</div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (decorator-><a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>()-><a class="code" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>().getOrigin().getY()<0) {</div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.size(); i++){</div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">if</span> ((<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>[i]->relative_tf().getOrigin().getY() < 0) && (<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>[i]->relative_tf().getOrigin().getX() == 0)){</div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  found = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  index = i;</div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">break</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>  <span class="keywordflow">if</span>(found) {<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.erase(<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.begin() + index); <span class="keywordflow">return</span>;}</div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.size(); i++){</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">if</span> (<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>[i]->relative_tf().getOrigin().getX() > 0){</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  found = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  index = i;</div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">break</span>;</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>  }</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">if</span>(found) {<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.erase(<a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>.begin() + index); <span class="keywordflow">return</span>;}</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing_html_ad8bf499109ae520a7dcd19afd564ff7b"><div class="ttname"><a href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">Wing::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00028">wing.h:28</a></div></div>
+<div class="ttc" id="arobot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_aeb6c8c47edbcc561f15b00d551a045e6"><div class="ttname"><a href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot::observers</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & observers()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00029">robot.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a598a8379918fbdaf44358be840f146b7"><div class="ttname"><a href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot::root_tf_</a></div><div class="ttdeci">tf2::Transform root_tf_</div><div class="ttdoc">Robot root on table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00030">impl/abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassWing_html_a3dc2d8cffc9b50ff0a2333b68ea402cc"><div class="ttname"><a href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">Wing::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00023">wing.h:23</a></div></div>
+<div class="ttc" id="aclassRobot_html_aaeebeca358c747b158be2999664d4b6a"><div class="ttname"><a href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">Robot::access_fields_</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > access_fields_</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00022">robot.h:22</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab95c43650b9596fc2e9bc374abeeadf6"><div class="ttname"><a href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00125">robot.cpp:125</a></div></div>
+<div class="ttc" id="aclassRobot_html_af626880915da239eeb0793eb41ab7596"><div class="ttname"><a href="classRobot.html#af626880915da239eeb0793eb41ab7596">Robot::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00118">robot.cpp:118</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassRobot_html_a9cec7ea9000ee388e058ba6bfbe7640d"><div class="ttname"><a href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">Robot::generate_access_fields</a></div><div class="ttdeci">void generate_access_fields()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00003">robot.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a28c13c43328a26f12659ff086d77394e"><div class="ttname"><a href="classAbstract__robot.html#a28c13c43328a26f12659ff086d77394e">Abstract_robot::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdoc">Bounds of table top surface.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00031">impl/abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html"><div class="ttname"><a href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00009">wing_rviz_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a854a3c8c740dcb60e0ee347fcd5447f6"><div class="ttname"><a href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdoc">Pose of table.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00029">impl/abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a9138c650f2148d515802a89f079ace2f"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator::wing</a></div><div class="ttdeci">Abstract_robot_element * wing()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00015">impl/abstract_robot_element_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassRobot_html_a7e045dcd43e888a9e4cddc2a9e6abdc8"><div class="ttname"><a href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot::workload_checker</a></div><div class="ttdeci">void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj) override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00038">robot.cpp:38</a></div></div>
+<div class="ttc" id="aclassRobot_html_a0b60a38b7639a58095b3303052e4a801"><div class="ttname"><a href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">Robot::area_calculation</a></div><div class="ttdeci">float area_calculation(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00031">robot.cpp:31</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a3dc156f9e7813fa5dfa0d9c8c7e7a36f"><div class="ttname"><a href="classAbstract__robot.html#a3dc156f9e7813fa5dfa0d9c8c7e7a36f">Abstract_robot::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">Name of robot.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00027">impl/abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aclassRobot_html_a6821b81b167e8bffbeca4beedc8033f8"><div class="ttname"><a href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">Robot::observers_</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > observers_</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00021">robot.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad3ee9aff6d4fb1e4e90775e943e65861"><div class="ttname"><a href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">Abstract_robot_element::relative_tf</a></div><div class="ttdeci">tf2::Transform & relative_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00018">impl/abstract_robot_element.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab7bf74de30a186337b05cb05b74d0e73"><div class="ttname"><a href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot::check_single_object_collision</a></div><div class="ttdeci">bool check_single_object_collision(tf2::Transform &obj, std::string &str) override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00070">robot.cpp:70</a></div></div>
+<div class="ttc" id="aclassField_html"><div class="ttname"><a href="classField.html">Field</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00007">impl/field.h:7</a></div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+<div class="ttc" id="aclassRobot_html_a7eddff501a2c3a3d5feb6c2ec4b016e0"><div class="ttname"><a href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot::register_observers</a></div><div class="ttdeci">void register_observers(Abstract_robot_element *wd)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00182">robot.cpp:182</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a6d8ed98b1820134733f8d1a42eaa00c4"><div class="ttname"><a href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot::robot_root_bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > robot_root_bounds_</div><div class="ttdoc">Bounds of robot arm as sub-region of table top.</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00032">impl/abstract_robot.h:32</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab57fc902b6e93336db5310abf05c8a92"><div class="ttname"><a href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">Robot::check_robot_collision</a></div><div class="ttdeci">bool check_robot_collision(Robot *R)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00130">robot.cpp:130</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: robot.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>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">robot.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot_8h_source.html">impl/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="wing_8h_source.html">impl/wing.h</a>"</code><br />
+<code>#include "<a class="el" href="wing__rviz__decorator_8h_source.html">impl/wing_rviz_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2field_8h_source.html">impl/field.h</a>"</code><br />
+<code>#include <moveit/planning_scene_interface/planning_scene_interface.h></code><br />
+<code>#include <moveit/move_group_interface/move_group_interface.h></code><br />
+<code>#include <moveit_msgs/ApplyPlanningScene.h></code><br />
+<code>#include <moveit/robot_model_loader/robot_model_loader.h></code><br />
+<code>#include <moveit/planning_scene/planning_scene.h></code><br />
+<code>#include <moveit/kinematic_constraints/utils.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot.h:</div>
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+<p><a href="robot_8h_source.html">Go to the source code of this file.</a></p>
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+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="classRobot.html">Robot</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot.h Source File</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot_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 ROBOT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ROBOT_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot_8h.html">impl/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.h</a>"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "<a class="code" href="wing_8h.html">impl/wing.h</a>"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="wing__rviz__decorator_8h.html">impl/wing_rviz_decorator.h</a>"</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="impl_2field_8h.html">impl/field.h</a>"</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> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <moveit/robot_model_loader/robot_model_loader.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.h></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <moveit/kinematic_constraints/utils.h></span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classRobot.html"> 19</a></span> <span class="keyword">class </span><a class="code" href="classRobot.html">Robot</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot.html">Abstract_robot</a>{</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8"> 21</a></span>  std::vector<Abstract_robot_element*> <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a"> 22</a></span>  std::vector<Abstract_robot_element*> <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>;</div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classRobot.html#a20984a642a92887a622d8e069884b8e8"> 23</a></span>  std::vector<moveit_msgs::CollisionObject*> <a class="code" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a>;</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a"> 27</a></span>  <a class="code" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>(std::string& <a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, tf2::Transform <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, tf2::Vector3 <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>) : <a class="code" href="classAbstract__robot.html">Abstract_robot</a>(<a class="code" href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">name</a>, <a class="code" href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">tf</a>, <a class="code" href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">size</a>){<a class="code" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</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="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6"> 29</a></span>  <span class="keyword">inline</span> std::vector<Abstract_robot_element*>& <a class="code" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">observers</a>() { <span class="keywordflow">return</span> <a class="code" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">observers_</a>;}</div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713"> 30</a></span>  <span class="keyword">inline</span> std::vector<Abstract_robot_element*>& <a class="code" href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">access_fields</a>() { <span class="keywordflow">return</span> <a class="code" href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">access_fields_</a>;}</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classRobot.html#ab333a4150395873d947c791996171510"> 32</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classRobot.html#ab333a4150395873d947c791996171510">add_coll_markers</a>(moveit_msgs::CollisionObject* marker) {<a class="code" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a>.push_back(marker);}</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f"> 33</a></span>  <span class="keyword">inline</span> std::vector<moveit_msgs::CollisionObject*> <a class="code" href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">coll_markers</a>(){ <span class="keywordflow">return</span> <a class="code" href="classRobot.html#a20984a642a92887a622d8e069884b8e8">coll_markers_</a>;}</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="keywordtype">void</span> <a class="code" href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">register_observers</a>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* wd);</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">void</span> <a class="code" href="classRobot.html#af626880915da239eeb0793eb41ab7596">reset</a>();</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordtype">void</span> <a class="code" href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">generate_access_fields</a>();</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordtype">float</span> <a class="code" href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">area_calculation</a>(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C);</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordtype">bool</span> <a class="code" href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">check_robot_collision</a>(<a class="code" href="classRobot.html">Robot</a>* R);</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="keywordtype">bool</span> <a class="code" href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">check_single_object_collision</a>(tf2::Transform& obj, std::string& str) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">void</span> <a class="code" href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">workload_checker</a>(std::vector<int>& count_vector, tf2::Transform& obj) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">void</span> <a class="code" href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">notify</a>() <span class="keyword">override</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>  </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>  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassRobot_html_a20984a642a92887a622d8e069884b8e8"><div class="ttname"><a href="classRobot.html#a20984a642a92887a622d8e069884b8e8">Robot::coll_markers_</a></div><div class="ttdeci">std::vector< moveit_msgs::CollisionObject * > coll_markers_</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00023">robot.h:23</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_aeb6c8c47edbcc561f15b00d551a045e6"><div class="ttname"><a href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot::observers</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & observers()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00029">robot.h:29</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab333a4150395873d947c791996171510"><div class="ttname"><a href="classRobot.html#ab333a4150395873d947c791996171510">Robot::add_coll_markers</a></div><div class="ttdeci">void add_coll_markers(moveit_msgs::CollisionObject *marker)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00032">robot.h:32</a></div></div>
+<div class="ttc" id="aclassRobot_html_aaeebeca358c747b158be2999664d4b6a"><div class="ttname"><a href="classRobot.html#aaeebeca358c747b158be2999664d4b6a">Robot::access_fields_</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > access_fields_</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00022">robot.h:22</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab95c43650b9596fc2e9bc374abeeadf6"><div class="ttname"><a href="classRobot.html#ab95c43650b9596fc2e9bc374abeeadf6">Robot::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00125">robot.cpp:125</a></div></div>
+<div class="ttc" id="aimpl_2field_8h_html"><div class="ttname"><a href="impl_2field_8h.html">field.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_af626880915da239eeb0793eb41ab7596"><div class="ttname"><a href="classRobot.html#af626880915da239eeb0793eb41ab7596">Robot::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00118">robot.cpp:118</a></div></div>
+<div class="ttc" id="aclassRobot_html_a9cec7ea9000ee388e058ba6bfbe7640d"><div class="ttname"><a href="classRobot.html#a9cec7ea9000ee388e058ba6bfbe7640d">Robot::generate_access_fields</a></div><div class="ttdeci">void generate_access_fields()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00003">robot.cpp:3</a></div></div>
+<div class="ttc" id="aclassRobot_html_a7e045dcd43e888a9e4cddc2a9e6abdc8"><div class="ttname"><a href="classRobot.html#a7e045dcd43e888a9e4cddc2a9e6abdc8">Robot::workload_checker</a></div><div class="ttdeci">void workload_checker(std::vector< int > &count_vector, tf2::Transform &obj) override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00038">robot.cpp:38</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_ad7080256737d26f2d4499d848e8c854a"><div class="ttname"><a href="classAbstract__robot.html#ad7080256737d26f2d4499d848e8c854a">Abstract_robot::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00057">impl/abstract_robot.h:57</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_aa3bfc2c32585c42ca88f5fc1e663eb93"><div class="ttname"><a href="classAbstract__robot.html#aa3bfc2c32585c42ca88f5fc1e663eb93">Abstract_robot::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00059">impl/abstract_robot.h:59</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html"><div class="ttname"><a href="impl_2abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_a39fda5c987efad9c391bf4ce236e271f"><div class="ttname"><a href="classRobot.html#a39fda5c987efad9c391bf4ce236e271f">Robot::coll_markers</a></div><div class="ttdeci">std::vector< moveit_msgs::CollisionObject * > coll_markers()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00033">robot.h:33</a></div></div>
+<div class="ttc" id="aclassRobot_html_a0b60a38b7639a58095b3303052e4a801"><div class="ttname"><a href="classRobot.html#a0b60a38b7639a58095b3303052e4a801">Robot::area_calculation</a></div><div class="ttdeci">float area_calculation(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00031">robot.cpp:31</a></div></div>
+<div class="ttc" id="aclassRobot_html"><div class="ttname"><a href="classRobot.html">Robot</a></div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00019">robot.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html_a4d636b2de764243b145577db70637d63"><div class="ttname"><a href="classAbstract__robot.html#a4d636b2de764243b145577db70637d63">Abstract_robot::tf</a></div><div class="ttdeci">tf2::Transform & tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00058">impl/abstract_robot.h:58</a></div></div>
+<div class="ttc" id="aclassRobot_html_a1a73b8eaedcdab4b7defcedd81f8c713"><div class="ttname"><a href="classRobot.html#a1a73b8eaedcdab4b7defcedd81f8c713">Robot::access_fields</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > & access_fields()</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00030">robot.h:30</a></div></div>
+<div class="ttc" id="awing__rviz__decorator_8h_html"><div class="ttname"><a href="wing__rviz__decorator_8h.html">wing_rviz_decorator.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_a6821b81b167e8bffbeca4beedc8033f8"><div class="ttname"><a href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">Robot::observers_</a></div><div class="ttdeci">std::vector< Abstract_robot_element * > observers_</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00021">robot.h:21</a></div></div>
+<div class="ttc" id="aclassRobot_html_a0ad9bc06ae12dedaf6eb97bc4398c34a"><div class="ttname"><a href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot::Robot</a></div><div class="ttdeci">Robot(std::string &name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8h_source.html#l00027">robot.h:27</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab7bf74de30a186337b05cb05b74d0e73"><div class="ttname"><a href="classRobot.html#ab7bf74de30a186337b05cb05b74d0e73">Robot::check_single_object_collision</a></div><div class="ttdeci">bool check_single_object_collision(tf2::Transform &obj, std::string &str) override</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00070">robot.cpp:70</a></div></div>
+<div class="ttc" id="awing_8h_html"><div class="ttname"><a href="wing_8h.html">wing.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_a7eddff501a2c3a3d5feb6c2ec4b016e0"><div class="ttname"><a href="classRobot.html#a7eddff501a2c3a3d5feb6c2ec4b016e0">Robot::register_observers</a></div><div class="ttdeci">void register_observers(Abstract_robot_element *wd)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00182">robot.cpp:182</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a></div></div>
+<div class="ttc" id="aclassRobot_html_ab57fc902b6e93336db5310abf05c8a92"><div class="ttname"><a href="classRobot.html#ab57fc902b6e93336db5310abf05c8a92">Robot::check_robot_collision</a></div><div class="ttdeci">bool check_robot_collision(Robot *R)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00130">robot.cpp:130</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot__base__calculation__approach_8cpp.html b/doc/html/robot__base__calculation__approach_8cpp.html
new file mode 100644
index 0000000000000000000000000000000000000000..ebf6aa25d4ffac9e9b813c50614cec200bc126c6
--- /dev/null
+++ b/doc/html/robot__base__calculation__approach_8cpp.html
@@ -0,0 +1,149 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_base_calculation_approach.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">robot_base_calculation_approach.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <filesystem></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="abstract__base_8h_source.html">bridge/abstract_base.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__base__implementation_8h_source.html">bridge/abstract_base_implementation.h</a>"</code><br />
+<code>#include "<a class="el" href="simple__base_8h_source.html">bridge/simple_base.h</a>"</code><br />
+<code>#include "<a class="el" href="simple__base__implementation_8h_source.html">bridge/simple_base_implementation.h</a>"</code><br />
+<code>#include "<a class="el" href="robot_2abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="ceti__robot_8h_source.html">robot/ceti_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__robot__decorator_8h_source.html">robot/decorators/abstract_robot_decorator.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 "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">robot_element/decorators/abstract_robot_element_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="log__decorator_8h_source.html">robot_element/decorators/log_decorator.h</a>"</code><br />
+<code>#include "<a class="el" href="panel_8h_source.html">robot_element/observers/panel.h</a>"</code><br />
+<code>#include "<a class="el" href="rviz__panel_8h_source.html">robot_element/observers/rviz_panel.h</a>"</code><br />
+<code>#include "<a class="el" href="mediator_2abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="base__calculation__mediator_8h_source.html">mediator/base_calculation_mediator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+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 name="robot__base__calculation__approach_8cpp" id="robot__base__calculation__approach_8cpp">
+<area shape="rect" title=" " alt="" coords="2539,5,2711,47"/>
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+<p><a href="robot__base__calculation__approach_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="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr>
+<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><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="robot__base__calculation__approach_8cpp_source.html#l00032">32</a> of file <a class="el" href="robot__base__calculation__approach_8cpp_source.html">robot_base_calculation_approach.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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: robot_base_calculation_approach.cpp Source File</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+ <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">robot_base_calculation_approach.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__base__calculation__approach_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>  </div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <filesystem></span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</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> <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="l00007"></a><span class="lineno"> 7</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="l00008"></a><span class="lineno"> 8</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="l00009"></a><span class="lineno"> 9</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "<a class="code" href="abstract__base_8h.html">bridge/abstract_base.h</a>"</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="abstract__base__implementation_8h.html">bridge/abstract_base_implementation.h</a>"</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="simple__base_8h.html">bridge/simple_base.h</a>"</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="simple__base__implementation_8h.html">bridge/simple_base_implementation.h</a>"</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"> 15</span> <span class="preprocessor">#include "<a class="code" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="ceti__robot_8h.html">robot/ceti_robot.h</a>"</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="abstract__robot__decorator_8h.html">robot/decorators/abstract_robot_decorator.h</a>"</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</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="l00019"></a><span class="lineno"> 19</span>  </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="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">robot_element/decorators/abstract_robot_element_decorator.h</a>"</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include "<a class="code" href="log__decorator_8h.html">robot_element/decorators/log_decorator.h</a>"</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="preprocessor">#include "<a class="code" href="panel_8h.html">robot_element/observers/panel.h</a>"</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include "<a class="code" href="rviz__panel_8h.html">robot_element/observers/rviz_panel.h</a>"</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"> 28</span> <span class="preprocessor">#include "<a class="code" href="mediator_2abstract__mediator_8h.html">mediator/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "<a class="code" href="base__calculation__mediator_8h.html">mediator/base_calculation_mediator.h</a>"</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"><a class="line" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 32</a></span> <span class="keywordtype">int</span> <a class="code" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  ros::init(argc, argv, <span class="stringliteral">"robot_base_calculation_apprioach"</span>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  std::shared_ptr<ros::NodeHandle> n(<span class="keyword">new</span> ros::NodeHandle);</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>  std::shared_ptr<Abstract_base> simple_base = std::make_shared<Simple_base>(n);</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  std::shared_ptr<Abstract_base_implementation> simple_base_implementation = std::make_shared<Simple_base_implementation>();</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  std::shared_ptr<Base_calculation_mediator> mediator = std::make_shared<Base_calculation_mediator>(n);</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>  simple_base->set_implementation(simple_base_implementation);</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>  std::map<const std::string, std::vector<pcl::PointXYZ>> results = simple_base->base_calculation();</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="keyword">auto</span> rd = mediator->robot_reader()->robot_data();</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < rd.size() ;i++){</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  std::unique_ptr<Abstract_robot> ceti = std::make_unique<Ceti_robot>(rd[i].name_, rd[i].pose_, rd[i].size_);</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  std::unique_ptr<Panda_decorator> ceti_panda = std::make_unique<Panda_decorator>(std::move(ceti));</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  ROS_INFO(<span class="stringliteral">"penis"</span>);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  mediator->connect_robots(std::move(ceti_panda));</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>  mediator->set_result_vector(results);</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"> 55</span>  <span class="comment">//mediator->set_dirname(filename);</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="keyword">auto</span> wd = mediator->wing_reader()->wing_data();</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="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < mediator->robots().size(); i++){</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">// iterate wing date</span></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="keywordflow">for</span>(<a class="code" href="structobject__data.html">object_data</a>& w : wd.at(mediator->robots()[i]->name()).first){</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// calculate relative panel transform</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  w.pose_ = mediator->robots()[i]->tf().inverse() * w.pose_;</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>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  ROS_INFO(<span class="stringliteral">"No panel data for %s"</span>, mediator->robots()[i]->name().c_str());</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>  </div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// set mask data</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCeti__robot.html">Ceti_robot</a>*<span class="keyword">></span>(mediator->robots()[i]->next());</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  ceti_bot-><a class="code" href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">set_observer_mask</a>(<span class="keyword">static_cast<</span><a class="code" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a><span class="keyword">></span>(wd.at(mediator->robots()[i]->name()).second));</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  ROS_INFO(<span class="stringliteral">"No mask data for %s"</span>, mediator->robots()[i]->name().c_str());</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="l00079"></a><span class="lineno"> 79</span>  mediator->set_panel();</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="comment">//mediator->mediate();</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> //map_loader->write_task(robo);</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"> //free(rviz_right);</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> //free(rviz_mid);</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> //free(rviz_left);</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> free(map_loader);</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> free(strategy);</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> //free(robo);</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> //free(robo2);</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">return</span> 0;</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassCeti__robot_html_a86d9f27c0ebcbc7b7ce79a3ebfe60a16"><div class="ttname"><a href="classCeti__robot.html#a86d9f27c0ebcbc7b7ce79a3ebfe60a16">Ceti_robot::set_observer_mask</a></div><div class="ttdeci">void set_observer_mask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00118">ceti_robot.h:118</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="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="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="aabstract__base_8h_html"><div class="ttname"><a href="abstract__base_8h.html">abstract_base.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="arobot_2abstract__robot_8h_html"><div class="ttname"><a href="robot_2abstract__robot_8h.html">abstract_robot.h</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="amediator_2abstract__mediator_8h_html"><div class="ttname"><a href="mediator_2abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="arobot__base__calculation__approach_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="robot__base__calculation__approach_8cpp_source.html#l00032">robot_base_calculation_approach.cpp:32</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="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="aclassCeti__robot_html"><div class="ttname"><a href="classCeti__robot.html">Ceti_robot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00022">ceti_robot.h:22</a></div></div>
+<div class="ttc" id="arobot__element_2decorators_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00014">impl/abstract_robot.h:14</a></div></div>
+<div class="ttc" id="asimple__base_8h_html"><div class="ttname"><a href="simple__base_8h.html">simple_base.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>
+<div class="ttc" id="apanel_8h_html"><div class="ttname"><a href="panel_8h.html">panel.h</a></div></div>
+<div class="ttc" id="asimple__base__implementation_8h_html"><div class="ttname"><a href="simple__base__implementation_8h.html">simple_base_implementation.h</a></div></div>
+<div class="ttc" id="aabstract__base__implementation_8h_html"><div class="ttname"><a href="abstract__base__implementation_8h.html">abstract_base_implementation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_element.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">robot_element/abstract_robot_element.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot_element/abstract_robot_element.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__element_2abstract__robot__element_8h__incl.png" border="0" usemap="#abstract__robot__element_8h" alt=""/></div>
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+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__element_2abstract__robot__element_8h__dep__incl.png" border="0" usemap="#abstract__robot__element_8hdep" alt=""/></div>
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+</div>
+<p><a href="robot__element_2abstract__robot__element_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="classAbstract__robot__element.html">Abstract_robot_element</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: abstract_robot_element.h Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+/* @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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot_element/abstract_robot_element.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__element_2abstract__robot__element_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 ABSTRACT_ROBOT_ELEMENT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_ELEMENT_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.h></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> <span class="keyword">class </span><a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a> {</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928"> 9</a></span>  std::string <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  tf2::Transform <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  tf2::Transform <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6"> 12</a></span>  tf2::Vector3 <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116"> 14</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>;</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="keyword">public</span>:</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890"> 17</a></span>  <a class="code" href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element</a>(tf2::Transform tf, std::string <a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>, tf2::Vector3 <a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>) </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  : <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>(tf)</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  , <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>(<a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>)</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  , <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>(<a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>)</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  , <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0))) {}</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="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861"> 24</a></span>  <span class="keyword">inline</span> tf2::Transform& <a class="code" href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">relative_tf</a>(){ <span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>;}</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6"> 25</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">set_relative_tf</a>(tf2::Transform tf) { <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>= tf;}</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="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24"> 27</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf2::Transform& tf) {<a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>= tf * <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a>;}</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8"> 28</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">set_world_tf</a>(tf2::Transform& tf) { <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a> = tf;}</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>  <span class="keyword">virtual</span> std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">bounds</a>()=0;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">virtual</span> tf2::Transform& <a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>()=0;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">virtual</span> tf2::Vector3& <a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>()=0;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">virtual</span> std::string& <a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>()=0;</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="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a>(tf2::Transform& tf)= 0;</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>  </div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot__element_html_a4d44edf1d412564ef916f16ee9035116"><div class="ttname"><a href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">Abstract_robot_element::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00014">robot_element/abstract_robot_element.h:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_aa7ee89ce290dd2e6408a9d2118af93f8"><div class="ttname"><a href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">Abstract_robot_element::set_world_tf</a></div><div class="ttdeci">void set_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00028">robot_element/abstract_robot_element.h:28</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ab63f250226570c92077ef4555d6f5890"><div class="ttname"><a href="classAbstract__robot__element.html#ab63f250226570c92077ef4555d6f5890">Abstract_robot_element::Abstract_robot_element</a></div><div class="ttdeci">Abstract_robot_element(tf2::Transform tf, std::string name, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00017">robot_element/abstract_robot_element.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a83f046bb2fb1009832091cf8502af956"><div class="ttname"><a href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element::relative_tf_</a></div><div class="ttdeci">tf2::Transform relative_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00011">impl/abstract_robot_element.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a910a29582a54972c947fa57bbdc444ec"><div class="ttname"><a href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad42d8ba185583e644e00af1c2298a38d"><div class="ttname"><a href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00012">impl/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a402345bc67c9a2d09f903d910ee20405"><div class="ttname"><a href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element::bounds</a></div><div class="ttdeci">virtual std::vector< tf2::Transform > & bounds()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a2eb0ca7627bba7b58e85046532e68269"><div class="ttname"><a href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a19e094e1639e2c72ead481a3c6c9ec24"><div class="ttname"><a href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element::calc_world_tf</a></div><div class="ttdeci">void calc_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00027">robot_element/abstract_robot_element.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a12e6954b51765e18a7f0c2d8c4eca0c6"><div class="ttname"><a href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">Abstract_robot_element::set_relative_tf</a></div><div class="ttdeci">void set_relative_tf(tf2::Transform tf)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00025">robot_element/abstract_robot_element.h:25</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_adcaadf1f399625d67747ce746a0cc928"><div class="ttname"><a href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00009">robot_element/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a432662f8ece3c1e08739bd36a4c155d6"><div class="ttname"><a href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00012">robot_element/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad3ee9aff6d4fb1e4e90775e943e65861"><div class="ttname"><a href="classAbstract__robot__element.html#ad3ee9aff6d4fb1e4e90775e943e65861">Abstract_robot_element::relative_tf</a></div><div class="ttdeci">tf2::Transform & relative_tf()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00024">robot_element/abstract_robot_element.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_aecee1e1a5ca1f40473f325583b39dd9d"><div class="ttname"><a href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element::update</a></div><div class="ttdeci">virtual void update(tf2::Transform &tf)=0</div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h.html b/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..63c02ae12ebe397d1fb7d886babd43d539cf4839
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+++ b/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h.html
@@ -0,0 +1,77 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_element_decorator.h File Reference</title>
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+<div class="title">robot_element/decorators/abstract_robot_element_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot_element/decorators/abstract_robot_element_decorator.h:</div>
+<div class="dyncontent">
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+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__element_2decorators_2abstract__robot__element__decorator_8h__dep__incl.png" border="0" usemap="#abstract__robot__element__decorator_8hdep" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="robot__element_2decorators_2abstract__robot__element__decorator_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="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: abstract_robot_element_decorator.h 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>
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+<!-- Generated by Doxygen 1.8.17 -->
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+/* @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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot_element/decorators/abstract_robot_element_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__element_2decorators_2abstract__robot__element__decorator_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 ABSTRACT_ROBOT_ELEMENT_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ABSTRACT_ROBOT_ELEMENT_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</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> <span class="keyword">class </span><a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>{</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03"> 9</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">nh_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e"> 10</a></span>  std::unique_ptr<Abstract_robot_element> <a class="code" href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">next_</a>;</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"> 13</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162"> 14</a></span>  <a class="code" href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator</a>(std::unique_ptr<Abstract_robot_element> <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>) </div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  : <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), <span class="stringliteral">"Blanc"</span>, tf2::Vector3(0,0,0))</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  , <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>(std::move(<a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>)){};</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="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e"> 18</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>.get();}</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb"> 20</a></span>  std::vector<tf2::Transform>& <a class="code" href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">bounds</a>();}</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6"> 21</a></span>  tf2::Transform& <a class="code" href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">world_tf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>();}</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719"> 22</a></span>  std::string& <a class="code" href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">name</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>();}</div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830"> 23</a></span>  tf2::Vector3& <a class="code" href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">size</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>();}</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a>()=0;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048"> 27</a></span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{<a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>-><a class="code" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">update</a>(tf);}</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">output_filter</a>()=0;</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>  </div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a3594b46365559d7304942f983bddab03"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a3594b46365559d7304942f983bddab03">Abstract_robot_element_decorator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00009">robot_element/decorators/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a910a29582a54972c947fa57bbdc444ec"><div class="ttname"><a href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a8042389be7d08be2d2792810078ac327"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a8042389be7d08be2d2792810078ac327">Abstract_robot_element_decorator::output_filter</a></div><div class="ttdeci">virtual void output_filter()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ac06ca3833192af0e719c22419c07ccbb"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ac06ca3833192af0e719c22419c07ccbb">Abstract_robot_element_decorator::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00020">robot_element/decorators/abstract_robot_element_decorator.h:20</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a402345bc67c9a2d09f903d910ee20405"><div class="ttname"><a href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element::bounds</a></div><div class="ttdeci">virtual std::vector< tf2::Transform > & bounds()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a2eb0ca7627bba7b58e85046532e68269"><div class="ttname"><a href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a87d8de36475ce19034a9728f545eb03e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator::next</a></div><div class="ttdeci">Abstract_robot_element * next()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">robot_element/decorators/abstract_robot_element_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_addab3f179d202bea3da80887206c8048"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00027">robot_element/decorators/abstract_robot_element_decorator.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a2c76b8c0d4e487517e8c874e75613162"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a2c76b8c0d4e487517e8c874e75613162">Abstract_robot_element_decorator::Abstract_robot_element_decorator</a></div><div class="ttdeci">Abstract_robot_element_decorator(std::unique_ptr< Abstract_robot_element > next)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00014">robot_element/decorators/abstract_robot_element_decorator.h:14</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_afa68bc27f679beb896722f0eebe6d719"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#afa68bc27f679beb896722f0eebe6d719">Abstract_robot_element_decorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00022">robot_element/decorators/abstract_robot_element_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ad077cbfa7a43d1212b78cd61bcbf37a6"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ad077cbfa7a43d1212b78cd61bcbf37a6">Abstract_robot_element_decorator::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00021">robot_element/decorators/abstract_robot_element_decorator.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ab7fe1d6234cc937bf72a2f951781329b"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">Abstract_robot_element * next_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00009">impl/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_abe4aed220334766bd4ec903429006830"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#abe4aed220334766bd4ec903429006830">Abstract_robot_element_decorator::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00023">robot_element/decorators/abstract_robot_element_decorator.h:23</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_aecee1e1a5ca1f40473f325583b39dd9d"><div class="ttname"><a href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element::update</a></div><div class="ttdeci">virtual void update(tf2::Transform &tf)=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ad46c4941160e802f67afa20b4a85d08e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ad46c4941160e802f67afa20b4a85d08e">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">std::unique_ptr< Abstract_robot_element > next_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00010">robot_element/decorators/abstract_robot_element_decorator.h:10</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot__element_2observers_2field_8h.html b/doc/html/robot__element_2observers_2field_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..5299375ce29f4277456669cf8a1c510ca047f62b
--- /dev/null
+++ b/doc/html/robot__element_2observers_2field_8h.html
@@ -0,0 +1,76 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">robot_element/observers/field.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="robot__element_2abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot_element/observers/field.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__element_2observers_2field_8h__incl.png" border="0" usemap="#field_8h" alt=""/></div>
+<map name="field_8h" id="field_8h">
+<area shape="rect" title=" " alt="" coords="76,5,139,32"/>
+<area shape="rect" title=" " alt="" coords="5,169,84,196"/>
+<area shape="rect" href="robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="83,80,257,121"/>
+<area shape="rect" title=" " alt="" coords="108,169,307,196"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__element_2observers_2field_8h__dep__incl.png" border="0" usemap="#field_8hdep" alt=""/></div>
+<map name="field_8hdep" id="field_8hdep">
+<area shape="rect" title=" " alt="" coords="506,5,569,32"/>
+<area shape="rect" href="ceti__robot_8h.html" title=" " alt="" coords="432,80,531,107"/>
+<area shape="rect" href="field_8cpp.html" title=" " alt="" coords="555,80,634,107"/>
+<area shape="rect" href="mediator_2abstract__mediator_8h.html" title=" " alt="" coords="283,155,437,181"/>
+<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="53,229,262,256"/>
+<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="254,304,426,345"/>
+<area shape="rect" href="ceti__robot_8cpp.html" title=" " alt="" coords="580,155,695,181"/>
+<area shape="rect" href="mediator_2abstract__mediator_8cpp.html" title=" " alt="" coords="337,229,505,256"/>
+<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,311,229,338"/>
+</map>
+</div>
+</div>
+<p><a href="robot__element_2observers_2field_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="classField.html">Field</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot__element_2observers_2field_8h__dep__incl.map b/doc/html/robot__element_2observers_2field_8h__dep__incl.map
new file mode 100644
index 0000000000000000000000000000000000000000..6e8dab123708f9c3209c92b07cf9bca13bc18419
--- /dev/null
+++ b/doc/html/robot__element_2observers_2field_8h__dep__incl.map
@@ -0,0 +1,11 @@
+<map id="field.h" name="field.h">
+<area shape="rect" id="node1" title=" " alt="" coords="506,5,569,32"/>
+<area shape="rect" id="node2" href="$ceti__robot_8h.html" title=" " alt="" coords="432,80,531,107"/>
+<area shape="rect" id="node9" href="$field_8cpp.html" title=" " alt="" coords="555,80,634,107"/>
+<area shape="rect" id="node3" href="$mediator_2abstract__mediator_8h.html" title=" " alt="" coords="283,155,437,181"/>
+<area shape="rect" id="node4" href="$base__calculation__mediator_8h.html" title=" " alt="" coords="53,229,262,256"/>
+<area shape="rect" id="node6" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="254,304,426,345"/>
+<area shape="rect" id="node8" href="$ceti__robot_8cpp.html" title=" " alt="" coords="580,155,695,181"/>
+<area shape="rect" id="node7" href="$mediator_2abstract__mediator_8cpp.html" title=" " alt="" coords="337,229,505,256"/>
+<area shape="rect" id="node5" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,311,229,338"/>
+</map>
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new file mode 100644
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+46d32a4595524b21dfbacbb73c15b8a8
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new file mode 100644
index 0000000000000000000000000000000000000000..c1d1209450a152600eed1def5f68533b9cd0568f
--- /dev/null
+++ b/doc/html/robot__element_2observers_2field_8h__incl.map
@@ -0,0 +1,6 @@
+<map id="field.h" name="field.h">
+<area shape="rect" id="node1" title=" " alt="" coords="76,5,139,32"/>
+<area shape="rect" id="node2" title=" " alt="" coords="5,169,84,196"/>
+<area shape="rect" id="node3" href="$robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="83,80,257,121"/>
+<area shape="rect" id="node4" title=" " alt="" coords="108,169,307,196"/>
+</map>
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@@ -0,0 +1 @@
+0d07a94445cc008ee64f217db30c2975
\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/doc/html/robot__element_2observers_2field_8h_source.html
@@ -0,0 +1,76 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: field.h Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot_element/observers/field.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__element_2observers_2field_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 FIELD_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define FIELD_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="robot__element_2abstract__robot__element_8h.html">robot_element/abstract_robot_element.h</a>"</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> <span class="keyword">class </span><a class="code" href="classField.html">Field</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>{</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>(tf2::Transform tf);</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="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2"> 11</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2">set_name</a>(std::string str) {<a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a> = str;}</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb"> 12</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb">set_set</a>(tf2::Vector3& vec) {<a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a> = vec;}</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0"> 14</a></span>  <span class="keywordtype">void</span> <a class="code" href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{this-><a class="code" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf);}</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="classField.html#a12dca5fcc8ba8bb0191101a5f40db023"> 16</a></span>  std::vector<tf2::Transform>& <a class="code" href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">bounds_</a>;}</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d"> 17</a></span>  tf2::Transform& <a class="code" href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">world_tf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>;};</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a"> 18</a></span>  std::string& <a class="code" href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">name</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>;}</div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034"> 19</a></span>  tf2::Vector3& <a class="code" href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">size</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>;}</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> };</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="arobot__element_2abstract__robot__element_8h_html"><div class="ttname"><a href="robot__element_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a4d44edf1d412564ef916f16ee9035116"><div class="ttname"><a href="classAbstract__robot__element.html#a4d44edf1d412564ef916f16ee9035116">Abstract_robot_element::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00014">robot_element/abstract_robot_element.h:14</a></div></div>
+<div class="ttc" id="aclassField_html_a769e61adfbb8e8b261da88fab1190f4d"><div class="ttname"><a href="classField.html#a769e61adfbb8e8b261da88fab1190f4d">Field::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00017">robot_element/observers/field.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_ad42d8ba185583e644e00af1c2298a38d"><div class="ttname"><a href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00012">impl/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassField_html_a6e8e789d6defcbc56d62e05a29d452fb"><div class="ttname"><a href="classField.html#a6e8e789d6defcbc56d62e05a29d452fb">Field::set_set</a></div><div class="ttdeci">void set_set(tf2::Vector3 &vec)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00012">robot_element/observers/field.h:12</a></div></div>
+<div class="ttc" id="aclassField_html_a12dca5fcc8ba8bb0191101a5f40db023"><div class="ttname"><a href="classField.html#a12dca5fcc8ba8bb0191101a5f40db023">Field::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00016">robot_element/observers/field.h:16</a></div></div>
+<div class="ttc" id="aclassField_html_a3937b0953056acede15814ada1053f9a"><div class="ttname"><a href="classField.html#a3937b0953056acede15814ada1053f9a">Field::Field</a></div><div class="ttdeci">Field(tf2::Transform tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00009">impl/field.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a19e094e1639e2c72ead481a3c6c9ec24"><div class="ttname"><a href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element::calc_world_tf</a></div><div class="ttdeci">void calc_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00019">impl/abstract_robot_element.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_adcaadf1f399625d67747ce746a0cc928"><div class="ttname"><a href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00009">robot_element/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassField_html_a63a8a02d41e3e0f9eed98c5136a2216a"><div class="ttname"><a href="classField.html#a63a8a02d41e3e0f9eed98c5136a2216a">Field::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00018">robot_element/observers/field.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a432662f8ece3c1e08739bd36a4c155d6"><div class="ttname"><a href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00012">robot_element/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassField_html"><div class="ttname"><a href="classField.html">Field</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2field_8h_source.html#l00007">impl/field.h:7</a></div></div>
+<div class="ttc" id="aclassField_html_a5e927f0256af43c7f9bc45177adb6da0"><div class="ttname"><a href="classField.html#a5e927f0256af43c7f9bc45177adb6da0">Field::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00014">robot_element/observers/field.h:14</a></div></div>
+<div class="ttc" id="aclassField_html_ac76cd0ffa4b2e361dd0e9ce1fd601034"><div class="ttname"><a href="classField.html#ac76cd0ffa4b2e361dd0e9ce1fd601034">Field::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00019">robot_element/observers/field.h:19</a></div></div>
+<div class="ttc" id="aclassField_html_ae1cad38d7a84b8363bf9ab7d2de11cc2"><div class="ttname"><a href="classField.html#ae1cad38d7a84b8363bf9ab7d2de11cc2">Field::set_name</a></div><div class="ttdeci">void set_name(std::string str)</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2observers_2field_8h_source.html#l00011">robot_element/observers/field.h:11</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_reader.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 */
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+ 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_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot_reader.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><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 robot_reader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__reader_8cpp__incl.png" border="0" usemap="#robot__reader_8cpp" alt=""/></div>
+<map name="robot__reader_8cpp" id="robot__reader_8cpp">
+<area shape="rect" title=" " alt="" coords="196,5,328,32"/>
+<area shape="rect" href="robot__reader_8h.html" title=" " alt="" coords="181,80,343,107"/>
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+</map>
+</div>
+</div>
+<p><a href="robot__reader_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot__reader_8cpp__incl.map b/doc/html/robot__reader_8cpp__incl.map
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+++ b/doc/html/robot__reader_8cpp_source.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_reader.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 -->
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+/* @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_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__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 "<a class="code" href="robot__reader_8h.html">reader/robot_reader.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="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">Robot_reader::read</a>(){</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  ROS_INFO(<span class="stringliteral">"--- ROBOT_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="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  std::regex rx(<span class="stringliteral">"table([0-9]+)_table_top"</span>);</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  std::smatch match;</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>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">if</span>(std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  ROS_INFO(<span class="stringliteral">"=> Robot: description found, loading..."</span>);</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1];</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  tf2::Vector3 pos;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  tf2::Vector3 size;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  tf2::Quaternion rot;</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">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(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>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ((<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>]) + size.getZ()/2) /2) :pos.setZ(0);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</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>  ROS_INFO(<span class="stringliteral">"--- Robot: %s ---"</span>, ss.str().c_str());</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  ROS_INFO(<span class="stringliteral">"=> Robot: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  ROS_INFO(<span class="stringliteral">"=> Robot: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  ROS_INFO(<span class="stringliteral">"=> Robot: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</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>  <a class="code" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">robot_data_</a>.push_back({ss.str().c_str(), tf2::Transform(rot,pos), size});</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> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html_a2620c6e17656a19920d805e5583ea9f5"><div class="ttname"><a href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">Robot_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8cpp_source.html#l00003">robot_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html_a099c3894672f3bdfacb1e1c69f2d30a7"><div class="ttname"><a href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">Robot_reader::robot_data_</a></div><div class="ttdeci">std::vector< object_data > robot_data_</div><div class="ttdoc">Map of object_data to robot.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00017">robot_reader.h:17</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="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/robot__reader_8h.html b/doc/html/robot__reader_8h.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_reader.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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 */
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+});
+/* @license-end */</script>
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+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">robot_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for robot_reader.h:</div>
+<div class="dyncontent">
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+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="robot__reader_8h__dep__incl.png" border="0" usemap="#robot__reader_8hdep" alt=""/></div>
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+</div>
+<p><a href="robot__reader_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="classRobot__reader.html">Robot_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classRobot.html">Robot</a> reader. <a href="classRobot__reader.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_reader.h 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 -->
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+});
+/* @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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">robot_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="robot__reader_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 ROBOT_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define ROBOT_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.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>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classRobot__reader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classRobot__reader.html">Robot_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</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="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7"> 17</a></span>  std::vector<object_data> <a class="code" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">robot_data_</a>; </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">public</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692"> 25</a></span>  <a class="code" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d){<a class="code" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">read</a>();}</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503"> 31</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">set_robot_data</a>(std::vector<object_data>& <a class="code" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">robot_data</a>) {<a class="code" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">robot_data_</a> = <a class="code" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">robot_data</a>;}</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226"> 37</a></span>  <span class="keyword">inline</span> std::vector<object_data> <a class="code" href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">robot_data</a>() {<span class="keywordflow">return</span> <a class="code" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">robot_data_</a>;}</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">void</span> <a class="code" href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">read</a>() <span class="keyword">override</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<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="aclassRobot__reader_html_a2620c6e17656a19920d805e5583ea9f5"><div class="ttname"><a href="classRobot__reader.html#a2620c6e17656a19920d805e5583ea9f5">Robot_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8cpp_source.html#l00003">robot_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html_a099c3894672f3bdfacb1e1c69f2d30a7"><div class="ttname"><a href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">Robot_reader::robot_data_</a></div><div class="ttdeci">std::vector< object_data > robot_data_</div><div class="ttdoc">Map of object_data to robot.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00017">robot_reader.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html_add641d9e981e357eb921ec42161fa692"><div class="ttname"><a href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader::Robot_reader</a></div><div class="ttdeci">Robot_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Robot reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00025">robot_reader.h:25</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html"><div class="ttname"><a href="classRobot__reader.html">Robot_reader</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="aclassRobot__reader_html_a5679bf167d87e00d4f9ca30fdc3fc503"><div class="ttname"><a href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">Robot_reader::set_robot_data</a></div><div class="ttdeci">void set_robot_data(std::vector< object_data > &robot_data)</div><div class="ttdoc">Set robot data.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00031">robot_reader.h:31</a></div></div>
+<div class="ttc" id="aclassRobot__reader_html_a8d02ccd998930e139a17ec4c7db40226"><div class="ttname"><a href="classRobot__reader.html#a8d02ccd998930e139a17ec4c7db40226">Robot_reader::robot_data</a></div><div class="ttdeci">std::vector< object_data > robot_data()</div><div class="ttdoc">Get robot data.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00037">robot_reader.h:37</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: rviz_panel.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>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+});
+/* @license-end */</script>
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+<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_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">rviz_panel.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="rviz__panel_8h_source.html">robot_element/observers/rviz_panel.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for rviz_panel.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="rviz__panel_8cpp__incl.png" border="0" usemap="#rviz__panel_8cpp" alt=""/></div>
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+</div>
+</div>
+<p><a href="rviz__panel_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: rviz_panel.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 -->
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+<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_4cbbe425e67f14606b10f98426aa0272.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_ac0d2b250ac9afd645907a18604af17d.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">rviz_panel.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="rviz__panel_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="rviz__panel_8h.html">robot_element/observers/rviz_panel.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"> 3</span>  </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7"> 4</a></span> <a class="code" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel::Rviz_panel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> : <a class="code" href="classPanel.html">Panel</a>(name, tf, size)</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>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.ns = <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.id = 1;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.position.x = 0;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.position.y = 0;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.position.z = 0;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.x = 0;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.y = 0;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.z = 0;</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.w = 1;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.scale.x = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX();</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.scale.y = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY();</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.scale.z = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getZ();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.r = 1.0;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.g = 1.0;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.b = 1.0;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.a = 1.0; </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>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43"> 29</a></span> <span class="keywordtype">void</span> <a class="code" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel::update</a>(tf2::Transform& tf){</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel::update</a>(tf);</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>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.ns = <a class="code" href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">name_</a>;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.id = 1;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.position.x = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getOrigin().getX();</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.position.y = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getOrigin().getY();</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.position.z = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getOrigin().getZ();</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.x = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getX();</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.y = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getY();</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.z = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getZ();</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.pose.orientation.w = <a class="code" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">world_tf_</a>.getRotation().getW();</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.scale.x = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getX();</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.scale.y = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getY();</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.scale.z = <a class="code" href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">size_</a>.getZ();</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.r = 1.0;</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.g = 1.0;</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.b = 1.0;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>.color.a = 1.0; </div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__robot__element_html_ad42d8ba185583e644e00af1c2298a38d"><div class="ttname"><a href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00012">impl/abstract_robot_element.h:12</a></div></div>
+<div class="ttc" id="aclassPanel_html_a2a70a607d1521d4df2360891afd2106f"><div class="ttname"><a href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00014">panel.h:14</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html_a2da4da9105d8662c0f7cb3409bb36e43"><div class="ttname"><a href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8cpp_source.html#l00029">rviz_panel.cpp:29</a></div></div>
+<div class="ttc" id="aclassPanel_html"><div class="ttname"><a href="classPanel.html">Panel</a></div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00007">panel.h:7</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="aclassRviz__panel_html_a9e4b8809f51ef3e8a552f557c067d3d7"><div class="ttname"><a href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel::Rviz_panel</a></div><div class="ttdeci">Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8cpp_source.html#l00004">rviz_panel.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_adcaadf1f399625d67747ce746a0cc928"><div class="ttname"><a href="classAbstract__robot__element.html#adcaadf1f399625d67747ce746a0cc928">Abstract_robot_element::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00009">robot_element/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html_a73b2f4c7b57f4d67e2b7f6b0b440ef8d"><div class="ttname"><a href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">Rviz_panel::marker_</a></div><div class="ttdeci">visualization_msgs::Marker marker_</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00012">rviz_panel.h:12</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a432662f8ece3c1e08739bd36a4c155d6"><div class="ttname"><a href="classAbstract__robot__element.html#a432662f8ece3c1e08739bd36a4c155d6">Abstract_robot_element::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2abstract__robot__element_8h_source.html#l00012">robot_element/abstract_robot_element.h:12</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/rviz__panel_8h.html b/doc/html/rviz__panel_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..26691445497e19374d13cd2b7a1849cf2895bd7a
--- /dev/null
+++ b/doc/html/rviz__panel_8h.html
@@ -0,0 +1,75 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: rviz_panel.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">rviz_panel.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="panel_8h_source.html">robot_element/observers/panel.h</a>"</code><br />
+<code>#include "visualization_msgs/MarkerArray.h"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for rviz_panel.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="rviz__panel_8h__incl.png" border="0" usemap="#rviz__panel_8h" alt=""/></div>
+<map name="rviz__panel_8h" id="rviz__panel_8h">
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+<area shape="rect" title=" " alt="" coords="108,259,307,285"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="rviz__panel_8h__dep__incl.png" border="0" usemap="#rviz__panel_8hdep" alt=""/></div>
+<map name="rviz__panel_8hdep" id="rviz__panel_8hdep">
+<area shape="rect" title=" " alt="" coords="289,5,391,32"/>
+<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="93,80,302,107"/>
+<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="254,155,426,196"/>
+<area shape="rect" href="rviz__panel_8cpp.html" title=" " alt="" coords="378,80,494,107"/>
+<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,162,229,189"/>
+</map>
+</div>
+</div>
+<p><a href="rviz__panel_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="classRviz__panel.html">Rviz_panel</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/rviz__panel_8h__dep__incl.map b/doc/html/rviz__panel_8h__dep__incl.map
new file mode 100644
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+<map id="rviz_panel.h" name="rviz_panel.h">
+<area shape="rect" id="node1" title=" " alt="" coords="289,5,391,32"/>
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+<area shape="rect" id="node3" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,162,229,189"/>
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+<area shape="rect" id="node6" title=" " alt="" coords="261,80,407,121"/>
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+<area shape="rect" id="node5" title=" " alt="" coords="108,259,307,285"/>
+</map>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/rviz__panel_8h_source.html
@@ -0,0 +1,68 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: rviz_panel.h Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">rviz_panel.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="rviz__panel_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 RVIZ_PANEL_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define RVIZ_PANEL_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="panel_8h.html">robot_element/observers/panel.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "visualization_msgs/MarkerArray.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>  </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="classRviz__panel.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classRviz__panel.html">Rviz_panel</a> : <span class="keyword">public</span> <a class="code" href="classPanel.html">Panel</a>{</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d"> 12</a></span>  visualization_msgs::Marker <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>;</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</a>(std::string <a class="code" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">name</a>, tf2::Transform tf, tf2::Vector3 <a class="code" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">size</a>);</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordtype">void</span> <a class="code" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">update</a>(tf2::Transform& tf) <span class="keyword">override</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="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc"> 18</a></span>  <span class="keyword">inline</span> visualization_msgs::Marker& <a class="code" href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">marker</a>() {<span class="keywordflow">return</span> <a class="code" href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">marker_</a>;}</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> };</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassPanel_html_abc3a14b055ba9004fa5ebdb34cd5e583"><div class="ttname"><a href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00018">panel.h:18</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html"><div class="ttname"><a href="classRviz__panel.html">Rviz_panel</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="aclassRviz__panel_html_a2da4da9105d8662c0f7cb3409bb36e43"><div class="ttname"><a href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8cpp_source.html#l00029">rviz_panel.cpp:29</a></div></div>
+<div class="ttc" id="aclassPanel_html"><div class="ttname"><a href="classPanel.html">Panel</a></div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00007">panel.h:7</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html_ac2665ca36d02e328703514b188a07cfc"><div class="ttname"><a href="classRviz__panel.html#ac2665ca36d02e328703514b188a07cfc">Rviz_panel::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="aclassRviz__panel_html_a9e4b8809f51ef3e8a552f557c067d3d7"><div class="ttname"><a href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel::Rviz_panel</a></div><div class="ttdeci">Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8cpp_source.html#l00004">rviz_panel.cpp:4</a></div></div>
+<div class="ttc" id="aclassRviz__panel_html_a73b2f4c7b57f4d67e2b7f6b0b440ef8d"><div class="ttname"><a href="classRviz__panel.html#a73b2f4c7b57f4d67e2b7f6b0b440ef8d">Rviz_panel::marker_</a></div><div class="ttdeci">visualization_msgs::Marker marker_</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00012">rviz_panel.h:12</a></div></div>
+<div class="ttc" id="aclassPanel_html_af6a63c29e5a5573b369482528c4b4818"><div class="ttname"><a href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="panel_8h_source.html#l00019">panel.h:19</a></div></div>
+<div class="ttc" id="apanel_8h_html"><div class="ttname"><a href="panel_8h.html">panel.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: simple_base.cpp File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+<div class="header">
+ <div class="headertitle">
+<div class="title">simple_base.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="simple__base_8h_source.html">bridge/simple_base.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__base__implementation_8h_source.html">bridge/abstract_base_implementation.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for simple_base.cpp:</div>
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+</div>
+<p><a href="simple__base_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: simple_base.cpp Source File</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">simple_base.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="simple__base_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="simple__base_8h.html">bridge/simple_base.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="abstract__base__implementation_8h.html">bridge/abstract_base_implementation.h</a>"</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"><a class="line" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e"> 4</a></span> <a class="code" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base::Simple_base</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d)</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  : <a class="code" href="classAbstract__base.html">Abstract_base</a>(d)</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  , task_space_reader_(std::make_unique<<a class="code" href="classTs__reader.html">Ts_reader</a>>(d))</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  , map_reader_(std::make_unique<<a class="code" href="classMap__reader.html">Map_reader</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>  <a class="code" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a>= <a class="code" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">map_reader_</a>->map_data();</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  ROS_INFO(<span class="stringliteral">"=> RM is known"</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>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& s_vod:<a class="code" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">task_space_reader_</a>->drop_off_data()){</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>> vod_q;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& od: s_vod.second) vod_q.push_back(std::pair<<a class="code" href="structobject__data.html">object_data</a>, std::vector<tf2::Quaternion>>(od, std::vector<tf2::Quaternion>()));</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a>.insert(std::pair< <span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>, std::vector<tf2::Quaternion>>>>(s_vod.first,vod_q));</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>  ROS_INFO(<span class="stringliteral">"=> TS is known"</span>);</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>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6"> 20</a></span> std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base::base_calculation</a>(){</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>  <a class="code" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a>->set_grasp_orientations(<a class="code" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a>);</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  ROS_INFO(<span class="stringliteral">"=> grasp rotations from implenentation object set"</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>  </div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">implementation_</a>->inv_map_creation(<a class="code" href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">map_</a>, <a class="code" href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">inv_map_</a>, <a class="code" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">task_space_</a>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  ROS_INFO(<span class="stringliteral">"=> inverse map is set..."</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>  std::map<const std::string, std::vector<pcl::PointXYZ>> resulting;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">return</span> resulting;</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>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> ROS_INFO("init voxel...");</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> std::vector<pcl::PointXYZ> voxelization = this->create_pcl_box();</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> std::vector<std::vector<std::vector<int>>> base_target_map;</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> base_target_map.resize(task_grasps_.size());</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> for(long unsigned int i = 0; i < base_target_map.size();i++) base_target_map[i].resize(voxelization.size());</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> ROS_INFO("forming base clouds...");</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> strategy_->cloud_calculation(this);</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"> // OpenMP </span></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> ROS_INFO("start cloud quantization...");</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> for(long unsigned int i = 0; i < target_cloud_.size();i++){</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> for(long unsigned int j = 0; j < target_cloud_[i].size();j++){</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.2f);</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> octree.setInputCloud(target_cloud_[i][j]);</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> octree.addPointsFromInputCloud();</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> double min_x, min_y, min_z, max_x, max_y, max_z;</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> octree.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);</span></div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> for(long unsigned int k = 0; k < voxelization.size(); k++) {</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> pcl::PointXYZ p = voxelization[k];</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> bool isInBox = (p.x >= min_x && p.x <= max_x) && (p.y >= min_y && p.y <= max_y) && (p.z >= min_z && p.z <= max_z);</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> if(isInBox && octree.isVoxelOccupiedAtPoint(p)) {</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> std::vector< int > pointIdxVec;</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> if(octree.voxelSearch(p, pointIdxVec)) if(!pointIdxVec.empty()) base_target_map[i][k].push_back(j);</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> <span class="comment"></span> </div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> std::vector<std::vector<pcl::PointXYZ>> resulting;</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> for(long unsigned int i = 0; i < base_target_map.size(); i++) {</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> std::vector<pcl::PointXYZ> points_per_robot;</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> for(int j = 0; j < base_target_map[i].size(); j++){</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> if (base_target_map[i][j].size() == task_grasps_[i].size()) {</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> points_per_robot.push_back(voxelization[j]);</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> if (!points_per_robot.empty()) resulting.push_back(points_per_robot);</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> for (long unsigned int i = 0; i < resulting.size(); i++) {</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> ROS_INFO("Robot %li got %li base positions to ckeck", i, resulting[i].size());</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> return resulting;</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment">}</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment">std::vector<pcl::PointXYZ> Abstract_map_loader::create_pcl_box(){</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> tf2::Vector3 origin(0,0,0);</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> float resolution = 0.4f;</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"> float diameter = 3.0f;</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> unsigned char depth = 16;</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> std::vector<pcl::PointXYZ> box; </span></div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> octomap::OcTree* tree = new octomap::OcTree(resolution/2);</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> for (float x = origin.getX() - diameter * 5 ; x <= origin.getX() + diameter * 5 ; x += resolution){</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> for (float y = origin.getY() - diameter * 5 ; y <= origin.getY() + diameter * 5 ; y += resolution){</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> for (float z = origin.getZ() - diameter * 1.5 ; z <= origin.getZ() + diameter * 1.5 ; z += resolution){</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> octomap::point3d point(x,y,z);</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> tree->updateNode(point, true);</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> for (octomap::OcTree::leaf_iterator it = tree->begin_leafs(depth), end = tree->end_leafs(); it != end; ++it){</span></div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> pcl::PointXYZ searchPoint(it.getCoordinate().x(), it.getCoordinate().y(), it.getCoordinate().z());</span></div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> box.push_back(searchPoint);</span></div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> return box;</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment">}</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment">void Map_loader::write_task(Abstract_robot* robot){</span></div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> std::ofstream o(ros::package::getPath("multi_cell_builder") + "/mtc_task_file/dummy.yaml");</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> tf2::Transform target_start = task_grasps_[0].front();</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> tf2::Transform target_end = task_grasps_[0].back();</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> float x, y, z;</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> x = target_end.getOrigin().getX();</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> y = target_end.getOrigin().getY();</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> z = target_end.getOrigin().getZ();</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> std::stringstream ss;</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> ss << "hand_" << robot->name().back();</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> std::string hand = ss.str();</span></div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> std::stringstream sss;</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> sss << "panda_" << robot->name().back() << "_link8";</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> std::string last_link = sss.str();</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> YAML::Node node;</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> //YAML::Comment("yaml-language-server: $schema=/home/matteo/reachability/src/yaml_to_mtc/config/yaml_to_mtc_schema.json");</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> YAML::Node planner_node;</span></div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> planner_node["id"] = "cartesian";</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> planner_node["type"] = "CartesianPath";</span></div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> node["planners"].push_back(planner_node);</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> planner_node.reset();</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> planner_node["id"] = "sampling";</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> planner_node["type"] = "PipelinePlanner";</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> planner_node["properties"]["step_size"] = 0.005f;</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> planner_node["properties"]["goal_joint_tolerance"] = static_cast<double>(0.00001f);</span></div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> node["planners"].push_back(planner_node);</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> planner_node.reset();</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"> planner_node["id"] = "interpolation";</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> planner_node["type"] = "JointInterpolationPlanner";</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> node["planners"].push_back(planner_node);</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> planner_node.reset();</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> node["task"]["name"] = "Pick and Place test";</span></div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> node["task"]["properties"]["group"] = robot->name();</span></div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> node["task"]["properties"]["eef"] = hand;</span></div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> node["task"]["properties"]["hand_grasping_frame"] = last_link;</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"> node["task"]["properties"]["ik_frame"] = last_link;</span></div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"> node["task"]["properties"]["hand"] = hand;</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> YAML::Node stage;</span></div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> stage["name"] = "current";</span></div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="comment"> stage["type"] = "CurrentState";</span></div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="comment"> stage.reset();</span></div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="comment"> stage["name"] = "move to ready";</span></div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="comment"> stage["type"] = "MoveTo"; </span></div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment"> stage["id"] = "ready"; </span></div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="comment"> stage["planner"] = "sampling";</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["values"].push_back("group");</span></div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"> stage["set"]["goal"] = "ready";</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> stage.reset();</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> stage["type"] = "MoveTo"; </span></div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment"> stage["planner"] = "sampling"; </span></div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="comment"> stage["id"] = "hand_open"; </span></div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="comment"> stage["properties"]["group"] = hand; </span></div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="comment"> stage["set"]["goal"] = "open"; </span></div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"> stage.reset();</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> stage["type"] = "Connect"; </span></div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"> stage["group_planner_vector"][robot->name()] = "sampling"; </span></div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["source"] = "PARENT"; </span></div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment"> stage.reset();</span></div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment"> stage["type"] = "SerialContainer";</span></div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"> stage["name"] = "grasp";</span></div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> stage["properties_exposeTo"]["source"] = "task";</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"> stage["properties_exposeTo"]["values"] = YAML::Load("[eef, hand, group, ik_frame]");</span></div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["values"] = YAML::Load("[eef, hand, group, ik_frame]");</span></div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment"> //node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"> YAML::Node stage_in_stage;</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"> stage_in_stage["type"] = "MoveRelative";</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"> stage_in_stage["planner"] = "cartesian";</span></div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> stage_in_stage["properties"]["link"] = last_link;</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> stage_in_stage["properties"]["min_distance"] = 0.07f;</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"> stage_in_stage["properties"]["max_distance"] = 0.2f;</span></div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["values"] = YAML::Load("[group]");</span></div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"> stage_in_stage["set"]["direction"]["vector"] = YAML::Load("{x: 0.0, y: 0.0, z: 1.0, header: { frame_id: " + last_link +" }}");</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"> stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment"> stage_in_stage["type"] = "ComputeIK";</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="comment"> stage_in_stage["properties"] = YAML::Load("{max_ik_solutions: 5}");</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["isometry"]["translation"] = YAML::Load("{ x: 0.1, y: 0.0, z: 0.0 }");</span></div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["isometry"]["quaternion"] = YAML::Load("{ r: 1.571, p: 0.785, y: 1.571 }");</span></div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["link"] = last_link;</span></div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment"> YAML::Node properties_in_stage_in_stage;</span></div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="comment"> properties_in_stage_in_stage["source"]= "PARENT";</span></div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="comment"> properties_in_stage_in_stage["values"]= YAML::Load("[eef, group]");</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"].push_back(properties_in_stage_in_stage);</span></div>
+<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="comment"> properties_in_stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="comment"> properties_in_stage_in_stage["source"]= "INTERFACE";</span></div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="comment"> properties_in_stage_in_stage["values"]= YAML::Load("[target_pose]");</span></div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"].push_back(properties_in_stage_in_stage);</span></div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="comment"> properties_in_stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="comment"> stage_in_stage["stage"]["type"] = "GenerateGraspPose";</span></div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment"> stage_in_stage["stage"]["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"> stage_in_stage["stage"]["properties"]["object"] = "bottle";</span></div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"> stage_in_stage["stage"]["properties"]["angle_delta"] = 1.571f;</span></div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"> stage_in_stage["stage"]["properties"]["pregrasp"] = "open";</span></div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> stage_in_stage["stage"]["set"]["monitored_stage"] = "ready";</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="comment"> stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"> stage_in_stage["type"] = "ModifyPlanningScene";</span></div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> stage_in_stage["set"]["allow_collisions"]["first"] = "bottle";</span></div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="comment"> stage_in_stage["set"]["allow_collisions"]["second"]["joint_model_group_name"] = hand;</span></div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="comment"> stage_in_stage["set"]["allow_collisions"]["allow"] = true;</span></div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="comment"> stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="comment"> stage_in_stage["type"] = "MoveTo";</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment"> stage_in_stage["planner"] = "sampling";</span></div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="comment"> stage_in_stage["properties"]["group"] = hand;</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"> stage_in_stage["set"]["goal"] = "close";</span></div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"> stage_in_stage["type"] = "ModifyPlanningScene";</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"> stage_in_stage["set"]["attach_object"]["object"] = "bottle";</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"> stage_in_stage["set"]["attach_object"]["link"] = last_link;</span></div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment"> stage_in_stage["type"] = "MoveRelative";</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"> stage_in_stage["planner"] = "cartesian";</span></div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"> stage_in_stage["id"] = "pick_up";</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["values"] = YAML::Load("[group]");</span></div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="comment"> stage_in_stage["properties"]["min_distance"] = 0.1f;</span></div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="comment"> stage_in_stage["properties"]["max_distance"] = 0.2f;</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["link"] = last_link;</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"> stage_in_stage["set"]["direction"]["vector"] = YAML::Load("{ x: 0.0, y: 0.0, z: 1.0 }");</span></div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment"> stage.reset();</span></div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="comment"> stage["type"] = "Connect";</span></div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="comment"> stage["group_planner_vector"][robot->name()] = "sampling";</span></div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"> stage.reset();</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> // satrtet here </span></div>
+<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> stage["type"] = "SerialContainer";</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="comment"> stage["name"] = "place";</span></div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="comment"> stage["properties_exposeTo"]["source"] = "task";</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="comment"> stage["properties_exposeTo"]["values"] = YAML::Load("[eef, hand, group, ik_frame]");</span></div>
+<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> <span class="comment"> stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="comment"> stage_in_stage["type"] = "MoveRelative";</span></div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="comment"> stage_in_stage["planner"] = "cartesian";</span></div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="comment"> stage_in_stage["properties"]["link"] = last_link;</span></div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment"> stage_in_stage["properties"]["min_distance"] = 0.1f;</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> <span class="comment"> stage_in_stage["properties"]["max_distance"] = 0.2f;</span></div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["values"] = YAML::Load("[group]");</span></div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"> stage_in_stage["set"]["direction"]["vector"] = YAML::Load("{ x: 0.0, y: 0.0, z: -1.0}");</span></div>
+<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> stage_in_stage["type"] = "ComputeIK";</span></div>
+<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> stage_in_stage["properties"] = YAML::Load("{ max_ik_solutions: 5 }");</span></div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["isometry"]["translation"] = YAML::Load("{ x: 0.1, y: 0.0, z: 0.0 }");</span></div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["isometry"]["quaternion"] = YAML::Load("{ r: 1.571, p: 0.785, y: 1.571 }");</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment"> stage_in_stage["set"]["ik_frame"]["link"] = last_link;</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="comment"> properties_in_stage_in_stage["source"]= "PARENT";</span></div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> properties_in_stage_in_stage["values"]= YAML::Load("[eef, group]");</span></div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"].push_back(properties_in_stage_in_stage);</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"> properties_in_stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> properties_in_stage_in_stage["source"]= "INTERFACE";</span></div>
+<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> properties_in_stage_in_stage["values"]= YAML::Load("[target_pose]");</span></div>
+<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"].push_back(properties_in_stage_in_stage);</span></div>
+<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> properties_in_stage_in_stage.reset();</span></div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="comment"> stage_in_stage["stage"]["type"] = "GeneratePose";</span></div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> stage_in_stage["stage"]["set"]["monitored_stage"] = "pick_up";</span></div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment"> stage_in_stage["stage"]["set"]["pose"]["point"] = YAML::Load("{ x: " + std::to_string(x) + ", y: " + std::to_string(y) + ", z: 0.9305 }"); // Hier objekt</span></div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"> stage_in_stage["stage"]["set"]["pose"]["orientation"] = YAML::Load("{ x: 0.0, y: 0.0, z: 0.0, w: 1.0}");</span></div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment"> stage_in_stage["type"] = "MoveTo";</span></div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="comment"> stage_in_stage["planner"] = "sampling";</span></div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment"> stage_in_stage["properties"]["group"] = hand;</span></div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> stage_in_stage["set"]["goal"] = "open";</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> stage_in_stage["type"] = "ModifyPlanningScene";</span></div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> stage_in_stage["set"]["detach_object"]["object"]= "bottle";</span></div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment"> stage_in_stage["set"]["detach_object"]["link"]= last_link;</span></div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> <span class="comment"> stage_in_stage["set"]["allow_collisions"]["first"]= "bottle";</span></div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"> stage_in_stage["set"]["allow_collisions"]["second"]["joint_model_group_name"]= hand;</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="comment"> stage_in_stage["set"]["allow_collisions"]["allow"] = false;</span></div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> stage_in_stage["type"] = "MoveRelative";</span></div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> stage_in_stage["planner"] = "cartesian";</span></div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment"> stage_in_stage["properties"]["link"] = last_link;</span></div>
+<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> stage_in_stage["properties"]["min_distance"] = 0.07f;</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"> stage_in_stage["properties"]["max_distance"] = 0.2f;</span></div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["source"] = "PARENT";</span></div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["values"] = YAML::Load("[group]");</span></div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> stage_in_stage["set"]["direction"]["vector"] = YAML::Load("{x: 0.0, y: 0.0, z: -1.0, header: { frame_id: " + last_link+ " }}");</span></div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> <span class="comment"> stage_in_stage["type"] = "MoveTo";</span></div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"> stage_in_stage["planner"] = "sampling";</span></div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="comment"> stage_in_stage["properties"]["group"] = hand;</span></div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="comment"> stage_in_stage["set"]["goal"] = "close";</span></div>
+<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> <span class="comment"> stage_in_stage["name"] = "move to ready";</span></div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="comment"> stage_in_stage["type"] = "MoveTo";</span></div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> <span class="comment"> stage_in_stage["planner"] = "sampling";</span></div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["source"]= "PARENT";</span></div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> <span class="comment"> stage_in_stage["propertiesConfigureInitFrom"]["values"].push_back("group");</span></div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> <span class="comment"> stage_in_stage["set"]["goal"] = "ready";</span></div>
+<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> <span class="comment"> stage["stages"].push_back(stage_in_stage);</span></div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="comment"> stage_in_stage.reset(); </span></div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> <span class="comment"> node["task"]["stages"].push_back(stage);</span></div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> <span class="comment"> stage.reset(); </span></div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> <span class="comment"> node["max_planning_solutions"] = 10;</span></div>
+<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="comment"> o << node;</span></div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> <span class="comment"> o.close();</span></div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> <span class="comment">*/</span></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>  </div>
+<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classSimple__base.html#a095701db18bbccae201b96121b962e81"> 366</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">Simple_base::write_task</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* r){}</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__base_html_a8c32441b38f2cb24388e8d98fd8fe2bc"><div class="ttname"><a href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">Abstract_base::task_space_</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > task_space_</div><div class="ttdoc">Drop-off locations with their grasp orientations, mapped to a robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00035">abstract_base.h:35</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_a589f01126eab356919d97480e30b17ab"><div class="ttname"><a href="classAbstract__base.html#a589f01126eab356919d97480e30b17ab">Abstract_base::map_</a></div><div class="ttdeci">std::vector< tf2::Transform > map_</div><div class="ttdoc">Reachability map structure of a robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00033">abstract_base.h:33</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a095701db18bbccae201b96121b962e81"><div class="ttname"><a href="classSimple__base.html#a095701db18bbccae201b96121b962e81">Simple_base::write_task</a></div><div class="ttdeci">void write_task(Abstract_robot *robot) override</div><div class="ttdoc">write trask</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00366">simple_base.cpp:366</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html"><div class="ttname"><a href="classAbstract__base.html">Abstract_base</a></div><div class="ttdoc">Abstract base class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00029">abstract_base.h:29</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a81f95918750e1644484cbce9f41fd24e"><div class="ttname"><a href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base::Simple_base</a></div><div class="ttdeci">Simple_base(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Simple base constructor.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00004">simple_base.cpp:4</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="aclassMap__reader_html"><div class="ttname"><a href="classMap__reader.html">Map_reader</a></div><div class="ttdoc">Map reader.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00015">map_reader.h:15</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a42768a7c6fcee691bb1699e08ead3ef6"><div class="ttname"><a href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base::base_calculation</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > base_calculation() override</div><div class="ttdoc">refined Template methode</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00020">simple_base.cpp:20</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html_ab73fdbf60e0d79d8ba4eeca3a894e39e"><div class="ttname"><a href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">Abstract_base::implementation_</a></div><div class="ttdeci">std::shared_ptr< Abstract_base_implementation > implementation_</div><div class="ttdoc">refined implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00038">abstract_base.h:38</a></div></div>
+<div class="ttc" id="aclassTs__reader_html"><div class="ttname"><a href="classTs__reader.html">Ts_reader</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="aclassAbstract__base_html_a9b80b83e10a75f0421594e46c9b49381"><div class="ttname"><a href="classAbstract__base.html#a9b80b83e10a75f0421594e46c9b49381">Abstract_base::inv_map_</a></div><div class="ttdeci">std::vector< tf2::Transform > inv_map_</div><div class="ttdoc">Inversion of reachability map structure.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00034">abstract_base.h:34</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a0eceb0eb9276b9289bfa10c88254ce7e"><div class="ttname"><a href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">Simple_base::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< Ts_reader > task_space_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00028">simple_base.h:28</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_aca05b7bb4f422425e21872198598b6c5"><div class="ttname"><a href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">Simple_base::map_reader_</a></div><div class="ttdeci">std::unique_ptr< Map_reader > map_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00029">simple_base.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+<div class="ttc" id="asimple__base_8h_html"><div class="ttname"><a href="simple__base_8h.html">simple_base.h</a></div></div>
+<div class="ttc" id="aabstract__base__implementation_8h_html"><div class="ttname"><a href="abstract__base__implementation_8h.html">abstract_base_implementation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: simple_base.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<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_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">simple_base.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include <tf2/LinearMath/Transform.h></code><br />
+<code>#include "octomap/octomap.h"</code><br />
+<code>#include <pcl/point_cloud.h></code><br />
+<code>#include <pcl/octree/octree.h></code><br />
+<code>#include <ros/package.h></code><br />
+<code>#include <yaml-cpp/yaml.h></code><br />
+<code>#include <fstream></code><br />
+<code>#include "<a class="el" href="abstract__base_8h_source.html">bridge/abstract_base.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="ts__reader_8h_source.html">reader/ts_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for simple_base.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="simple__base_8h__incl.png" border="0" usemap="#simple__base_8h" alt=""/></div>
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+</div>
+<p><a href="simple__base_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
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+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">refiend base abstraction <a href="classSimple__base.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+ <div class="headertitle">
+<div class="title">simple_base.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="simple__base_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 SIMPLE_BASE_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define SIMPLE_BASE_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <tf2/LinearMath/Transform.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 "octomap/octomap.h"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <pcl/octree/octree.h></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"> 13</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <fstream></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 "<a class="code" href="abstract__base_8h.html">bridge/abstract_base.h</a>"</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</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="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="ts__reader_8h.html">reader/ts_reader.h</a>"</span></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>  </div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classSimple__base.html"> 26</a></span> <span class="keyword">class </span><a class="code" href="classSimple__base.html">Simple_base</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__base.html">Abstract_base</a> {</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e"> 28</a></span>  std::unique_ptr<Ts_reader> <a class="code" href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">task_space_reader_</a>; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5"> 29</a></span>  std::unique_ptr<Map_reader> <a class="code" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">map_reader_</a>; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">base_calculation</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordtype">void</span> <a class="code" href="classSimple__base.html#a095701db18bbccae201b96121b962e81">write_task</a>(<a class="code" href="classAbstract__robot.html">Abstract_robot</a>* robot) <span class="keyword">override</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> };</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<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="aabstract__base_8h_html"><div class="ttname"><a href="abstract__base_8h.html">abstract_base.h</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a095701db18bbccae201b96121b962e81"><div class="ttname"><a href="classSimple__base.html#a095701db18bbccae201b96121b962e81">Simple_base::write_task</a></div><div class="ttdeci">void write_task(Abstract_robot *robot) override</div><div class="ttdoc">write trask</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00366">simple_base.cpp:366</a></div></div>
+<div class="ttc" id="aclassAbstract__base_html"><div class="ttname"><a href="classAbstract__base.html">Abstract_base</a></div><div class="ttdoc">Abstract base class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00029">abstract_base.h:29</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a81f95918750e1644484cbce9f41fd24e"><div class="ttname"><a href="classSimple__base.html#a81f95918750e1644484cbce9f41fd24e">Simple_base::Simple_base</a></div><div class="ttdeci">Simple_base(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Simple base constructor.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00004">simple_base.cpp:4</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a42768a7c6fcee691bb1699e08ead3ef6"><div class="ttname"><a href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base::base_calculation</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > base_calculation() override</div><div class="ttdoc">refined Template methode</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00020">simple_base.cpp:20</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="aclassSimple__base_html"><div class="ttname"><a href="classSimple__base.html">Simple_base</a></div><div class="ttdoc">refiend base abstraction</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00026">simple_base.h:26</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_a0eceb0eb9276b9289bfa10c88254ce7e"><div class="ttname"><a href="classSimple__base.html#a0eceb0eb9276b9289bfa10c88254ce7e">Simple_base::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< Ts_reader > task_space_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00028">simple_base.h:28</a></div></div>
+<div class="ttc" id="aclassSimple__base_html_aca05b7bb4f422425e21872198598b6c5"><div class="ttname"><a href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">Simple_base::map_reader_</a></div><div class="ttdeci">std::unique_ptr< Map_reader > map_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00029">simple_base.h:29</a></div></div>
+<div class="ttc" id="aclassAbstract__robot_html"><div class="ttname"><a href="classAbstract__robot.html">Abstract_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot_8h_source.html#l00025">impl/abstract_robot.h:25</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: simple_base_implementation.cpp File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_bff0e0394a2452d575b35258352fd8fb.html">base_bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">simple_base_implementation.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="simple__base__implementation_8h_source.html">bridge/simple_base_implementation.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for simple_base_implementation.cpp:</div>
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+</div>
+<p><a href="simple__base__implementation_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">simple_base_implementation.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="simple__base__implementation_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="simple__base__implementation_8h.html">bridge/simple_base_implementation.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="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">Simple_base_implementation::set_grasp_orientations</a>(std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>, std::vector<tf2::Quaternion>>>>& var){</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  tf2::Quaternion x_rot(0,0,0,1);</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  tf2::Quaternion y_rot(0,0,0.707,0.707);</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  tf2::Quaternion z_rot(0,-0.707,0,0.707);</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  std::vector<tf2::Quaternion> basic_rot{x_rot, x_rot.inverse(), y_rot, y_rot.inverse(), z_rot.inverse()};</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  ROS_INFO(<span class="stringliteral">"=> 5 Basic grasp roatations (x, -x, y, -y, -z) "</span>);</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&s_od_q: var){</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&od_q: s_od_q.second){</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  od_q.second = basic_rot;</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"> 15</span>  </div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23"> 16</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">Simple_base_implementation::inv_map_creation</a>(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>,std::vector<tf2::Quaternion>>>>& task_space){</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  std::vector<tf2::Transform> trans;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordflow">for</span>(<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < map.size(); i++) {</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&s_od_q: task_space){</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&od_q: s_od_q.second){</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>&q: od_q.second){</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">if</span> (q.angle(map[i].getRotation()) < 0.349066f){</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  inv_map.push_back(tf2::Transform(q, map[i].getOrigin()).inverse());</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">break</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>  }</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>  </div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  ROS_INFO(<span class="stringliteral">"caculated [inv_map] contains %li entrys..."</span>, inv_map.size());</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="comment">/*</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">void Simple_base_implementation::cloud_calculation(Abstract_base* var){</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> ROS_INFO("initialyze thread implementations...");</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> for(auto& s_od_q: var->task_space()) {</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> clouds;</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> for(auto& od_q: s_od_q.second) {</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> clouds.push_back(pcl::PointCloud< pcl::PointXYZ >::Ptr(new pcl::PointCloud< pcl::PointXYZ >));</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"> var->target_cloud().insert(std::pair<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>(s_od_q.first, clouds));</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> }</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"> // Maybe OpenMP</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> ROS_INFO("start [cloud] calculation...");</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"> tf2::Transform root(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0.4425f));</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> // ------------------------------------------------------------</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> for(auto& s_c: var->target_cloud()){</span></div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> for(int i = 0; i < s_c.second.size();i++){</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> for(auto& itf : var->inv_map()){</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> for(auto& r: var->task_space().at(s_c.first)[i].second){</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> tf2::Transform target(r, var->task_space().at(s_c.first)[i].first.pose_.getOrigin());</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> tf2::Transform base = target * (itf * root);</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> s_c.second[i]->push_back(pcl::PointXYZ(base.getOrigin().getX(), base.getOrigin().getY(), base.getOrigin().getZ()));</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> <span class="comment"> }</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> ROS_INFO("[cloud]calculation done...");</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment">}</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment">*/</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="aclassSimple__base__implementation_html_aaa52f0dfe523e71039f06c4a9d527b23"><div class="ttname"><a href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">Simple_base_implementation::inv_map_creation</a></div><div class="ttdeci">void inv_map_creation(std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space) override</div><div class="ttdoc">Create inversed reachability map.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8cpp_source.html#l00016">simple_base_implementation.cpp:16</a></div></div>
+<div class="ttc" id="aclassSimple__base__implementation_html_a58568c1809b8d1e7d6d66ce09c5f1974"><div class="ttname"><a href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">Simple_base_implementation::set_grasp_orientations</a></div><div class="ttdeci">void set_grasp_orientations(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override</div><div class="ttdoc">Store grasp orientations as endeffector transforms.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8cpp_source.html#l00003">simple_base_implementation.cpp:3</a></div></div>
+<div class="ttc" id="asimple__base__implementation_8h_html"><div class="ttname"><a href="simple__base__implementation_8h.html">simple_base_implementation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: simple_base_implementation.h File Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+});
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+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">simple_base_implementation.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="abstract__base__implementation_8h_source.html">bridge/abstract_base_implementation.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__base_8h_source.html">bridge/abstract_base.h</a>"</code><br />
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+</div>
+<p><a href="simple__base__implementation_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="classSimple__base__implementation.html">Simple_base_implementation</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">refined base implementation <a href="classSimple__base__implementation.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: simple_base_implementation.h 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>
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+<div id="main-nav"></div>
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+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_82432a442f7690767534b978fe0f8420.html">bridge</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">simple_base_implementation.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="simple__base__implementation_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef SIMPLE_BASE_IMPLEMENTATION_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define SIMPLE_BASE_IMPLEMENTATION_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__base__implementation_8h.html">bridge/abstract_base_implementation.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="abstract__base_8h.html">bridge/abstract_base.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classSimple__base__implementation.html"> 12</a></span> <span class="keyword">class </span><a class="code" href="classSimple__base__implementation.html">Simple_base_implementation</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__base__implementation.html">Abstract_base_implementation</a> {</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">Simple_base_implementation</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">~Simple_base_implementation</a>()= <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">void</span> <a class="code" href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">set_grasp_orientations</a>(std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>, std::vector<tf2::Quaternion>>>>& var) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">void</span> <a class="code" href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">inv_map_creation</a>(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<<span class="keyword">const</span> std::string, std::vector<std::pair<<a class="code" href="structobject__data.html">object_data</a>,std::vector<tf2::Quaternion>>>>& task_space) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</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"> 41</span>  <span class="comment">//void cloud_calculation(Abstract_base* var) override;</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"> 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>  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassSimple__base__implementation_html"><div class="ttname"><a href="classSimple__base__implementation.html">Simple_base_implementation</a></div><div class="ttdoc">refined base implementation</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8h_source.html#l00012">simple_base_implementation.h:12</a></div></div>
+<div class="ttc" id="aabstract__base_8h_html"><div class="ttname"><a href="abstract__base_8h.html">abstract_base.h</a></div></div>
+<div class="ttc" id="aclassSimple__base__implementation_html_a434b134fd5a340a5fae0e2393e250462"><div class="ttname"><a href="classSimple__base__implementation.html#a434b134fd5a340a5fae0e2393e250462">Simple_base_implementation::Simple_base_implementation</a></div><div class="ttdeci">Simple_base_implementation()=default</div><div class="ttdoc">Default simple base implementation constructor.</div></div>
+<div class="ttc" id="aclassSimple__base__implementation_html_ad027ee9cbdd95ec53b31369ca86e208d"><div class="ttname"><a href="classSimple__base__implementation.html#ad027ee9cbdd95ec53b31369ca86e208d">Simple_base_implementation::~Simple_base_implementation</a></div><div class="ttdeci">~Simple_base_implementation()=default</div><div class="ttdoc">Default simple base implementation destructor.</div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<div class="ttc" id="aclassSimple__base__implementation_html_aaa52f0dfe523e71039f06c4a9d527b23"><div class="ttname"><a href="classSimple__base__implementation.html#aaa52f0dfe523e71039f06c4a9d527b23">Simple_base_implementation::inv_map_creation</a></div><div class="ttdeci">void inv_map_creation(std::vector< tf2::Transform > &map, std::vector< tf2::Transform > &inv_map, std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &task_space) override</div><div class="ttdoc">Create inversed reachability map.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8cpp_source.html#l00016">simple_base_implementation.cpp:16</a></div></div>
+<div class="ttc" id="aclassAbstract__base__implementation_html"><div class="ttname"><a href="classAbstract__base__implementation.html">Abstract_base_implementation</a></div><div class="ttdoc">abstract base implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00011">abstract_base_implementation.h:11</a></div></div>
+<div class="ttc" id="aclassSimple__base__implementation_html_a58568c1809b8d1e7d6d66ce09c5f1974"><div class="ttname"><a href="classSimple__base__implementation.html#a58568c1809b8d1e7d6d66ce09c5f1974">Simple_base_implementation::set_grasp_orientations</a></div><div class="ttdeci">void set_grasp_orientations(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &var) override</div><div class="ttdoc">Store grasp orientations as endeffector transforms.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8cpp_source.html#l00003">simple_base_implementation.cpp:3</a></div></div>
+<div class="ttc" id="aabstract__base__implementation_8h_html"><div class="ttname"><a href="abstract__base__implementation_8h.html">abstract_base_implementation.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+++ b/doc/html/structjob__data-members.html
@@ -0,0 +1,37 @@
+<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">job_data Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structjob__data.html">job_data</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a></td><td class="entry"><a class="el" href="structjob__data.html">job_data</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/structjob__data.html b/doc/html/structjob__data.html
new file mode 100644
index 0000000000000000000000000000000000000000..ef63508c2cb2e1ed2dfbde89172cf59fec994486
--- /dev/null
+++ b/doc/html/structjob__data.html
@@ -0,0 +1,67 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: job_data Struct 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-attribs">Public Attributes</a> |
+<a href="structjob__data-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">job_data Struct Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>></code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a9995696b3e7a24afb51e67a3cc8616d0"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a></td></tr>
+<tr class="separator:a9995696b3e7a24afb51e67a3cc8616d0"><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="abstract__param__reader_8h_source.html#l00019">19</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9995696b3e7a24afb51e67a3cc8616d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9995696b3e7a24afb51e67a3cc8616d0">◆ </a></span>jobs_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::vector<tf2::Transform> job_data::jobs_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00020">20</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li><a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/structobject__data-members.html b/doc/html/structobject__data-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..85ba59dfbb9736d5bf84b41b2851c34868c0738b
--- /dev/null
+++ b/doc/html/structobject__data-members.html
@@ -0,0 +1,39 @@
+<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">object_data Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structobject__data.html">object_data</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">name_</a></td><td class="entry"><a class="el" href="structobject__data.html">object_data</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">pose_</a></td><td class="entry"><a class="el" href="structobject__data.html">object_data</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">size_</a></td><td class="entry"><a class="el" href="structobject__data.html">object_data</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/structobject__data.html b/doc/html/structobject__data.html
new file mode 100644
index 0000000000000000000000000000000000000000..013947f75d577bec52081855d548e1e6df9f31de
--- /dev/null
+++ b/doc/html/structobject__data.html
@@ -0,0 +1,103 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: object_data Struct 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-attribs">Public Attributes</a> |
+<a href="structobject__data-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">object_data Struct Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>></code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a048099bcb764a005e050ef51bdb6b308"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">name_</a></td></tr>
+<tr class="separator:a048099bcb764a005e050ef51bdb6b308"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3f16f6c8bbaeeab8ad6d67a28bc8430d"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">pose_</a></td></tr>
+<tr class="separator:a3f16f6c8bbaeeab8ad6d67a28bc8430d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1470f3d835395fb7c192273559b8a258"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">size_</a></td></tr>
+<tr class="separator:a1470f3d835395fb7c192273559b8a258"><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="abstract__param__reader_8h_source.html#l00013">13</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a048099bcb764a005e050ef51bdb6b308"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a048099bcb764a005e050ef51bdb6b308">◆ </a></span>name_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string object_data::name_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00014">14</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a3f16f6c8bbaeeab8ad6d67a28bc8430d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f16f6c8bbaeeab8ad6d67a28bc8430d">◆ </a></span>pose_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform object_data::pose_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00015">15</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+
+</div>
+</div>
+<a id="a1470f3d835395fb7c192273559b8a258"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1470f3d835395fb7c192273559b8a258">◆ </a></span>size_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3 object_data::size_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00016">16</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li><a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/structwing__BP-members.html b/doc/html/structwing__BP-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..996de5259aa34594d30ede48f3c5779a29a93ec6
--- /dev/null
+++ b/doc/html/structwing__BP-members.html
@@ -0,0 +1,39 @@
+<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">wing_BP Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structwing__BP.html">wing_BP</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">name_</a></td><td class="entry"><a class="el" href="structwing__BP.html">wing_BP</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">pos_</a></td><td class="entry"><a class="el" href="structwing__BP.html">wing_BP</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">size_</a></td><td class="entry"><a class="el" href="structwing__BP.html">wing_BP</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_BP Struct 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>
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+ 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-attribs">Public Attributes</a> |
+<a href="structwing__BP-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">wing_BP Struct Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="impl_2abstract__mediator_8h_source.html">abstract_mediator.h</a>></code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a294e3a77e24dec89f73422224f4091c9"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">name_</a></td></tr>
+<tr class="separator:a294e3a77e24dec89f73422224f4091c9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6396b771cdeff0b866020e3293a84eca"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">pos_</a></td></tr>
+<tr class="separator:a6396b771cdeff0b866020e3293a84eca"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad3cb0666a2473c6a2c5397f393812f56"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">size_</a></td></tr>
+<tr class="separator:ad3cb0666a2473c6a2c5397f393812f56"><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="impl_2abstract__mediator_8h_source.html#l00026">26</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/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>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string wing_BP::name_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00027">27</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a6396b771cdeff0b866020e3293a84eca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6396b771cdeff0b866020e3293a84eca">◆ </a></span>pos_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform wing_BP::pos_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00028">28</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad3cb0666a2473c6a2c5397f393812f56"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3cb0666a2473c6a2c5397f393812f56">◆ </a></span>size_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3 wing_BP::size_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="impl_2abstract__mediator_8h_source.html#l00029">29</a> of file <a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li><a class="el" href="impl_2abstract__mediator_8h_source.html">impl/abstract_mediator.h</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 Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: task_space_reader.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>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">task_space_reader.cpp File Reference</div> </div>
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+<div class="textblock"><code>#include "<a class="el" href="task__space__reader_8h_source.html">reader/task_space_reader.h</a>"</code><br />
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+Include dependency graph for task_space_reader.cpp:</div>
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+<p><a href="task__space__reader_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: task_space_reader.cpp Source File</title>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">task_space_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="task__space__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 "<a class="code" href="task__space__reader_8h.html">reader/task_space_reader.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"> 3</span>  </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94"> 4</a></span> <span class="keywordtype">void</span> <a class="code" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">Task_space_reader::read</a>(){</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  std::string filename = <span class="stringliteral">"dummy.yaml"</span>;</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <span class="comment">//nh_->getParam("/resource_name", filename);</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>  XmlRpc::XmlRpcValue resources;</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</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>  std::vector<tf2::Vector3> robot_middle;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  std::vector<tf2::Vector3>* robot_pointer = <span class="keyword">nullptr</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"> 15</span>  std::regex rx(<span class="stringliteral">"table([0-9]+)_table_top"</span>);</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  std::smatch match;</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>  ROS_INFO(<span class="stringliteral">"--- TASK_SPACE_READER ---"</span>);</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  std::map<const std::string, std::vector<tf2::Vector3>> map;</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="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">if</span> (std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  map.insert(std::make_pair<<span class="keyword">const</span> std::string, std::vector<tf2::Vector3>>(ss.str().c_str(), std::vector<tf2::Vector3>()));</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>  tf2::Vector3 pos(0,0,0);</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordflow">if</span> (resources[i][<span class="stringliteral">"type"</span>] == <span class="stringliteral">"DROP_OFF_LOCATION"</span>){</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'A'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'B'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'C'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'D'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'E'</span>) robot_pointer = &robot_middle;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'F'</span>) robot_pointer = &robot_middle;</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'G'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</span>);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'H'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</span>);</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'I'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</span>);</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'J'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</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="keywordflow">if</span> (robot_pointer){</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  tf2::Vector3 pos(0,0,0);</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  robot_pointer->push_back(pos);</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>  }</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  robot_pointer = <span class="keyword">nullptr</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>  </div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="comment">// lets make some result data</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  ROS_INFO(<span class="stringliteral">"writing file..."</span>);</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/descriptions/"</span> + filename);</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  YAML::Node node;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> robot: map){</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">for</span>(tf2::Vector3& vec : robot.second){</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"groups"</span>][robot.first].push_back(YAML::Load(std::string(<span class="stringliteral">"{ 'pos': {'x': "</span>) + std::to_string(vec.getX()) + <span class="stringliteral">", 'y': "</span> + std::to_string(vec.getY()) + <span class="stringliteral">", 'z':"</span> + std::to_string(vec.getZ()) + std::string(<span class="stringliteral">"}}"</span>)));</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>  }</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>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> robot: map){</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">for</span>(tf2::Vector3& vec : robot_middle){</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  node[<span class="stringliteral">"task"</span>][<span class="stringliteral">"groups"</span>][robot.first].push_back(YAML::Load(std::string(<span class="stringliteral">"{ 'pos': {'x': "</span>) + std::to_string(vec.getX()) + <span class="stringliteral">", 'y': "</span> + std::to_string(vec.getY()) + <span class="stringliteral">", 'z':"</span> + std::to_string(vec.getZ()) + std::string(<span class="stringliteral">"}}"</span>)));</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>  }</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  o << node;</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  o.close();</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassTask__space__reader_html_adc53046a1920b11614bc9e0532475f94"><div class="ttname"><a href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">Task_space_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="task__space__reader_8cpp_source.html#l00004">task_space_reader.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.cpp:3</a></div></div>
+<div class="ttc" id="atask__space__reader_8h_html"><div class="ttname"><a href="task__space__reader_8h.html">task_space_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/task__space__reader_8h.html b/doc/html/task__space__reader_8h.html
new file mode 100644
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+++ b/doc/html/task__space__reader_8h.html
@@ -0,0 +1,79 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: task_space_reader.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>
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+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
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+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">task_space_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for task_space_reader.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="task__space__reader_8h__incl.png" border="0" usemap="#task__space__reader_8h" alt=""/></div>
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+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="task__space__reader_8h__dep__incl.png" border="0" usemap="#task__space__reader_8hdep" alt=""/></div>
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+<area shape="rect" title=" " alt="" coords="93,5,249,32"/>
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+</map>
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+</div>
+<p><a href="task__space__reader_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="classTask__space__reader.html">Task_space_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Task space reader. <a href="classTask__space__reader.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: task_space_reader.h 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>
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+ 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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">task_space_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="task__space__reader_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 TASK_SPACE_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define TASK_SPACE_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.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>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classTask__space__reader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classTask__space__reader.html">Task_space_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>{</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c"> 22</a></span>  <a class="code" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d){<a class="code" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">read</a>();}</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">void</span> <a class="code" href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">read</a>() <span class="keyword">override</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"> 27</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<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="aclassTask__space__reader_html"><div class="ttname"><a href="classTask__space__reader.html">Task_space_reader</a></div><div class="ttdoc">Task space reader.</div><div class="ttdef"><b>Definition:</b> <a href="task__space__reader_8h_source.html#l00015">task_space_reader.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassTask__space__reader_html_ac522966d855d5e4f097265945d60456c"><div class="ttname"><a href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader::Task_space_reader</a></div><div class="ttdeci">Task_space_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Task space reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="task__space__reader_8h_source.html#l00022">task_space_reader.h:22</a></div></div>
+<div class="ttc" id="aclassTask__space__reader_html_adc53046a1920b11614bc9e0532475f94"><div class="ttname"><a href="classTask__space__reader.html#adc53046a1920b11614bc9e0532475f94">Task_space_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="task__space__reader_8cpp_source.html#l00004">task_space_reader.cpp:4</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: ts_reader.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>
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+ 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_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ts_reader.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="ts__reader_8h_source.html">reader/ts_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for ts_reader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="ts__reader_8cpp__incl.png" border="0" usemap="#ts__reader_8cpp" alt=""/></div>
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+</div>
+<p><a href="ts__reader_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+});
+/* @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_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ts_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ts__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 "<a class="code" href="ts__reader_8h.html">reader/ts_reader.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="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">Ts_reader::read</a>(){</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  std::string filename = <span class="stringliteral">"dummy.yaml"</span>;</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <span class="comment">//nh_->getParam("/resource_name", filename);</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>  XmlRpc::XmlRpcValue resources;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</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>  std::vector<object_data> robot_middle;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::vector<object_data>* robot_pointer = <span class="keyword">nullptr</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>  std::regex rx(<span class="stringliteral">"table([0-9]+)_table_top"</span>);</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  std::smatch match;</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>  ROS_INFO(<span class="stringliteral">"--- TASK_SPACE_READER ---"</span>);</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  std::map<const std::string, std::vector<object_data>> map;</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="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">if</span> (std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  map.insert(std::make_pair<<span class="keyword">const</span> std::string, std::vector<object_data>>(ss.str().c_str(), std::vector<object_data>()));</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"> 28</span>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">if</span> (resources[i][<span class="stringliteral">"type"</span>] == <span class="stringliteral">"DROP_OFF_LOCATION"</span>){</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'A'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'B'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'C'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'D'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm1"</span>);</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'E'</span>) robot_pointer = &robot_middle;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'F'</span>) robot_pointer = &robot_middle;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'G'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</span>);</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'H'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</span>);</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'I'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</span>);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'J'</span>) robot_pointer = &map.at(<span class="stringliteral">"panda_arm2"</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"> 43</span>  <span class="keywordflow">if</span> (robot_pointer){</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  tf2::Vector3 pos(0,0,0);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  tf2::Quaternion rot(0,0,0,1);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  tf2::Vector3 size(0,0,0);</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>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</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>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(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>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :pos.setW(0);</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  robot_pointer->push_back({<span class="stringliteral">""</span>, tf2::Transform(rot, pos), size});</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>  }</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  robot_pointer = <span class="keyword">nullptr</span>;</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>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& robot: map){</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">for</span>(<a class="code" href="structobject__data.html">object_data</a>& tf : robot_middle){</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  robot.second.push_back(tf);</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>  }</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>  <a class="code" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">set_drop_off_data</a>(map);</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassTs__reader_html_a9b724ab02280e36e71b3ac5515f2fed3"><div class="ttname"><a href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">Ts_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8cpp_source.html#l00003">ts_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00013">abstract_param_reader.h:13</a></div></div>
+<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="aclassTs__reader_html_ae72a1b14426b9a5c4da570b5c4378c87"><div class="ttname"><a href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">Ts_reader::set_drop_off_data</a></div><div class="ttdeci">void set_drop_off_data(std::map< const std::string, std::vector< object_data >> &dod)</div><div class="ttdoc">Set drop off data.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00037">ts_reader.h:37</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: ts_reader.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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 */
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+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">ts_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for ts_reader.h:</div>
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+</div>
+<p><a href="ts__reader_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="classTs__reader.html">Ts_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">TS reader. <a href="classTs__reader.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ts_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ts__reader_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 TS_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define TS_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.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>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classTs__reader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classTs__reader.html">Ts_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</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="classTs__reader.html#a74d617259a32c10da34cf8a664e48799"> 17</a></span>  std::map<const std::string, std::vector<object_data>> <a class="code" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">drop_off_data_</a>; </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">public</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0"> 25</a></span>  <a class="code" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d){<a class="code" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">read</a>();}</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe"> 31</a></span>  <span class="keyword">inline</span> std::map< const std::string, std::vector<object_data>>& <a class="code" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">drop_off_data</a>() {<span class="keywordflow">return</span> <a class="code" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">drop_off_data_</a>;}</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87"> 37</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">set_drop_off_data</a>(std::map< <span class="keyword">const</span> std::string, std::vector<object_data>>& dod) {<a class="code" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">drop_off_data_</a>= dod;}</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">void</span> <a class="code" href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">read</a>() <span class="keyword">override</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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassTs__reader_html_a9b724ab02280e36e71b3ac5515f2fed3"><div class="ttname"><a href="classTs__reader.html#a9b724ab02280e36e71b3ac5515f2fed3">Ts_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8cpp_source.html#l00003">ts_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassTs__reader_html_ad9b8ee9df3fd4477bb56b3a7c41eb5e0"><div class="ttname"><a href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader::Ts_reader</a></div><div class="ttdeci">Ts_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">TS reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00025">ts_reader.h:25</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="aclassTs__reader_html_a53d3f559a9b1d43b6bedf321849a81fe"><div class="ttname"><a href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">Ts_reader::drop_off_data</a></div><div class="ttdeci">std::map< const std::string, std::vector< object_data > > & drop_off_data()</div><div class="ttdoc">Get drop off data.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00031">ts_reader.h:31</a></div></div>
+<div class="ttc" id="aclassTs__reader_html_a74d617259a32c10da34cf8a664e48799"><div class="ttname"><a href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">Ts_reader::drop_off_data_</a></div><div class="ttdeci">std::map< const std::string, std::vector< object_data > > drop_off_data_</div><div class="ttdoc">Map of drop off data to robot.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00017">ts_reader.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassTs__reader_html_ae72a1b14426b9a5c4da570b5c4378c87"><div class="ttname"><a href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">Ts_reader::set_drop_off_data</a></div><div class="ttdeci">void set_drop_off_data(std::map< const std::string, std::vector< object_data >> &dod)</div><div class="ttdoc">Set drop off data.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00037">ts_reader.h:37</a></div></div>
+<div class="ttc" id="aclassTs__reader_html"><div class="ttname"><a href="classTs__reader.html">Ts_reader</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>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing_8h.html b/doc/html/wing_8h.html
new file mode 100644
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">wing.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing_8h__incl.png" border="0" usemap="#wing_8h" alt=""/></div>
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+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
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+</div>
+<p><a href="wing_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="classWing.html">Wing</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing.h 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>
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+});
+/* @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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="wing_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 WING_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define WING_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element_8h.html">impl/abstract_robot_element.h</a>"</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"><a class="line" href="classWing.html"> 7</a></span> <span class="keyword">class </span><a class="code" href="classWing.html">Wing</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>{</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05"> 9</a></span>  std::string <a class="code" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">name_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c"> 10</a></span>  tf2::Vector3 <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classWing.html#a3f6648e53c9033078f940633fb93b10d"> 11</a></span>  std::vector<tf2::Transform> <a class="code" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a>;</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="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397"> 14</a></span>  <a class="code" href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397">Wing</a>(std::string <a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>, tf2::Transform tf, tf2::Vector3 <a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>) : <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>(<a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>), <a class="code" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">name_</a>(<a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>){ </div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">relative_tf_</a> = tf;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getX()/2.f, <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getY()/2.f,0))); <span class="comment">//++</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getX()/2.f, <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getY()/-2.f,0))); <span class="comment">//+-</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getX()/-2.f, <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getY()/-2.f,0))); <span class="comment">//--</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getX()/-2.f, <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>.getY()/2.f,0))); <span class="comment">//-+</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  }</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975"> 21</a></span>  <span class="keyword">virtual</span> <a class="code" href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975">~Wing</a>() {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc"> 23</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">name</a>() {<span class="keywordflow">return</span> <a class="code" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">name_</a>;}</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classWing.html#a59974ceb515b29cab964aba4314a8885"> 24</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classWing.html#a59974ceb515b29cab964aba4314a8885">set_name</a>(std::string str) {<a class="code" href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">name_</a> = str;}</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classWing.html#ad0765941cf4c23bc66b044d3583dd114"> 25</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classWing.html#ad0765941cf4c23bc66b044d3583dd114">set_set</a>(tf2::Vector3& vec) {<a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a> = vec;}</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="classWing.html#a166b6d0367d7218947e3b2321360c521"> 27</a></span>  <span class="keyword">inline</span> tf2::Vector3& <a class="code" href="classWing.html#a166b6d0367d7218947e3b2321360c521">size</a>(){ <span class="keywordflow">return</span> <a class="code" href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">size_</a>;}</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b"> 28</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">bounds</a>() {<span class="keywordflow">return</span> <a class="code" href="classWing.html#a3f6648e53c9033078f940633fb93b10d">bounds_</a>;}</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classWing.html#afc898c53233c825c8af1a74d0165f25d"> 29</a></span>  <span class="keywordtype">void</span> <a class="code" href="classWing.html#afc898c53233c825c8af1a74d0165f25d">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{this-><a class="code" href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">calc_world_tf</a>(tf);}</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing_html_afc898c53233c825c8af1a74d0165f25d"><div class="ttname"><a href="classWing.html#afc898c53233c825c8af1a74d0165f25d">Wing::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00029">wing.h:29</a></div></div>
+<div class="ttc" id="aclassWing_html_ad8bf499109ae520a7dcd19afd564ff7b"><div class="ttname"><a href="classWing.html#ad8bf499109ae520a7dcd19afd564ff7b">Wing::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00028">wing.h:28</a></div></div>
+<div class="ttc" id="aclassWing_html_ad0765941cf4c23bc66b044d3583dd114"><div class="ttname"><a href="classWing.html#ad0765941cf4c23bc66b044d3583dd114">Wing::set_set</a></div><div class="ttdeci">void set_set(tf2::Vector3 &vec)</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00025">wing.h:25</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassWing_html_a3dc2d8cffc9b50ff0a2333b68ea402cc"><div class="ttname"><a href="classWing.html#a3dc2d8cffc9b50ff0a2333b68ea402cc">Wing::name</a></div><div class="ttdeci">std::string & name()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00023">wing.h:23</a></div></div>
+<div class="ttc" id="aclassWing_html_a166b6d0367d7218947e3b2321360c521"><div class="ttname"><a href="classWing.html#a166b6d0367d7218947e3b2321360c521">Wing::size</a></div><div class="ttdeci">tf2::Vector3 & size()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00027">wing.h:27</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a83f046bb2fb1009832091cf8502af956"><div class="ttname"><a href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element::relative_tf_</a></div><div class="ttdeci">tf2::Transform relative_tf_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00011">impl/abstract_robot_element.h:11</a></div></div>
+<div class="ttc" id="aclassWing_html_a6c6cf155019a6910abbffb089eac9e05"><div class="ttname"><a href="classWing.html#a6c6cf155019a6910abbffb089eac9e05">Wing::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00009">wing.h:9</a></div></div>
+<div class="ttc" id="aclassWing_html_aa9e78ec3662b1308a0d8676f79afc975"><div class="ttname"><a href="classWing.html#aa9e78ec3662b1308a0d8676f79afc975">Wing::~Wing</a></div><div class="ttdeci">virtual ~Wing()</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00021">wing.h:21</a></div></div>
+<div class="ttc" id="aclassWing_html_a18f6b141738c6ed89fc115ee07a4d397"><div class="ttname"><a href="classWing.html#a18f6b141738c6ed89fc115ee07a4d397">Wing::Wing</a></div><div class="ttdeci">Wing(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00014">wing.h:14</a></div></div>
+<div class="ttc" id="aclassWing_html_a59974ceb515b29cab964aba4314a8885"><div class="ttname"><a href="classWing.html#a59974ceb515b29cab964aba4314a8885">Wing::set_name</a></div><div class="ttdeci">void set_name(std::string str)</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00024">wing.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a19e094e1639e2c72ead481a3c6c9ec24"><div class="ttname"><a href="classAbstract__robot__element.html#a19e094e1639e2c72ead481a3c6c9ec24">Abstract_robot_element::calc_world_tf</a></div><div class="ttdeci">void calc_world_tf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00019">impl/abstract_robot_element.h:19</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassWing_html_a895d92ca6fef5fdc5d2e60551199428c"><div class="ttname"><a href="classWing.html#a895d92ca6fef5fdc5d2e60551199428c">Wing::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00010">wing.h:10</a></div></div>
+<div class="ttc" id="aclassWing_html_a3f6648e53c9033078f940633fb93b10d"><div class="ttname"><a href="classWing.html#a3f6648e53c9033078f940633fb93b10d">Wing::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00011">wing.h:11</a></div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing__moveit__decorator_8cpp.html b/doc/html/wing__moveit__decorator_8cpp.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_moveit_decorator.cpp File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
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+<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 */
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+});
+/* @license-end */</script>
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+<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_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_moveit_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="wing__moveit__decorator_8h_source.html">impl/wing_moveit_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing_moveit_decorator.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__moveit__decorator_8cpp__incl.png" border="0" usemap="#wing__moveit__decorator_8cpp" alt=""/></div>
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+</div>
+</div>
+<p><a href="wing__moveit__decorator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_moveit_decorator.cpp Source File</title>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_moveit_decorator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="wing__moveit__decorator_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="wing__moveit__decorator_8h.html">impl/wing_moveit_decorator.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="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator::update</a>(tf2::Transform& tf) {</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  <a class="code" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a>(tf);</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">output_filter</a>();</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="classWing__moveit__decorator.html#ac35f08c723f54f3d5d8946fb4e252ab2"> 8</a></span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Wing_moveit_decorator::input_filter</a>(tf2::Transform& tf) {}</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="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b"> 10</a></span> <span class="keywordtype">void</span> <a class="code" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator::output_filter</a>() {</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classWing.html">Wing</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span> (<a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  tf2::Vector3 world_origin = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin();</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  tf2::Quaternion world_quat = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().normalized();</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>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->id = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>();</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->header.frame_id = <span class="stringliteral">"world"</span>;</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>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives.resize(1);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives[0].type = <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives[0].BOX;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives[0].dimensions[0] = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getX();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives[0].dimensions[1] = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getY();</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitives[0].dimensions[2] = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getZ();</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"> 27</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses.resize(1);</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].position.x = world_origin.getX();</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].position.y = world_origin.getY();</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].position.z = world_origin.getZ() - <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getZ()/2;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].orientation.x = world_quat.getX();</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].orientation.y = world_quat.getY();</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].orientation.z = world_quat.getZ();</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->primitive_poses[0].orientation.w = world_quat.getW();</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>  <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->operation = <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>->ADD;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing__moveit__decorator_html_a0a10fa719ce7c2fc4d637f3b7efe2e6c"><div class="ttname"><a href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">Wing_moveit_decorator::markers_</a></div><div class="ttdeci">moveit_msgs::CollisionObject * markers_</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00015">wing_moveit_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a910a29582a54972c947fa57bbdc444ec"><div class="ttname"><a href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a2eb0ca7627bba7b58e85046532e68269"><div class="ttname"><a href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_ade982b05a137aa3f80b229f02211105e"><div class="ttname"><a href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8cpp_source.html#l00003">wing_moveit_decorator.cpp:3</a></div></div>
+<div class="ttc" id="awing__moveit__decorator_8h_html"><div class="ttname"><a href="wing__moveit__decorator_8h.html">wing_moveit_decorator.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a9138c650f2148d515802a89f079ace2f"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator::wing</a></div><div class="ttdeci">Abstract_robot_element * wing()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00015">impl/abstract_robot_element_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_addab3f179d202bea3da80887206c8048"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00017">impl/abstract_robot_element_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_a9654fdfeffcf5f1f1fd2f87b267c562b"><div class="ttname"><a href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8cpp_source.html#l00010">wing_moveit_decorator.cpp:10</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ab7fe1d6234cc937bf72a2f951781329b"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">Abstract_robot_element * next_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00009">impl/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing__moveit__decorator_8h.html b/doc/html/wing__moveit__decorator_8h.html
new file mode 100644
index 0000000000000000000000000000000000000000..513fa44c28f21595fa8e7c457a18279a337668c0
--- /dev/null
+++ b/doc/html/wing__moveit__decorator_8h.html
@@ -0,0 +1,87 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_moveit_decorator.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>
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+<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 */
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+ initMenu('',false,false,'search.php','Search');
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
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+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">wing_moveit_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include "<a class="el" href="wing_8h_source.html">impl/wing.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>"</code><br />
+<code>#include <moveit/planning_scene_interface/planning_scene_interface.h></code><br />
+<code>#include <moveit/move_group_interface/move_group_interface.h></code><br />
+<code>#include <moveit_msgs/ApplyPlanningScene.h></code><br />
+<code>#include <moveit/planning_scene/planning_scene.h></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing_moveit_decorator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__moveit__decorator_8h__incl.png" border="0" usemap="#wing__moveit__decorator_8h" alt=""/></div>
+<map name="wing__moveit__decorator_8h" id="wing__moveit__decorator_8h">
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+<area shape="rect" title=" " alt="" coords="5,273,152,315"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__moveit__decorator_8h__dep__incl.png" border="0" usemap="#wing__moveit__decorator_8hdep" alt=""/></div>
+<map name="wing__moveit__decorator_8hdep" id="wing__moveit__decorator_8hdep">
+<area shape="rect" title=" " alt="" coords="496,5,683,32"/>
+<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="335,80,481,107"/>
+<area shape="rect" href="grasp__cell__routine_8cpp.html" title=" " alt="" coords="5,229,173,256"/>
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+</map>
+</div>
+</div>
+<p><a href="wing__moveit__decorator_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="classWing__moveit__decorator.html">Wing_moveit_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_moveit_decorator.h 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_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_moveit_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="wing__moveit__decorator_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 WING_MOVEIT_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define WING_MOVEIT_DECORATOR_</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 <ros/ros.h></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="wing_8h.html">impl/wing.h</a>"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.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> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.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"><a class="line" href="classWing__moveit__decorator.html"> 13</a></span> <span class="keyword">class </span><a class="code" href="classWing__moveit__decorator.html">Wing_moveit_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>{</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c"> 15</a></span>  moveit_msgs::CollisionObject* <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a> = <span class="keyword">new</span> moveit_msgs::CollisionObject();</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"> 18</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677"> 19</a></span>  <a class="code" href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677">Wing_moveit_decorator</a>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>) : <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>(<a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>){};</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602"> 20</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602">set_markers</a>(moveit_msgs::CollisionObject* <a class="code" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>) { <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>= <a class="code" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>;}</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90"> 21</a></span>  <span class="keyword">inline</span> moveit_msgs::CollisionObject* <a class="code" href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">markers</a>() { <span class="keywordflow">return</span> <a class="code" href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">markers_</a>;}</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="keywordtype">void</span> <a class="code" href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">update</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">void</span> <a class="code" href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">output_filter</a>() <span class="keyword">override</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"> 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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing__moveit__decorator_html_a9abb8884e7960d839647f77c78b27602"><div class="ttname"><a href="classWing__moveit__decorator.html#a9abb8884e7960d839647f77c78b27602">Wing_moveit_decorator::set_markers</a></div><div class="ttdeci">void set_markers(moveit_msgs::CollisionObject *markers)</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00020">wing_moveit_decorator.h:20</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_a0a10fa719ce7c2fc4d637f3b7efe2e6c"><div class="ttname"><a href="classWing__moveit__decorator.html#a0a10fa719ce7c2fc4d637f3b7efe2e6c">Wing_moveit_decorator::markers_</a></div><div class="ttdeci">moveit_msgs::CollisionObject * markers_</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00015">wing_moveit_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html"><div class="ttname"><a href="classWing__moveit__decorator.html">Wing_moveit_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00013">wing_moveit_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_a94dee8fbe873155ed5ed8b65c6189d90"><div class="ttname"><a href="classWing__moveit__decorator.html#a94dee8fbe873155ed5ed8b65c6189d90">Wing_moveit_decorator::markers</a></div><div class="ttdeci">moveit_msgs::CollisionObject * markers()</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00021">wing_moveit_decorator.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_ade982b05a137aa3f80b229f02211105e"><div class="ttname"><a href="classWing__moveit__decorator.html#ade982b05a137aa3f80b229f02211105e">Wing_moveit_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8cpp_source.html#l00003">wing_moveit_decorator.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a87d8de36475ce19034a9728f545eb03e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator::next</a></div><div class="ttdeci">Abstract_robot_element * next()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">robot_element/decorators/abstract_robot_element_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_acd889db54302763f1e578fc2c0b80677"><div class="ttname"><a href="classWing__moveit__decorator.html#acd889db54302763f1e578fc2c0b80677">Wing_moveit_decorator::Wing_moveit_decorator</a></div><div class="ttdeci">Wing_moveit_decorator(Abstract_robot_element *next)</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8h_source.html#l00019">wing_moveit_decorator.h:19</a></div></div>
+<div class="ttc" id="aclassWing__moveit__decorator_html_a9654fdfeffcf5f1f1fd2f87b267c562b"><div class="ttname"><a href="classWing__moveit__decorator.html#a9654fdfeffcf5f1f1fd2f87b267c562b">Wing_moveit_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="wing__moveit__decorator_8cpp_source.html#l00010">wing_moveit_decorator.cpp:10</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="awing_8h_html"><div class="ttname"><a href="wing_8h.html">wing.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing__reader_8cpp.html b/doc/html/wing__reader_8cpp.html
new file mode 100644
index 0000000000000000000000000000000000000000..eefa1ee4a754594ee886383cdcdfd7f142f07771
--- /dev/null
+++ b/doc/html/wing__reader_8cpp.html
@@ -0,0 +1,58 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_reader.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><li class="navelem"><a class="el" href="dir_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_reader.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="wing__reader_8h_source.html">reader/wing_reader.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing_reader.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__reader_8cpp__incl.png" border="0" usemap="#wing__reader_8cpp" alt=""/></div>
+<map name="wing__reader_8cpp" id="wing__reader_8cpp">
+<area shape="rect" title=" " alt="" coords="197,5,327,32"/>
+<area shape="rect" href="wing__reader_8h.html" title=" " alt="" coords="182,80,342,107"/>
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+<area shape="rect" title=" " alt="" coords="419,244,579,285"/>
+</map>
+</div>
+</div>
+<p><a href="wing__reader_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_reader.cpp Source File</title>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_af89b2be539cdaaafaad341d1e56977e.html">reader</a></li> </ul>
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+<div class="title">wing_reader.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="wing__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 "<a class="code" href="wing__reader_8h.html">reader/wing_reader.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="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">Wing_reader::read</a>(){</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  XmlRpc::XmlRpcValue resources;</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</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>  std::regex rx(<span class="stringliteral">"table([0-9]+)_table_top"</span>);</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  std::smatch match;</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>  std::map<const std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>> map;</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>  ROS_INFO(<span class="stringliteral">"--- WING_READER ---"</span>);</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">if</span>(std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  std::vector<object_data> wd;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  wd.push_back({<span class="stringliteral">""</span>, tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  wd.push_back({<span class="stringliteral">""</span>, tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  wd.push_back({<span class="stringliteral">""</span>, tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  map.insert(std::pair<<span class="keyword">const</span> std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>(ss.str(), {wd, 0}));</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>  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> XmlRpc::XmlRpcException& xre) {</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  ROS_INFO(<span class="stringliteral">"Iteration error in Blueprint initialization"</span>);</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ros::shutdown();</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>  </div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  rx.assign(<span class="stringliteral">"table([0-9]+)_right_panel"</span>);</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordflow">if</span> (std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</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>  ROS_INFO(<span class="stringliteral">"=> WING: description found, loading..."</span>);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  tf2::Vector3 pos;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  tf2::Vector3 size;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tf2::Quaternion rot;</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>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</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>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>]) + size.getZ()/2) :pos.setZ(0);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(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>  ROS_INFO(<span class="stringliteral">"--- Wing %s ---"</span>, str.c_str());</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  ROS_INFO(<span class="stringliteral">"=> WING: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  ROS_INFO(<span class="stringliteral">"=> WING: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  ROS_INFO(<span class="stringliteral">"=> WING: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</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>  <span class="keywordflow">try</span> {</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  map.at(ss.str()).first[0].name_ = str.c_str();</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  map.at(ss.str()).first[0].pose_ = tf2::Transform(rot.normalized(), pos);</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  map.at(ss.str()).first[0].size_ = size;</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  map.at(ss.str()).second += std::pow(2, 0);</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  ROS_INFO(<span class="stringliteral">"Found panel for unknown robot"</span>);</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>  }</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  }</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> XmlRpc::XmlRpcException& xre){</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  ROS_INFO(<span class="stringliteral">"Iteration error in right panel search"</span>);</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ros::shutdown();</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>  rx.assign(<span class="stringliteral">"table([0-9]+)_front_panel"</span>);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">try</span> {</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</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>  ROS_INFO(<span class="stringliteral">"=> WING: description found, loading..."</span>);</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  tf2::Vector3 pos;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  tf2::Vector3 size;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  tf2::Quaternion rot;</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>  </div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</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>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>]) + size.getZ()/2) :pos.setZ(0);</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</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>  ROS_INFO(<span class="stringliteral">"--- Wing %s ---"</span>, str.c_str());</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  ROS_INFO(<span class="stringliteral">"=> WING: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ROS_INFO(<span class="stringliteral">"=> WING: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  ROS_INFO(<span class="stringliteral">"=> WING: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</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>  <span class="keywordflow">try</span> {</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  map.at(ss.str()).first[1].name_ = str.c_str();</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  map.at(ss.str()).first[1].pose_ = tf2::Transform(rot.normalized(), pos);</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  map.at(ss.str()).first[1].size_ = size;</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  map.at(ss.str()).second += std::pow(2, 1);</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  ROS_INFO(<span class="stringliteral">"Found panel for unknown robot"</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>  }</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>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> XmlRpc::XmlRpcException& xre){</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  ROS_INFO(<span class="stringliteral">"Iteration error in front panel search"</span>);</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  ros::shutdown();</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  }</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"> 125</span>  rx.assign(<span class="stringliteral">"table([0-9]+)_left_panel"</span>);</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">if</span> (std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</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>  ROS_INFO(<span class="stringliteral">"=> WING: description found, loading..."</span>);</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  tf2::Vector3 pos;</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  tf2::Vector3 size;</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  tf2::Quaternion rot;</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>  </div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</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>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>]) + size.getZ()/2) :pos.setZ(0);</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">float_of</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</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>  ROS_INFO(<span class="stringliteral">"--- Wing %s ---"</span>, str.c_str());</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  ROS_INFO(<span class="stringliteral">"=> WING: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  ROS_INFO(<span class="stringliteral">"=> WING: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  ROS_INFO(<span class="stringliteral">"=> WING: size('%f', '%f', '%f')"</span>, size.getX(), size.getY(), size.getZ());</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="keywordflow">try</span> {</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  map.at(ss.str()).first[2].name_ = str.c_str();</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  map.at(ss.str()).first[2].pose_ = tf2::Transform(rot.normalized(), pos);</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  map.at(ss.str()).first[2].size_ = size;</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  map.at(ss.str()).second += std::pow(2, 2);</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  ROS_INFO(<span class="stringliteral">"Found panel for unknown robot"</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>  }</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">catch</span>(<span class="keyword">const</span> XmlRpc::XmlRpcException& xre){</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  ROS_INFO(<span class="stringliteral">"Iteration error in left panel search"</span>);</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  ros::shutdown();</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>  <a class="code" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">set_wing_data</a>(map);</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing__reader_html_a3e05444708c755a2aefe43a0bc8fb04a"><div class="ttname"><a href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">Wing_reader::set_wing_data</a></div><div class="ttdeci">void set_wing_data(std::map< const std::string, std::pair< std::vector< object_data >, int >> &wing_data)</div><div class="ttdoc">Set wing data.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00030">wing_reader.h:30</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_ac68dac5298b2c065773ba8412a134949"><div class="ttname"><a href="classAbstract__param__reader.html#ac68dac5298b2c065773ba8412a134949">Abstract_param_reader::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#l00029">abstract_param_reader.h:29</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="aclassWing__reader_html_a5176dcdf48c2f44bdab3cfedd6e94c4c"><div class="ttname"><a href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">Wing_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8cpp_source.html#l00003">wing_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html_a107d1be3e232087e003820c9a924b2dd"><div class="ttname"><a href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader::float_of</a></div><div class="ttdeci">float float_of(XmlRpc::XmlRpcValue &val)</div><div class="ttdoc">Xmlrpc parser.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8cpp_source.html#l00003">abstract_param_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing__reader_8h.html b/doc/html/wing__reader_8h.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/wing__reader_8h.html
@@ -0,0 +1,94 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_reader.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>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<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 */
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+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
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+<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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">wing_reader.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include <ros/package.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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing_reader.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__reader_8h__incl.png" border="0" usemap="#wing__reader_8h" alt=""/></div>
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+<area shape="rect" title=" " alt="" coords="419,169,579,211"/>
+</map>
+</div>
+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__reader_8h__dep__incl.png" border="0" usemap="#wing__reader_8hdep" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="wing__reader_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="classWing__reader.html">Wing_reader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classWing.html">Wing</a> reader. <a href="classWing__reader.html#details">More...</a><br /></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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_reader.h 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>
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+<script type="text/javascript">
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+$(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_d3e03ffc02fed53d32bf903a9bb2267d.html">reader</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_reader.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="wing__reader_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 WING_READER_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define WING_READER_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.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>  </div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classWing__reader.html"> 14</a></span> <span class="keyword">class </span><a class="code" href="classWing__reader.html">Wing_reader</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>{</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b"> 16</a></span>  std::map<const std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>> <a class="code" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">wing_data_</a>; </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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c"> 24</a></span>  <a class="code" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstract__param__reader.html">Abstract_param_reader</a>(d){<a class="code" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">read</a>();}</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a"> 30</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">set_wing_data</a>(std::map<<span class="keyword">const</span> std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& <a class="code" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">wing_data</a>) {<a class="code" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">wing_data_</a> = <a class="code" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">wing_data</a>;}</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc"> 36</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& <a class="code" href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">wing_data</a>() {<span class="keywordflow">return</span> <a class="code" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">wing_data_</a>;}</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordtype">void</span> <a class="code" href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">read</a>() <span class="keyword">override</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing__reader_html_a3e05444708c755a2aefe43a0bc8fb04a"><div class="ttname"><a href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">Wing_reader::set_wing_data</a></div><div class="ttdeci">void set_wing_data(std::map< const std::string, std::pair< std::vector< object_data >, int >> &wing_data)</div><div class="ttdoc">Set wing data.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00030">wing_reader.h:30</a></div></div>
+<div class="ttc" id="aclassWing__reader_html"><div class="ttname"><a href="classWing__reader.html">Wing_reader</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="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="aclassWing__reader_html_af5dbd133afcbd8f2f929d94b93ac0e0b"><div class="ttname"><a href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">Wing_reader::wing_data_</a></div><div class="ttdeci">std::map< const std::string, std::pair< std::vector< object_data >, int > > wing_data_</div><div class="ttdoc">Mask and object data mapped to robot.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00016">wing_reader.h:16</a></div></div>
+<div class="ttc" id="aclassWing__reader_html_a248e697daf6a744470b310338f790ebc"><div class="ttname"><a href="classWing__reader.html#a248e697daf6a744470b310338f790ebc">Wing_reader::wing_data</a></div><div class="ttdeci">std::map< const std::string, std::pair< std::vector< object_data >, int > > & wing_data()</div><div class="ttdoc">Get wing data.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00036">wing_reader.h:36</a></div></div>
+<div class="ttc" id="aclassWing__reader_html_a98abb7d49525f6a3832bdd1a8d4e3e3c"><div class="ttname"><a href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader::Wing_reader</a></div><div class="ttdeci">Wing_reader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Wing reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00024">wing_reader.h:24</a></div></div>
+<div class="ttc" id="aclassAbstract__param__reader_html"><div class="ttname"><a href="classAbstract__param__reader.html">Abstract_param_reader</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#l00027">abstract_param_reader.h:27</a></div></div>
+<div class="ttc" id="aclassWing__reader_html_a5176dcdf48c2f44bdab3cfedd6e94c4c"><div class="ttname"><a href="classWing__reader.html#a5176dcdf48c2f44bdab3cfedd6e94c4c">Wing_reader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8cpp_source.html#l00003">wing_reader.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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing__rviz__decorator_8cpp.html b/doc/html/wing__rviz__decorator_8cpp.html
new file mode 100644
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+++ b/doc/html/wing__rviz__decorator_8cpp.html
@@ -0,0 +1,56 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_rviz_decorator.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><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_rviz_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="wing__rviz__decorator_8h_source.html">impl/wing_rviz_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing_rviz_decorator.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__rviz__decorator_8cpp__incl.png" border="0" usemap="#wing__rviz__decorator_8cpp" alt=""/></div>
+<map name="wing__rviz__decorator_8cpp" id="wing__rviz__decorator_8cpp">
+<area shape="rect" title=" " alt="" coords="67,5,247,32"/>
+<area shape="rect" href="wing__rviz__decorator_8h.html" title=" " alt="" coords="58,80,256,107"/>
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+</map>
+</div>
+</div>
+<p><a href="wing__rviz__decorator_8cpp_source.html">Go to the source code of this file.</a></p>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3808e3f8fe545b07b1d2715928fb0eea.html">impl</a></li> </ul>
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+<div class="title">wing_rviz_decorator.cpp</div> </div>
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+<div class="contents">
+<a href="wing__rviz__decorator_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="wing__rviz__decorator_8h.html">impl/wing_rviz_decorator.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="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator::update</a>(tf2::Transform& tf) {</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  <span class="comment">//input_filter(tf);</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a>(tf);</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <a class="code" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">output_filter</a>();</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="classWing__rviz__decorator.html#a1a96d6aa2f86b5b187b7a55a8c604722"> 9</a></span> <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Wing_rviz_decorator::input_filter</a>(tf2::Transform& tf) {</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  tf2::Vector3 world_origin = tf.getOrigin();</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  tf2::Quaternion world_quat = tf.getRotation().normalized();</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>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  marker.ns = <span class="stringliteral">""</span>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  marker.id = 1;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  marker.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  marker.pose.position.x = world_origin.getX();</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  marker.pose.position.y = world_origin.getY();</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  marker.pose.position.z = world_origin.getZ();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  marker.pose.orientation.x = world_quat.getX();</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  marker.pose.orientation.y = world_quat.getY();</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  marker.pose.orientation.z = world_quat.getZ();</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  marker.pose.orientation.w = world_quat.getW();</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  marker.scale.x = 0.8f;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  marker.scale.y = 0.8f;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  marker.scale.z = 0.885f;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  marker.color.r = 1.0;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  marker.color.b = 1.0;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  marker.color.a = 1.0; <span class="comment">// Don't forget to set the alpha</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="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7"> 36</a></span> <span class="keywordtype">void</span> <a class="code" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator::output_filter</a>() {</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classWing.html">Wing</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a> = <span class="keyword">dynamic_cast<</span><a class="code" href="classWing.html">Wing</a>*<span class="keyword">></span> (<a class="code" href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">next_</a>);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  tf2::Vector3 world_origin = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getOrigin();</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  tf2::Quaternion world_quat = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">world_tf</a>().getRotation().normalized();</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="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->header.stamp = ros::Time();</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->ns = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">name</a>();</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->id = 1;</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.position.x = world_origin.getX();</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.position.y = world_origin.getY();</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.position.z = world_origin.getZ();</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.orientation.x = world_quat.getX();</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.orientation.y = world_quat.getY();</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.orientation.z = world_quat.getZ();</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->pose.orientation.w = world_quat.getW();</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->scale.x = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getX();</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->scale.y = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getY();</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->scale.z = <a class="code" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">wing</a>-><a class="code" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">size</a>().getZ();</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->color.r = 1.0;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->color.g = 1.0;</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->color.b = 1.0;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>->color.a = 1.0; <span class="comment">// Don't forget to set the alpha!</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> visualization_msgs::Marker bounds;</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> bounds.header.frame_id = "map";</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> bounds.header.stamp = ros::Time();</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> bounds.ns = "bounds";</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> bounds.id = *((int*)(&wing));</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> bounds.type = visualization_msgs::Marker::POINTS;</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> bounds.action = visualization_msgs::Marker::MODIFY;</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> bounds.scale.x = 0.01f;</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> bounds.scale.y = 0.01f;</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> bounds.scale.z = 0.01f;</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> bounds.color.r = 0.0;</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> bounds.color.g = 0.0;</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> bounds.color.b = 1.0;</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> bounds.color.a = 1.0;</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> bounds.pose.orientation.w = 1;</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> for (long unsigned int i = 0; i < wing->bounds().size(); i++){</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> tf2::Transform point_posistion = wing->world_tf() * wing->bounds()[i];</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> geometry_msgs::Point point;</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> point.x = point_posistion.getOrigin().getX();</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> point.y = point_posistion.getOrigin().getY();</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> point.z = point_posistion.getOrigin().getZ();</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> bounds.points.push_back(point);</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> */</span></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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing__rviz__decorator_html_ac2a0e83684cdab21c225699fab4b56f7"><div class="ttname"><a href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8cpp_source.html#l00036">wing_rviz_decorator.cpp:36</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a910a29582a54972c947fa57bbdc444ec"><div class="ttname"><a href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_af5dce35a8439a2f1c5037cc3dc6d434e"><div class="ttname"><a href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8cpp_source.html#l00003">wing_rviz_decorator.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a2eb0ca7627bba7b58e85046532e68269"><div class="ttname"><a href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a9138c650f2148d515802a89f079ace2f"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator::wing</a></div><div class="ttdeci">Abstract_robot_element * wing()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00015">impl/abstract_robot_element_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_a9b7cdc7830647d8c6005414b2694cdf5"><div class="ttname"><a href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">Wing_rviz_decorator::marker_</a></div><div class="ttdeci">visualization_msgs::Marker * marker_</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00011">wing_rviz_decorator.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_addab3f179d202bea3da80887206c8048"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#addab3f179d202bea3da80887206c8048">Abstract_robot_element_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00017">impl/abstract_robot_element_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ab7fe1d6234cc937bf72a2f951781329b"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ab7fe1d6234cc937bf72a2f951781329b">Abstract_robot_element_decorator::next_</a></div><div class="ttdeci">Abstract_robot_element * next_</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00009">impl/abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="awing__rviz__decorator_8h_html"><div class="ttname"><a href="wing__rviz__decorator_8h.html">wing_rviz_decorator.h</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html_a99d0cb9e273cdfb373d4c974529b1ad6"><div class="ttname"><a href="classAbstract__robot__element.html#a99d0cb9e273cdfb373d4c974529b1ad6">Abstract_robot_element::world_tf</a></div><div class="ttdeci">tf2::Transform & world_tf()</div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00021">impl/abstract_robot_element.h:21</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="aclassWing_html"><div class="ttname"><a href="classWing.html">Wing</a></div><div class="ttdef"><b>Definition:</b> <a href="wing_8h_source.html#l00007">wing.h:7</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/wing__rviz__decorator_8h.html b/doc/html/wing__rviz__decorator_8h.html
new file mode 100644
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+++ b/doc/html/wing__rviz__decorator_8h.html
@@ -0,0 +1,89 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_rviz_decorator.h File Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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+ 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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">wing_rviz_decorator.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<code>#include "visualization_msgs/Marker.h"</code><br />
+<code>#include "<a class="el" href="wing_8h_source.html">impl/wing.h</a>"</code><br />
+<code>#include "<a class="el" href="impl_2abstract__robot__element__decorator_8h_source.html">impl/abstract_robot_element_decorator.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for wing_rviz_decorator.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="wing__rviz__decorator_8h__incl.png" border="0" usemap="#wing__rviz__decorator_8h" alt=""/></div>
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+</map>
+</div>
+</div>
+<p><a href="wing__rviz__decorator_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="classWing__rviz__decorator.html">Wing_rviz_decorator</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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: wing_rviz_decorator.h 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>
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+$(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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">wing_rviz_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="wing__rviz__decorator_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 WING_RVIZ_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define WING_RVIZ_DECORATOR_</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 "ros/ros.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "visualization_msgs/Marker.h"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="wing_8h.html">impl/wing.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="impl_2abstract__robot__element__decorator_8h.html">impl/abstract_robot_element_decorator.h</a>"</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="classWing__rviz__decorator.html"> 9</a></span> <span class="keyword">class </span><a class="code" href="classWing__rviz__decorator.html">Wing_rviz_decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>{</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5"> 11</a></span>  visualization_msgs::Marker* <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a> = <span class="keyword">new</span> visualization_msgs::Marker();</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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806"> 15</a></span>  <a class="code" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator</a>(<a class="code" href="classAbstract__robot__element.html">Abstract_robot_element</a>* <a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>) : <a class="code" href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a>(<a class="code" href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">next</a>){};</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507"> 16</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507">set_markers</a>(visualization_msgs::Marker* <a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>) { <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>= <a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>;}</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2"> 17</a></span>  <span class="keyword">inline</span> visualization_msgs::Marker* <a class="code" href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">markers</a>() { <span class="keywordflow">return</span> <a class="code" href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">marker_</a>;}</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordtype">void</span> <a class="code" href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">update</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordtype">void</span> <a class="code" href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">input_filter</a>(tf2::Transform& tf) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordtype">void</span> <a class="code" href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">output_filter</a>() <span class="keyword">override</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"> 24</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassWing__rviz__decorator_html_a13ffcd407511d8812150f26b9b257806"><div class="ttname"><a href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator::Wing_rviz_decorator</a></div><div class="ttdeci">Wing_rviz_decorator(Abstract_robot_element *next)</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00015">wing_rviz_decorator.h:15</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_ac2a0e83684cdab21c225699fab4b56f7"><div class="ttname"><a href="classWing__rviz__decorator.html#ac2a0e83684cdab21c225699fab4b56f7">Wing_rviz_decorator::output_filter</a></div><div class="ttdeci">void output_filter() override</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8cpp_source.html#l00036">wing_rviz_decorator.cpp:36</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_ab14def4c2e63ce9036488b894e74c507"><div class="ttname"><a href="classWing__rviz__decorator.html#ab14def4c2e63ce9036488b894e74c507">Wing_rviz_decorator::set_markers</a></div><div class="ttdeci">void set_markers(visualization_msgs::Marker *markers)</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00016">wing_rviz_decorator.h:16</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html"><div class="ttname"><a href="classAbstract__robot__element__decorator.html">Abstract_robot_element_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element__decorator_8h_source.html#l00007">impl/abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_af5dce35a8439a2f1c5037cc3dc6d434e"><div class="ttname"><a href="classWing__rviz__decorator.html#af5dce35a8439a2f1c5037cc3dc6d434e">Wing_rviz_decorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8cpp_source.html#l00003">wing_rviz_decorator.cpp:3</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html"><div class="ttname"><a href="classWing__rviz__decorator.html">Wing_rviz_decorator</a></div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00009">wing_rviz_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_a9b7cdc7830647d8c6005414b2694cdf5"><div class="ttname"><a href="classWing__rviz__decorator.html#a9b7cdc7830647d8c6005414b2694cdf5">Wing_rviz_decorator::marker_</a></div><div class="ttdeci">visualization_msgs::Marker * marker_</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00011">wing_rviz_decorator.h:11</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_a87d8de36475ce19034a9728f545eb03e"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#a87d8de36475ce19034a9728f545eb03e">Abstract_robot_element_decorator::next</a></div><div class="ttdeci">Abstract_robot_element * next()</div><div class="ttdef"><b>Definition:</b> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html#l00018">robot_element/decorators/abstract_robot_element_decorator.h:18</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element_html"><div class="ttname"><a href="classAbstract__robot__element.html">Abstract_robot_element</a></div><div class="ttdef"><b>Definition:</b> <a href="impl_2abstract__robot__element_8h_source.html#l00009">impl/abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassWing__rviz__decorator_html_a7f27d708e22c72dae7ec90c2f1f699b2"><div class="ttname"><a href="classWing__rviz__decorator.html#a7f27d708e22c72dae7ec90c2f1f699b2">Wing_rviz_decorator::markers</a></div><div class="ttdeci">visualization_msgs::Marker * markers()</div><div class="ttdef"><b>Definition:</b> <a href="wing__rviz__decorator_8h_source.html#l00017">wing_rviz_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstract__robot__element__decorator_html_ae6a83bd61665cc4e3692143e84f091e8"><div class="ttname"><a href="classAbstract__robot__element__decorator.html#ae6a83bd61665cc4e3692143e84f091e8">Abstract_robot_element_decorator::input_filter</a></div><div class="ttdeci">virtual void input_filter()=0</div></div>
+<div class="ttc" id="awing_8h_html"><div class="ttname"><a href="wing_8h.html">wing.h</a></div></div>
+<div class="ttc" id="aimpl_2abstract__robot__element__decorator_8h_html"><div class="ttname"><a href="impl_2abstract__robot__element__decorator_8h.html">abstract_robot_element_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): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+</div>
+</body>
+</html>
diff --git a/doc/manifest.yaml b/doc/manifest.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e282d981e25a69c5d156a831589f9af2a90882fa
--- /dev/null
+++ b/doc/manifest.yaml
@@ -0,0 +1,40 @@
+actions: []
+authors: MA <matteo.aneddama@gmail.com>
+brief: ''
+bugtracker: ''
+depends:
+- moveit_task_constructor_visualization
+- moveit_grasps
+- moveit_visual_tools
+- trajectory_msgs
+- moveit_grasps_filter
+- moveit_core
+- ccf
+- roslint
+- tf
+- filesystem
+- message_runtime
+- moveit_task_constructor_core
+- geometry_msgs
+- eigen_conversions
+- roscpp
+- message_generation
+- moveit_msgs
+- moveit_ros_planning_interface
+- moveit_task_constructor_capabilities
+- tf_conversions
+- rosparam_shortcuts
+- gb_grasp
+- catkin
+- std_msgs
+- moveit_ros_planning
+- pcl_ros
+- yaml-cpp
+description: hjbiubi
+license: BSD
+maintainers: MA <matteo.aneddama@gmail.com>
+msgs: []
+package_type: package
+repo_url: ''
+srvs: []
+url: ''
diff --git a/include/bridge/abstract_base.h b/include/bridge/abstract_base.h
new file mode 100644
index 0000000000000000000000000000000000000000..48badc3d7be346058b75b04bdd76cbfe20832f03
--- /dev/null
+++ b/include/bridge/abstract_base.h
@@ -0,0 +1,141 @@
+#ifndef ABSTRACT_BASE_
+#define ABSTRACT_BASE_
+
+#include "ros/ros.h"
+#include <xmlrpcpp/XmlRpc.h>
+#include <tf2/LinearMath/Transform.h>
+
+#include "octomap/octomap.h"
+#include <pcl/point_cloud.h>
+#include <pcl/octree/octree.h>
+
+
+#include <ros/package.h>
+#include <yaml-cpp/yaml.h>
+#include <fstream>
+#include "reader/abstract_param_reader.h"
+
+#include "robot/abstract_robot.h"
+#include "bridge/abstract_base_implementation.h"
+
+class Abstract_base_implementation;
+class Abstract_robot;
+
+
+//! Abstract base class
+/*!
+Class which represents the template class abstraction, which calls methodes from an abstract implementation
+*/
+class Abstract_base{
+ protected:
+ std::shared_ptr<ros::NodeHandle> nh_; //!< Ros nodehandle object
+
+ std::vector<tf2::Transform> map_; //!< Reachability map structure of a robot
+ std::vector<tf2::Transform> inv_map_; //!< Inversion of reachability map structure
+ std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>> task_space_; //!< Drop-off locations with their grasp orientations, mapped to a robot
+ std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> target_cloud_; //!< Pointcloud structure, mapped to robot
+ std::map<const std::string, std::vector<pcl::PointXYZ>> result_; //!< Result basepositions per robot
+
+
+ std::shared_ptr<Abstract_base_implementation> implementation_; //!< refined implementation
+
+ public:
+ //! constructor.
+ /*!
+ \param nh ros::NodeHandle to interact with paramserver
+ */
+ Abstract_base(std::shared_ptr<ros::NodeHandle> const& nh) : nh_(nh){};
+
+ //! Get used implementation
+ /*!
+ \return pointer to implementation
+ */
+ inline Abstract_base_implementation* implementation() {return implementation_.get();}
+
+ //! Set used implementation
+ /*!
+ \param implementation specific implementation derived from Abstract_base_implementation
+ */
+ inline void set_implementation(std::shared_ptr<Abstract_base_implementation> implementation) {implementation_ = implementation;}
+
+ //! Get result map
+ /*!
+ \return baseposition vector per robot
+ */
+ inline std::map<const std::string, std::vector<pcl::PointXYZ>>& result() { return result_;}
+
+ //! Set result map
+ /*!
+ \param result baseposition vector per robot
+ */
+ inline void result(std::map<const std::string, std::vector<pcl::PointXYZ>>& result) { result_ = result;}
+
+ //! Get inverse map
+ /*!
+ \return inverse map structure
+ */
+ inline std::vector<tf2::Transform>& inv_map() {return inv_map_;}
+
+ //! Set inverse map structure
+ /*!
+ \param inv_map inverse map structure
+ */
+ inline void set_inv_map(std::vector<tf2::Transform>& inv_map) {inv_map_ = inv_map;}
+
+ //! Get map structure
+ /*!
+ \return map structure
+ */
+ inline std::vector<tf2::Transform>& map() {return map_;}
+
+ //! Set map structure
+ /*!
+ \param map map structure
+ */
+ inline void set_map(std::vector<tf2::Transform>& map) {map_ = map;}
+
+ //! Get task space
+ /*!
+ \return task space
+ */
+ inline std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space() {return task_space_;}
+
+ //! Set task space
+ /*!
+ \param s_trans task space
+ */
+ inline void set_task_space(std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& s_trans) {task_space_ = s_trans;}
+
+
+ //! Get task cloud
+ /*!
+ \return task cloud map
+ */
+ inline std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud () { return target_cloud_;}
+
+ //! Set task cloud
+ /*!
+ \param cloud cloud map
+ */
+ inline void set_target_cloud(std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {target_cloud_ = cloud;}
+
+ //! box discretization
+ /*!
+ box shaped representation of space, centered at origin (0,0,0)
+ \return vector of pcl::PointXYZ data
+ */
+ static std::vector<pcl::PointXYZ> create_pcl_box();
+
+ //! write trask
+ /*!
+ \param robot
+ */
+ virtual void write_task(Abstract_robot* robot)=0;
+
+ //! pure virtual template methode
+ /*!
+ bridge template methode, in which implementation is called to calculate base positions
+ */
+ virtual void base_calculation()=0;
+};
+#endif
diff --git a/include/bridge/abstract_base_implementation.h b/include/bridge/abstract_base_implementation.h
new file mode 100644
index 0000000000000000000000000000000000000000..d062b54eaf8b903bcd0bd62e4fac52bc57e29c2e
--- /dev/null
+++ b/include/bridge/abstract_base_implementation.h
@@ -0,0 +1,44 @@
+#ifndef ABSTRACT_BASE_IMPLEMENTATION_
+#define ABSTRACT_BASE_IMPLEMENTATION_
+
+#include <ros/ros.h>
+#include "bridge/abstract_base.h"
+
+//! abstract base implementation
+/*!
+abstract implementation for base calculation, including all necessary hook methods that can be called from a template method
+*/
+class Abstract_base_implementation {
+ public:
+ //! Abstract base implementation default constructor
+ Abstract_base_implementation()= default;
+
+ //! Abstract base implementation default destructor
+ ~Abstract_base_implementation()= default;
+
+ //! pure virtual methode to set grasp orientations
+ /*!
+ Manipulates the map of grasp orientations of a graspable object, mapped to a robot
+ \param var caller reference to manipulate member
+ */
+ virtual void set_grasp_orientations(std::map<const std::string, std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>>>& var)=0;
+
+ //! pure virtual methode to create inverse map
+ /*!
+ Manipulates the inv_map vector
+ \param map reference to manipulate member
+ \param inv_map reference to manipulate member
+ \param task_space reference to manipulate member
+ */
+ virtual void inv_map_creation(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space)=0;
+
+ // pure virtual methode to calculate pcl clouds
+ //
+ // Manipulates the vector of pcl::cloud of a graspable object
+ // param var caller reference to manipulate member
+ virtual void cloud_calculation(std::vector<tf2::Transform>& inv_map, std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space, std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud)=0;
+
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bridge/simple_base.h b/include/bridge/simple_base.h
new file mode 100644
index 0000000000000000000000000000000000000000..2c1be3fad6df4b08a6d610dfd04836cd26914c92
--- /dev/null
+++ b/include/bridge/simple_base.h
@@ -0,0 +1,49 @@
+#ifndef SIMPLE_BASE_
+#define SIMPLE_BASE_
+
+#include "ros/ros.h"
+#include <xmlrpcpp/XmlRpc.h>
+#include <tf2/LinearMath/Transform.h>
+
+#include "octomap/octomap.h"
+#include <pcl/point_cloud.h>
+#include <pcl/octree/octree.h>
+
+
+#include <ros/package.h>
+#include <yaml-cpp/yaml.h>
+#include <fstream>
+
+#include "bridge/abstract_base.h"
+#include "reader/map_reader.h"
+#include "reader/ts_reader.h"
+
+
+//! refiend base abstraction
+/*!
+ A simple refined abstraction, which utilizes raeder objects to set upper member vaiables.
+*/
+class Simple_base : public Abstract_base {
+ protected:
+ std::unique_ptr<Ts_reader> task_space_reader_; /*!< Task space reader object */
+ std::unique_ptr<Map_reader> map_reader_; /*!< Reachability map reader object */
+
+ public:
+ //! Simple base constructor
+ /*!
+ \param d Ros nodehandle to interact with ros
+ */
+ Simple_base(std::shared_ptr<ros::NodeHandle> const& d);
+
+ //! refined Template methode
+ /*!
+ Overriden methide which calls necessary functions from implementation
+ \param var store inversed reachability map data
+ \return map of base positions linked to robots
+ */
+ void base_calculation() override;
+ std::vector<pcl::PointXYZ> create_pcl_box();
+ void write_task(Abstract_robot* robot) override;
+
+};
+#endif
\ No newline at end of file
diff --git a/include/bridge/simple_base_implementation.h b/include/bridge/simple_base_implementation.h
new file mode 100644
index 0000000000000000000000000000000000000000..ee16766055edf880a90761637de084c8d1dd4860
--- /dev/null
+++ b/include/bridge/simple_base_implementation.h
@@ -0,0 +1,46 @@
+#ifndef SIMPLE_BASE_IMPLEMENTATION_
+#define SIMPLE_BASE_IMPLEMENTATION_
+
+#include <ros/ros.h>
+#include "bridge/abstract_base_implementation.h"
+#include "bridge/abstract_base.h"
+
+//! refined base implementation
+/*!
+generel base calculation approach
+*/
+class Simple_base_implementation : public Abstract_base_implementation {
+ public:
+
+ //! Default simple base implementation constructor
+ Simple_base_implementation()= default;
+
+ //! Default simple base implementation destructor
+ ~Simple_base_implementation()= default;
+
+ //! Store grasp orientations as endeffector transforms
+ /*!
+ The 5 most basic Orientatations (x, -x, y, -y, z) for all graspable objects
+ \param var manipulate grasp orienattions mapped to object and robot
+ */
+ void set_grasp_orientations(std::map<const std::string, std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>>>& var) override;
+
+ //! Create inversed reachability map
+ /*!
+ Creating inversed reachability map by inverting reachability map if grasp orientations match reachability map entries
+ \param map store inversed reachability map data
+ \param inv_map store inversed reachability map data
+ \param task_space store inversed reachability map data
+ */
+ void inv_map_creation(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space) override;
+
+ //! PCL Cloud calculation for any Object
+ /*!
+ \param var store cload data in proper map
+ */
+ void cloud_calculation(std::vector<tf2::Transform>& inv_map, std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space, std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud) override;
+
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bt/execution.h b/include/bt/execution.h
deleted file mode 100644
index e46654f2ed6bd1b4a8eb53475adfb3f0543ab716..0000000000000000000000000000000000000000
--- a/include/bt/execution.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#ifndef EXECUTION_
-#define EXECUTION_
-
-#include "ros/ros.h"
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/tree_node.h"
-#include "behaviortree_cpp_v3/basic_types.h"
-#include "behaviortree_cpp_v3/leaf_node.h"
-#include "impl/abstract_mediator.h"
-#include "impl/moveit_mediator.h"
-
-#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
-
-
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit_msgs/ApplyPlanningScene.h>
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/kinematic_constraints/utils.h>
-
-class Execution : public BT::StatefulActionNode{
- private:
- moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_;
- Moveit_robot* mr_reference_;
- ros::Publisher* publisher_reference_;
- std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions_;
- std::vector<moveit_task_constructor_msgs::SubTrajectory>::iterator it_;
-
-
- public:
- Execution(const std::string& name, const BT::NodeConfiguration& config);
- void init(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions_, ros::Publisher* publisher_reference, Moveit_robot* mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets);
-
- inline static BT::PortsList providedPorts() { return {}; }
-
- BT::NodeStatus onStart() override;
- BT::NodeStatus onRunning() override;
- void onHalted() override;
-};
-#endif
-
-
-
diff --git a/include/bt/parallel_robot.h b/include/bt/parallel_robot.h
deleted file mode 100644
index 21a51bfab17f73a141495be65d6e333a1d0b6f3d..0000000000000000000000000000000000000000
--- a/include/bt/parallel_robot.h
+++ /dev/null
@@ -1,46 +0,0 @@
-#ifndef PARALLEL_ROBOT_
-#define PARALLEL_ROBOT_
-
-#pragma once
-
-#include <set>
-#include "behaviortree_cpp_v3/control_node.h"
-
-class Parallel_robot : public BT::ControlNode{
-public:
- Parallel_robot(const std::string& name, int success_threshold, int failure_threshold = 1);
- Parallel_robot(const std::string& name, const BT::NodeConfiguration& config);
-
- static BT::PortsList providedPorts(){
- return {BT::InputPort<int>(THRESHOLD_SUCCESS, "number of childen which need to succeed "
- "to "
- "trigger a SUCCESS"),
- BT::InputPort<int>(THRESHOLD_FAILURE, 1,
- "number of childen which need to fail to trigger a FAILURE")};
- }
-
- ~Parallel_robot() override = default;
-
- virtual void halt() override;
-
- size_t successThreshold() const;
- size_t failureThreshold() const;
- void setSuccessThreshold(int threshold_M);
- void setFailureThreshold(int threshold_M);
-
-private:
- int success_threshold_;
- int failure_threshold_;
-
- std::set<int> skip_list_;
-
- bool read_parameter_from_ports_;
- static constexpr const char* THRESHOLD_SUCCESS = "success_threshold";
- static constexpr const char* THRESHOLD_FAILURE = "failure_threshold";
-
- virtual BT::NodeStatus tick() override;
-};
-
-#endif
-
-
diff --git a/include/bt/planning_scene.h b/include/bt/planning_scene.h
deleted file mode 100644
index 25cf44d7f1bdb7132733f6a25dbc76ba4514eacb..0000000000000000000000000000000000000000
--- a/include/bt/planning_scene.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef PLANNING_SCENE_
-#define PLANNING_SCENE_
-
-#include "ros/ros.h"
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/tree_node.h"
-#include "behaviortree_cpp_v3/basic_types.h"
-
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit_msgs/ApplyPlanningScene.h>
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/kinematic_constraints/utils.h>
-
-class Planning_scene : public BT::AsyncActionNode{
- private:
- ros::Publisher* publisher_reference_;
- moveit_msgs::PlanningScene planning_scene_;
-
- public:
- Planning_scene(const std::string& name, const BT::NodeConfiguration& config);
- void init(ros::Publisher* publisher_reference, moveit_msgs::PlanningScene& planning_scene);
-
-
- // You must override the virtual function tick()
- // this example doesn't require any port
- inline static BT::PortsList providedPorts() { return {}; }
- BT::NodeStatus tick() override;
-};
-#endif
\ No newline at end of file
diff --git a/include/bt/position_condition.h b/include/bt/position_condition.h
deleted file mode 100644
index ef66a618b399d2412415a12a7866d51ccf325f59..0000000000000000000000000000000000000000
--- a/include/bt/position_condition.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef POSITION_CONDITION_
-#define POSITION_CONDITION_
-
-#include "ros/ros.h"
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/tree_node.h"
-#include "behaviortree_cpp_v3/basic_types.h"
-#include "behaviortree_cpp_v3/leaf_node.h"
-
-#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
-
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit_msgs/ApplyPlanningScene.h>
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/kinematic_constraints/utils.h>
-
-
-class Position_condition : public BT::ConditionNode {
-public:
-Position_condition(const std::string& name, const BT::NodeConfiguration& config);
-
-void init(const std::string& obj_name,tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi);
-
-inline static BT::PortsList providedPorts() { return {}; }
-
-protected:
-
-virtual BT::NodeStatus tick() override;
-std::string obj_name_;
-moveit::planning_interface::PlanningSceneInterface* psi_;
-tf2::Vector3 start_pos_;
-};
-
-#endif
\ No newline at end of file
diff --git a/include/bt/trajetory.h b/include/bt/trajetory.h
deleted file mode 100644
index 54d4f99229aaf0b61f0d8eb9dd8bc594c02a2951..0000000000000000000000000000000000000000
--- a/include/bt/trajetory.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef TRAJETORY_
-#define TRAJETORY_
-
-#include "ros/ros.h"
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/tree_node.h"
-#include "behaviortree_cpp_v3/basic_types.h"
-
-
-
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit_msgs/ApplyPlanningScene.h>
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/kinematic_constraints/utils.h>
-
-class Trajetory : public BT::AsyncActionNode{
- private:
- moveit::planning_interface::MoveGroupInterface* mgi_reference_;
- moveit_msgs::RobotTrajectory trajetory_;
-
- public:
- Trajetory(const std::string& name, const BT::NodeConfiguration& config);
- void init (moveit::planning_interface::MoveGroupInterface* mgi_reference, moveit_msgs::RobotTrajectory& trajetory);
-
-
-
- // You must override the virtual function tick()
- inline static BT::PortsList providedPorts() { return {}; }
- BT::NodeStatus tick() override;
-};
-#endif
\ No newline at end of file
diff --git a/include/impl/moveit_mediator.h b/include/impl/moveit_mediator.h
index 680e700764a1c77ae69dbf8be2b440eb545a395c..d9866f62d8e50a6e97e044a9076767e873c782a6 100644
--- a/include/impl/moveit_mediator.h
+++ b/include/impl/moveit_mediator.h
@@ -47,8 +47,6 @@
#include <moveit/moveit_cpp/moveit_cpp.h>
#include "reader/job_reader.h"
#include "reader/cuboid_reader.h"
-#include <thread>
-
#include <stdint.h>
@@ -77,7 +75,8 @@ class Moveit_mediator : public Abstract_mediator{
std::map<std::string, std::vector<uint8_t>> acm_;
std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> tasks_;
- std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>> executions_;
+
+
@@ -87,29 +86,23 @@ class Moveit_mediator : public Abstract_mediator{
void setup_task();
inline std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi() {return mgi_;};
+
bool check_collision(const int& robot) override;
void mediate() override;
void build_wings(std::bitset<3>& wing,int& robot) override;
void set_wings(std::vector<std::pair<std::vector<object_data>, int>>& wbp) override;
void connect_robots(Abstract_robot* robot) override;
- void status_callback(const actionlib_msgs::GoalStatusArray::ConstPtr& status);
- void merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, Moveit_robot* mr);
+ void merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene* in, Moveit_robot* mr);
void merge_acm(moveit_msgs::PlanningScene& in);
void task_planner();
void publish_tables();
-
- void parallel_exec(Moveit_robot& r, moveit_msgs::RobotTrajectory rt);
- void manipulate_acm(Moveit_robot* mr, moveit_msgs::PlanningScene& ps);
-
- //void parallel_exec();
-
+ void rewrite_task_template(Abstract_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);
+ void parallel_exec(Moveit_robot& r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps);
moveit::task_constructor::Task create_Task(Moveit_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);
- inline std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>& executions(){return executions_;};
inline std::map<std::string, std::vector<moveit::task_constructor::Task>>& task_map(){return task_map_;};
-
inline void set_tasks(std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>& tasks) {tasks_ = tasks;};
diff --git a/include/mediator/abstract_mediator.h b/include/mediator/abstract_mediator.h
new file mode 100644
index 0000000000000000000000000000000000000000..d2ac279771928e896a9e0ed80054cb14b32f6612
--- /dev/null
+++ b/include/mediator/abstract_mediator.h
@@ -0,0 +1,118 @@
+#ifndef ABSTRACT_MEDIATOR_
+#define ABSTRACT_MEDIATOR_
+
+#include <ros/ros.h>
+#include "robot/decorators/abstract_robot_decorator.h"
+#include "robot/abstract_robot.h"
+#include "robot/ceti_robot.h"
+
+
+#include "robot_element/abstract_robot_element.h"
+
+#include "reader/wing_reader.h"
+#include "reader/ts_reader.h"
+
+#include <ros/package.h>
+#include <yaml-cpp/yaml.h>
+#include <fstream>
+
+#include <octomap/octomap.h>
+#include <pcl/point_cloud.h>
+#include <pcl/octree/octree.h>
+
+struct wing_BP {
+ std::string name_;
+ tf2::Transform pos_;
+ tf2::Vector3 size_;
+};
+
+//! Abstract mediator
+/*!
+ Mediator abstraction which takes care of robot abstractions
+*/
+class Abstract_mediator {
+ protected:
+ std::shared_ptr<ros::NodeHandle> nh_; //!< Ros nodehandle object
+ std::unique_ptr<Ts_reader> task_space_reader_; //!< Task_space reader which provides drop off positions
+ std::vector<std::unique_ptr<Abstract_robot_decorator>> robots_; //!< Robots agents
+ std::vector<std::vector<std::vector<tf2::Transform>>> relative_bounds_; //!< total bound a workspace
+
+ std::map<const std::string, std::vector<pcl::PointXYZ>> result_vector_; //!< Result_vector of base positions linked to robot
+ std::map<const std::string, std::vector<std::unique_ptr<Abstract_robot_element>>> wings_;
+ std::string dirname_; //!< Dirname of the reference protobuff
+
+ public:
+ //! Abstract mediator constructor
+ /*!
+ initializes task_space reader
+ \param d Ros nodehandle
+ */
+ Abstract_mediator(std::shared_ptr<ros::NodeHandle> const& d);
+
+ //! Set result vector
+ /*!
+ \param res result vector
+ */
+ inline void set_result_vector(std::map<const std::string, std::vector<pcl::PointXYZ>>& res) {result_vector_ = res;}
+
+ //! Get wings
+ /*!
+ \return map of panals linked to their robots
+ */
+ inline std::map<const std::string, std::vector<std::unique_ptr<Abstract_robot_element>>>& wings() {return wings_;}
+
+ //! Get result_vector
+ /*!
+ \return result_vector
+ */
+ inline std::map<const std::string, std::vector<pcl::PointXYZ>>& result_vector() {return result_vector_;}
+
+ //! Get robots
+ /*!
+ \return robots as decorators
+ */
+ inline std::vector<std::unique_ptr<Abstract_robot_decorator>>& robots(){return robots_;}
+
+ //! Set dirname
+ /*!
+ \param dirn new dirname
+ */
+ inline void set_dirname(std::string& dirn) {dirname_ = dirn;}
+
+ //! Get dirname
+ /*!
+ \return dirname
+ */
+ inline std::string& dirname() {return dirname_;}
+
+
+ //! Cloud converter
+ /*!
+ Converts vector of pcl::PointXYZ to a pcl::Pointcloud
+ \param vector Vector of XYZPoints
+ \return Pointcloud
+ */
+ pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector<pcl::PointXYZ>& vector);
+
+ //! pure virtual robot connecting methode
+ /*!
+ \param robot robot decorator
+ */
+ virtual void connect_robots(std::unique_ptr<Abstract_robot_decorator> robot)=0;
+
+ //! pure virtual mediate methode
+ virtual void mediate()=0;
+
+ //! pure virtual methode to build specific wings
+ /*!
+ \param wing bitmap showing which wing should be build
+ \param robot Robot index
+
+ */
+ virtual void build_wings(std::bitset<3>& wing, int& robot)=0;
+
+
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/mediator/base_calculation_mediator.h b/include/mediator/base_calculation_mediator.h
new file mode 100644
index 0000000000000000000000000000000000000000..f5611f0b46f7398bc47cd0138b3cd1937d1886b0
--- /dev/null
+++ b/include/mediator/base_calculation_mediator.h
@@ -0,0 +1,132 @@
+#ifndef BASE_CALCULATION_MEDIATOR_
+#define BASE_CALCULATION_MEDIATOR_
+
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <yaml-cpp/yaml.h>
+#include <fstream>
+
+#include "mediator/abstract_mediator.h"
+#include "robot/abstract_robot.h"
+#include "robot/ceti_robot.h"
+#include "robot_element/observers/rviz_panel.h"
+#include "robot_element/decorators/log_decorator.h"
+
+#include "reader/wing_reader.h"
+#include "reader/robot_reader.h"
+
+//! Concrete Mediator
+/*!
+ Base calculation mediator, which mediates agents to form a multi-cell by placing/rotating and perform collision checks
+*/
+class Base_calculation_mediator : public Abstract_mediator{
+ protected:
+ std::unique_ptr<ros::Publisher> pub_; //!< Publisher sharing visualization messages of the scene
+ std::unique_ptr<Wing_reader> wing_reader_; //!< Wing_reader which collects panel information of robots
+ std::unique_ptr<Robot_reader> robot_reader_; //!< Robot_reader which collects robot poses
+
+
+ std::map<const std::string, std::vector<pcl::PointXYZ>> grounds_; //!< Possible ground positions per robots
+ std::vector<std::vector<std::unique_ptr<Abstract_robot_element>>> wings_; //!< Possible panels per robot
+
+ public:
+ //! Base_calculation_mediator constructor
+ /*!
+ initializes readers und publisher
+ \param d Ros nodehandle
+ */
+ Base_calculation_mediator(std::shared_ptr<ros::NodeHandle> const& d);
+
+ //! Ground generator
+ /*!
+ initialize descrete ground
+ \param origin Ros nodehandle
+ \param diameter Ros nodehandle
+ \param resolution Ros nodehandle
+
+ */
+ void generate_grounds(const tf2::Vector3 origin, const float diameter, float resolution);
+
+ //! Get Wing_reader
+ /*!
+ \return wing reader
+ */
+ inline Wing_reader* wing_reader() {return wing_reader_.get();}
+
+ //! Get Robot_reader
+ /*!
+ \return robot reader
+ */
+ inline Robot_reader* robot_reader() {return robot_reader_.get();}
+
+ //! Approximates other robots to fit in the workspace
+ /*!
+ Places and rotates robot to fit in a previous robots surrounding
+ \param robot next robot to fit in
+ */
+ void approximation(Ceti_robot* robot);
+
+ //! Writes result file
+ /*!
+ Writes Protobuff file containing all robots, panels, Drop off locations and actual box positions
+ \param A Robots
+ \param B Robots
+
+ */
+ void write_file(Ceti_robot* A, Ceti_robot* B);
+
+ //! Marker publishing methode
+ /*!
+ Publishes all markers of an robot
+ \param r Robot
+ */
+ void publish(Ceti_robot* r);
+
+ //! Rviz setup methode
+ void setup_rviz();
+
+ //! Workspace calculator
+ /*!
+ calculates for given robots and corresponding base position, all possible combinations.
+ \param workcell map of robots with corresponding base position
+ */
+ void calculate(std::map<const std::string, std::vector<tf2::Transform>>& workcell);
+
+ //! Sets panels for robots
+ void set_panel();
+
+ //! check_collision
+ /*!
+ Checks task_space of robot for collision. Also provides information about workload.
+ \param robot[IN] std::string providing robot name
+ \param panel_mask[IN] bitmap providing which robot_elements to check
+ \param[OUT] workload desribing if robot/all robots_elements were used
+ \return true if task_space collides with robot/robot_elements
+
+ */
+ bool check_collision(const std::string& robot, std::bitset<3>& panel_mask, bool& workload);
+
+ //! Mediator implementation
+ /*!
+ Places and rotates robots till no collisions exists, all objects are somewhere on the tables
+ */
+ void mediate() override;
+
+ //! Resets wings of a robot
+ /*!
+ Rebuild robot wings by comparing robot observer mask and requested configuration
+ \param wings requested wings
+ \param robot robot index
+ */
+ void build_wings(std::bitset<3>& wings, int& robot) override;
+
+ //! Robot Connector implementation
+ /*!
+ registers robot
+ \param robot
+ */
+ void connect_robots(std::unique_ptr<Abstract_robot_decorator> robot) override;
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/reader/abstract_param_reader.h b/include/reader/abstract_param_reader.h
index 1191a7a29eaeaa5bb1e06a640fbc98282953859a..535ec4fce0a534f77b8d559b9f2b49ae6bf7db75 100644
--- a/include/reader/abstract_param_reader.h
+++ b/include/reader/abstract_param_reader.h
@@ -20,14 +20,29 @@ struct job_data {
std::vector<tf2::Transform> jobs_;
};
+//! Abstract ROS-Param reader class
+/*!
+ Class concerned with reading information from ROS-Param server.
+*/
class Abstract_param_reader{
protected:
- std::shared_ptr<ros::NodeHandle> nh_;
+ std::shared_ptr<ros::NodeHandle> nh_; //!< ROS Nodehandle
public:
+ //! Abstract param reader constructor
+ /*!
+ \param d ROS Nodehandle
+ */
Abstract_param_reader(std::shared_ptr<ros::NodeHandle> const& d) : nh_(d){}
+ //! Xmlrpc parser
+ /*!
+ converts param to float value
+ \param val XmlRPCValue reference from Nodehandle
+ */
float float_of(XmlRpc::XmlRpcValue& val);
+
+ //! pure virtual read methode
virtual void read()=0;
};
#endif
diff --git a/include/reader/cuboid_reader.h b/include/reader/cuboid_reader.h
index 7959ddbb543e04ee1534fb8082bda5353418e111..06463d73dbc2e3d99c1d22ac3293d58f6c51565c 100644
--- a/include/reader/cuboid_reader.h
+++ b/include/reader/cuboid_reader.h
@@ -10,20 +10,48 @@
#include "reader/abstract_param_reader.h"
+//! Cuboid reader
+/*!
+ Reader which returns cuboid objects as defined in gb_grasp
+*/
class Cuboid_reader : public Abstract_param_reader{
protected:
- std::vector<Cuboid> cuboid_box_;
- std::vector<Cuboid> cuboid_obstacle_;
+ std::vector<Cuboid> cuboid_box_; //!< As box defined object
+ std::vector<Cuboid> cuboid_obstacle_; //!< As obstacle defined objects
public:
+ //! Cuboid reader constructor
+ /*!
+ Calls pure virtual read() methode
+ \param d ROS nodehandle
+ */
Cuboid_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ //! Set Cuboid box
+ /*!
+ \param cuboid_data
+ */
inline void set_cuboid_bin_data(std::vector<Cuboid>& cuboid_data) {cuboid_box_ = cuboid_data;}
+
+ //! Set Cuboid obstacle
+ /*!
+ \param cuboid_data
+ */
inline void set_cuboid_obstacle_data(std::vector<Cuboid>& cuboid_data) {cuboid_obstacle_ = cuboid_data;}
+ //! Get Cuboid box
+ /*!
+ \return Cuboid box vector
+ */
inline std::vector<Cuboid> cuboid_bin() {return cuboid_box_;}
+
+ //! Get Cuboid obstacle
+ /*!
+ \return Cuboid obstacle vector
+ */
inline std::vector<Cuboid> cuboid_obstacle() {return cuboid_obstacle_;}
+ //! read implementatin
void read() override;
};
#endif
diff --git a/include/reader/job_reader.h b/include/reader/job_reader.h
index f02530bd8b4c22923f16eb28f1cbc48c538900a8..76711049f1b5db1aeb23d9587e639ef89aa98f00 100644
--- a/include/reader/job_reader.h
+++ b/include/reader/job_reader.h
@@ -9,19 +9,38 @@
#include "reader/abstract_param_reader.h"
-
+//! Job reader
+/*!
+ Reader which returns job data liked to robot
+*/
class Job_reader : public Abstract_param_reader{
protected:
- boost::circular_buffer<std::pair<std::string, job_data>> job_data_;
+ boost::circular_buffer<std::pair<std::string, job_data>> job_data_; //!< FIFO job information
public:
+ //! Job reader constructor
+ /*!
+ Calls read() implementation
+ \param d ROS Nodehandle
+ */
Job_reader(std::shared_ptr<ros::NodeHandle> const& d)
: Abstract_param_reader(d)
{read();}
+ //! Set Job_data
+ /*!
+ Calls pure virtual read() methode
+ \param robot_data FIFO job information
+ */
inline void set_job_data(boost::circular_buffer<std::pair<std::string, job_data>>& robot_data) {job_data_ = robot_data;}
+
+ //! Get Job_data
+ /*!
+ \return FIFO job information
+ */
inline boost::circular_buffer<std::pair<std::string, job_data>>& robot_data() {return job_data_;}
+ //! read implementation
void read() override;
};
#endif
diff --git a/include/reader/map_reader.h b/include/reader/map_reader.h
new file mode 100644
index 0000000000000000000000000000000000000000..5f0faa10523386f914d96149aad72e6dc31e047c
--- /dev/null
+++ b/include/reader/map_reader.h
@@ -0,0 +1,42 @@
+#ifndef MAP_READER_
+#define MAP_READER_
+
+#include "ros/ros.h"
+#include <ros/package.h>
+#include <xmlrpcpp/XmlRpc.h>
+
+#include "reader/abstract_param_reader.h"
+
+
+//! Map reader
+/*!
+ Reads Reachabilty Map vector
+*/
+class Map_reader : public Abstract_param_reader{
+ protected:
+ std::vector<tf2::Transform> map_data_; //!< Map transforms
+
+ public:
+ //! Map reader
+ /*!
+ Calls pure virtual read() methode
+ \param d Ros Nodehandle
+ */
+ Map_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+
+ //! Set map_data
+ /*!
+ \param robot_data vector of transforms
+ */
+ inline void set_map_data(std::vector<tf2::Transform>& robot_data) {map_data_ = robot_data;}
+
+ //! Get map_data
+ /*!
+ \return vector of transforms
+ */
+ inline std::vector<tf2::Transform>& map_data() {return map_data_;}
+
+ //! read implementatin
+ void read() override;
+};
+#endif
diff --git a/include/reader/robot_reader.h b/include/reader/robot_reader.h
index 9008c30bb406f2e9b2e8da80a2e861281ecf6daa..e0c7eb12c43a2e737d826f67516a98e6bfd3af2c 100644
--- a/include/reader/robot_reader.h
+++ b/include/reader/robot_reader.h
@@ -8,16 +8,35 @@
#include "reader/abstract_param_reader.h"
+//! Robot reader
+/*!
+ Reads size and pose data for robot
+*/
class Robot_reader : public Abstract_param_reader{
protected:
- std::vector<object_data> robot_data_;
+ std::vector<object_data> robot_data_; //!< Map of object_data to robot
public:
+ //! Robot reader constructor
+ /*!
+ Calls pure virtual read() methode
+ \param d ROS nodehandle
+ */
Robot_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ //! Set robot data
+ /*!
+ \param robot_data Vector of object data
+ */
inline void set_robot_data(std::vector<object_data>& robot_data) {robot_data_ = robot_data;}
+
+ //! Get robot data
+ /*!
+ \return Vector of object data
+ */
inline std::vector<object_data> robot_data() {return robot_data_;}
+ //! read implementatin
void read() override;
};
#endif
diff --git a/include/reader/task_space_reader.h b/include/reader/task_space_reader.h
index b3b7bdb46e32e5b684a5a8558076b26f5e91311e..f36ce61065b3e200017765c258697ab53a4da878 100644
--- a/include/reader/task_space_reader.h
+++ b/include/reader/task_space_reader.h
@@ -8,10 +8,20 @@
#include "reader/abstract_param_reader.h"
+//! Task space reader
+/*!
+ Reads task space information an writes them into file
+*/
class Task_space_reader : public Abstract_param_reader{
public:
+ //! Task space reader constructor
+ /*!
+ Calls pure virtual read() methode
+ \param d ROS nodehandle
+ */
Task_space_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ //! read implementatin
void read() override;
};
#endif
diff --git a/include/reader/ts_reader.h b/include/reader/ts_reader.h
new file mode 100644
index 0000000000000000000000000000000000000000..1e300ca7af67c87779586930cffbc5ab17fdffb0
--- /dev/null
+++ b/include/reader/ts_reader.h
@@ -0,0 +1,42 @@
+#ifndef TS_READER_
+#define TS_READER_
+
+#include "ros/ros.h"
+#include <ros/package.h>
+#include <xmlrpcpp/XmlRpc.h>
+
+#include "reader/abstract_param_reader.h"
+
+
+//! TS reader
+/*!
+ Reads task space data
+*/
+class Ts_reader : public Abstract_param_reader{
+ protected:
+ std::map<const std::string, std::vector<object_data>> drop_off_data_; //!< Map of drop off data to robot
+
+ public:
+ //! TS reader constructor
+ /*!
+ Calls pure virtual read() methode
+ \param d ROS nodehandle
+ */
+ Ts_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+
+ //! Get drop off data
+ /*!
+ \return Map of drop off data to robot
+ */
+ inline std::map< const std::string, std::vector<object_data>>& drop_off_data() {return drop_off_data_;}
+
+ //! Set drop off data
+ /*!
+ \param dod of drop off data to robot
+ */
+ inline void set_drop_off_data(std::map< const std::string, std::vector<object_data>>& dod) {drop_off_data_= dod;}
+
+ //! read implementatin
+ void read() override;
+};
+#endif
diff --git a/include/reader/wing_reader.h b/include/reader/wing_reader.h
index 0ae8c2204e5cecc1cad23dabfad4c32f7dd64d6f..9fe2c4f7b529d129dc9fae1f2c63814beb47ee8f 100644
--- a/include/reader/wing_reader.h
+++ b/include/reader/wing_reader.h
@@ -7,17 +7,35 @@
#include "reader/abstract_param_reader.h"
-
+//! Wing reader
+/*!
+ Reads panel data
+*/
class Wing_reader : public Abstract_param_reader{
protected:
- std::vector<std::pair<std::vector<object_data>, int>> wing_data_;
+ std::map<const std::string, std::pair<std::vector<object_data>, int>> wing_data_; //!< Mask and object data mapped to robot
public:
+ //! Wing reader constructor
+ /*!
+ Calls pure virtual read() methode
+ \param d ROS nodehandle
+ */
Wing_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
- inline void set_wing_data(std::vector<std::pair<std::vector<object_data>, int>>& wing_data) {wing_data_ = wing_data;}
- inline std::vector<std::pair<std::vector<object_data>, int>> wing_data() {return wing_data_;}
+ //! Set wing data
+ /*!
+ \param wing_data Mask and object data mapped to robot
+ */
+ inline void set_wing_data(std::map<const std::string, std::pair<std::vector<object_data>, int>>& wing_data) {wing_data_ = wing_data;}
+
+ //! Get wing data
+ /*!
+ \return wing_data Mask and object data mapped to robot
+ */
+ inline std::map<const std::string, std::pair<std::vector<object_data>, int>>& wing_data() {return wing_data_;}
+ //! read implementatin
void read() override;
};
-#endif
+#endif
\ No newline at end of file
diff --git a/include/robot/abstract_robot.h b/include/robot/abstract_robot.h
new file mode 100644
index 0000000000000000000000000000000000000000..868278c02e607c3119598a66eb4001922830bbc4
--- /dev/null
+++ b/include/robot/abstract_robot.h
@@ -0,0 +1,58 @@
+#ifndef ABSTRACT_ROBOT_
+#define ABSTRACT_ROBOT_
+
+#include "ros/ros.h"
+#include <tf2/LinearMath/Transform.h>
+
+#include "robot_element/abstract_robot_element.h"
+
+enum wing_config{
+ RML = 7,
+ RM_ = 6,
+ R_L = 5,
+ R__ = 4,
+ _ML = 3,
+ _M_ = 2,
+ __L = 1,
+ ___ = 0
+};
+
+class Abstract_robot {
+ protected:
+ std::string name_; //!< Name of robot
+ tf2::Vector3 size_; //!< Size of table
+ tf2::Transform tf_; //!< Pose of table
+ tf2::Transform root_tf_; //!< Robot root on table top
+ std::vector<tf2::Transform> bounds_; //!< Bounds of table top surface
+ std::vector<tf2::Transform> robot_root_bounds_; //!< Bounds of robot arm as sub-region of table top
+
+ public:
+ Abstract_robot(std::string name, tf2::Transform tf, tf2::Vector3 size);
+
+ virtual std::string& name()=0;
+ virtual tf2::Transform& tf()=0;
+ virtual tf2::Vector3& size()=0;
+ virtual tf2::Transform& root_tf()=0;
+ virtual std::vector<tf2::Transform>& bounds()=0;
+ virtual std::vector<tf2::Transform>& robot_root_bounds()=0;
+
+ inline void size(tf2::Vector3& s) { size_ = s;}
+ inline void set_tf(tf2::Transform& t) { tf_ = t;}
+ inline void rotate(float deg) {tf2::Quaternion rot; rot.setRPY(0,0,deg); tf2::Transform t(rot, tf2::Vector3(0,0,0)); tf_= tf_* t;}
+ inline void translate(tf2::Vector3 t) {tf2::Transform tf(tf2::Quaternion(0,0,0,1), t); tf_*=tf;}
+ virtual void notify()= 0;
+
+ //! Triangle area calculator
+ /*!
+ Calculates triangle with 3 vertices
+ \param A pose of triagnel vertice
+ \param B pose of triagnel vertice
+ \param C pose of triagnel vertice
+ \return float triangle area
+ */
+ float area_calculation(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C);
+
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot/ceti_robot.h b/include/robot/ceti_robot.h
new file mode 100644
index 0000000000000000000000000000000000000000..f0d5d29346cbba35cab5a69da3d22e99a557d81c
--- /dev/null
+++ b/include/robot/ceti_robot.h
@@ -0,0 +1,131 @@
+#ifndef CETI_ROBOT_
+#define CETI_ROBOT_
+
+#include "ros/ros.h"
+#include "robot/abstract_robot.h"
+#include "robot_element/abstract_robot_element.h"
+#include "robot_element/decorators/abstract_robot_element_decorator.h"
+#include "robot_element/observers/panel.h"
+#include "robot_element/observers/field.h"
+
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit_msgs/ApplyPlanningScene.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/kinematic_constraints/utils.h>
+
+//! Concrete Ceti-Robot
+/*!
+Refers especially to Robot-Arms mounted on a table of variable size.
+*/
+class Ceti_robot : public Abstract_robot{
+ protected:
+ std::vector<std::unique_ptr<Abstract_robot_element_decorator>> observers_; //!< Wing shared pointers
+ std::vector<std::unique_ptr<Abstract_robot_element>> access_fields_; //!< Serrounding Fields shared pointers
+ std::vector<std::shared_ptr<moveit_msgs::CollisionObject>> coll_markers_; //!< to be checked
+ std::bitset<3> observer_mask_;//!< Bitmap to set observers
+
+
+ public:
+ //! Ceti robot constructor
+ /*!
+ Initializes Ceti-Robot, calculates bounds out of arm and table size.
+ \param name std::string as Robot name, following the Robotarm([0-9]+) pattern
+ \param tf Table center pose
+ \param size Table size
+ */
+ Ceti_robot(std::string& name, tf2::Transform tf, tf2::Vector3 size);
+
+
+
+ std::string& name() override {return name_;}
+ tf2::Transform& tf() override {return tf_;}
+ tf2::Vector3& size() override {return size_;}
+ tf2::Transform& root_tf() override {return root_tf_;}
+ std::vector<tf2::Transform>& bounds() override {return bounds_;}
+ std::vector<tf2::Transform>& robot_root_bounds() override {return robot_root_bounds_;}
+
+ //! Set observers
+ /*!
+ \param observer vector
+ */
+ inline void set_observers(std::vector<std::unique_ptr<Abstract_robot_element_decorator>>& observer) {
+ for (int i = 0; i < observer.size();i++){
+ observers_.push_back(std::move(observer[i]));
+ }
+ }
+
+
+ //! Get observers
+ /*!
+ \return observer vector
+ */
+ inline std::vector<std::unique_ptr<Abstract_robot_element_decorator>>& observers() { return observers_;}
+
+ //! Get access fields
+ /*!
+ \return Access fields vector
+ */
+ inline std::vector<std::unique_ptr<Abstract_robot_element>>& access_fields() { return access_fields_;}
+
+ //! Adds marker to array
+ /*!
+ \param marker CollisionObject which will be add to marker vector
+ */
+ inline void add_coll_markers(std::shared_ptr<moveit_msgs::CollisionObject> marker) {coll_markers_.push_back(marker);}
+
+ //! Get collision markers
+ /*!
+ \return marker CollisionObject which will be add to marker vector
+ */
+ inline std::vector<std::shared_ptr<moveit_msgs::CollisionObject>> coll_markers(){ return coll_markers_;}
+
+ //! Register observers in vector
+ /*!
+ manipulates access fields and adds observer+
+ \param wd Wing observer
+ */
+ void register_observers(std::unique_ptr<Abstract_robot_element> wd);
+
+ //! Resset all robot properties
+ void reset();
+
+ //! Generate access fields as surrounding poses for possible robots
+ void generate_access_fields();
+
+ //! Collsion calculation
+ /*!
+ Iterates over Robot to calculate area und check collisions by other robot bounds
+ \param R Robot which bounds are to check for collisions
+ \return bool true if collision, false otherwise
+ */
+ bool in_collision(Ceti_robot* R);
+
+ //! Collsion calculation for single objects
+ /*!
+ Calculates collision between objects and robot_elemets, which are defined by the robot and its panels. Provides collision surface
+ \param[IN] obj pose to check
+ \param[IN] panel_mask discribing panels to check
+ \param[OUT] robot_element std::string describing the collision surface
+ \return true if collsision on robot or wings
+ */
+ bool check_single_object_collision(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask);
+
+ //! Observer pattern
+ /*!
+ When changing pose, any observer calculates its new position in world frame
+ */
+ void notify() override;
+
+ inline std::bitset<3> observer_mask() {return observer_mask_;}
+ inline void set_observer_mask(int i) {observer_mask_ = std::bitset<3>(i);}
+
+
+
+};
+
+
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot/decorators/abstract_robot_decorator.h b/include/robot/decorators/abstract_robot_decorator.h
new file mode 100644
index 0000000000000000000000000000000000000000..4fa25269330ed6df75b6359eef578014128db82b
--- /dev/null
+++ b/include/robot/decorators/abstract_robot_decorator.h
@@ -0,0 +1,53 @@
+#ifndef ABSTRACT_ROBOT_DECORATOR_
+#define ABSTRACT_ROBOT_DECORATOR_
+
+#include "ros/ros.h"
+#include "robot/abstract_robot.h"
+
+#include <moveit/planning_pipeline/planning_pipeline.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit_msgs/ApplyPlanningScene.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/kinematic_constraints/utils.h>
+
+
+#include <gb_grasp/MapGenerator.h>
+
+class Abstract_robot_decorator : public Abstract_robot{
+ protected:
+ std::unique_ptr<Abstract_robot> next_;
+ std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_;
+ std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_hand_;
+
+ std::map<std::string, std::string> map_;
+ std::shared_ptr<MapGenerator> grasp_map_generator_;
+
+
+ public:
+ Abstract_robot_decorator(std::unique_ptr<Abstract_robot> next)
+ : Abstract_robot("blanc", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0))
+ , mgi_(nullptr)
+ , mgi_hand_(nullptr)
+ , next_(std::move(next)){};
+
+ std::string& name() override { return next_->name();}
+ tf2::Transform& tf() override { return next_->tf();}
+ tf2::Vector3& size() override { return next_->size();}
+ tf2::Transform& root_tf() override { return next_->root_tf();}
+ std::vector<tf2::Transform>& bounds() override {return next_->bounds();}
+ std::vector<tf2::Transform>& robot_root_bounds() override { return next_->robot_root_bounds();}
+ void notify() override {next_->notify();}
+
+ inline Abstract_robot* next(){return next_.get();}
+
+ virtual void spezifie_root_bounds()=0;
+ virtual void spezifie_robot_groups()=0;
+
+
+
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot/decorators/panda_decorator.h b/include/robot/decorators/panda_decorator.h
new file mode 100644
index 0000000000000000000000000000000000000000..baa6ebf8c9ccdc090b9329a3499aa25f8a2301ae
--- /dev/null
+++ b/include/robot/decorators/panda_decorator.h
@@ -0,0 +1,19 @@
+#ifndef PANDA_DECORATOR_
+#define PANDA_DECORATOR_
+
+#include "ros/ros.h"
+#include "robot/abstract_robot.h"
+#include "robot/decorators/abstract_robot_decorator.h"
+
+
+class Panda_decorator : public Abstract_robot_decorator{
+ public:
+ Panda_decorator(std::unique_ptr<Abstract_robot> next);
+
+ void spezifie_root_bounds() override;
+ void spezifie_robot_groups() override;
+
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/abstract_robot_element.h b/include/robot_element/abstract_robot_element.h
new file mode 100644
index 0000000000000000000000000000000000000000..59aa4a9e45707d33890218ee32adb1266bfa866d
--- /dev/null
+++ b/include/robot_element/abstract_robot_element.h
@@ -0,0 +1,41 @@
+#ifndef ABSTRACT_ROBOT_ELEMENT_
+#define ABSTRACT_ROBOT_ELEMENT_
+
+#include "ros/ros.h"
+#include <tf2/LinearMath/Transform.h>
+
+class Abstract_robot_element {
+ protected:
+ std::string name_;
+ tf2::Transform relative_tf_;
+ tf2::Transform world_tf_;
+ tf2::Vector3 size_;
+
+ std::vector<tf2::Transform> bounds_;
+
+ public:
+ Abstract_robot_element(tf2::Transform tf, std::string name, tf2::Vector3 size)
+ : relative_tf_(tf)
+ , name_(name)
+ , size_(size)
+ , world_tf_(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0))) {}
+
+
+ inline tf2::Transform& relative_tf(){ return relative_tf_;}
+ inline void set_relative_tf(tf2::Transform tf) { relative_tf_= tf;}
+
+ inline void calc_world_tf(tf2::Transform& tf) {world_tf_= tf * relative_tf_;}
+ inline void set_world_tf(tf2::Transform& tf) { world_tf_ = tf;}
+
+
+ virtual std::vector<tf2::Transform>& bounds()=0;
+ virtual tf2::Transform& world_tf()=0;
+ virtual tf2::Vector3& size()=0;
+ virtual std::string& name()=0;
+
+
+ virtual void update(tf2::Transform& tf)= 0;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/decorators/abstract_robot_element_decorator.h b/include/robot_element/decorators/abstract_robot_element_decorator.h
new file mode 100644
index 0000000000000000000000000000000000000000..8d2d6c04b24b50cb8808a03457e1f23f30b01fd7
--- /dev/null
+++ b/include/robot_element/decorators/abstract_robot_element_decorator.h
@@ -0,0 +1,32 @@
+#ifndef ABSTRACT_ROBOT_ELEMENT_DECORATOR_
+#define ABSTRACT_ROBOT_ELEMENT_DECORATOR_
+
+#include "ros/ros.h"
+#include "robot_element/abstract_robot_element.h"
+
+class Abstract_robot_element_decorator : public Abstract_robot_element{
+ protected:
+ std::shared_ptr<ros::NodeHandle> nh_;
+ std::unique_ptr<Abstract_robot_element> next_;
+
+
+ public:
+ Abstract_robot_element_decorator(std::unique_ptr<Abstract_robot_element> next)
+ : Abstract_robot_element(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), "Blanc", tf2::Vector3(0,0,0))
+ , next_(std::move(next)){};
+
+ inline Abstract_robot_element* next(){return next_.get();}
+
+ std::vector<tf2::Transform>& bounds() override {return next_->bounds();}
+ tf2::Transform& world_tf() override {return next_->world_tf();}
+ std::string& name() override {return next_->name();}
+ tf2::Vector3& size() override {return next_->size();}
+
+
+ virtual void input_filter()=0;
+ void update(tf2::Transform& tf) override {next_->update(tf);}
+ virtual void output_filter()=0;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/decorators/log_decorator.h b/include/robot_element/decorators/log_decorator.h
new file mode 100644
index 0000000000000000000000000000000000000000..150a9a581ca35c0cae3d4d92a2852234fb83b4fa
--- /dev/null
+++ b/include/robot_element/decorators/log_decorator.h
@@ -0,0 +1,18 @@
+#ifndef LOG_DECORATOR_
+#define LOG_DECORATOR_
+
+#include "ros/ros.h"
+#include "visualization_msgs/Marker.h"
+#include "robot_element/decorators/abstract_robot_element_decorator.h"
+
+class Log_decorator : public Abstract_robot_element_decorator{
+
+ public:
+ Log_decorator(std::unique_ptr<Abstract_robot_element> next);
+ void input_filter() override;
+ void update(tf2::Transform& tf) override;
+ void output_filter() override;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/observers/field.h b/include/robot_element/observers/field.h
new file mode 100644
index 0000000000000000000000000000000000000000..a4459b591e720f0d24d206afdbd53fdea65d7872
--- /dev/null
+++ b/include/robot_element/observers/field.h
@@ -0,0 +1,23 @@
+#ifndef FIELD_
+#define FIELD_
+
+#include "ros/ros.h"
+#include "robot_element/abstract_robot_element.h"
+
+class Field : public Abstract_robot_element{
+ public:
+ Field(tf2::Transform tf);
+
+ inline void set_name(std::string str) {name_ = str;}
+ inline void set_set(tf2::Vector3& vec) {size_ = vec;}
+
+ void update(tf2::Transform& tf) override {this->calc_world_tf(tf);}
+
+ std::vector<tf2::Transform>& bounds() override {return bounds_;}
+ tf2::Transform& world_tf() override {return world_tf_;};
+ std::string& name() override {return name_;}
+ tf2::Vector3& size() override {return size_;}
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/observers/moveit_panel.h b/include/robot_element/observers/moveit_panel.h
new file mode 100644
index 0000000000000000000000000000000000000000..2e983dae9833f6305dd8f26ba0d6ea551132dbfa
--- /dev/null
+++ b/include/robot_element/observers/moveit_panel.h
@@ -0,0 +1,24 @@
+#ifndef MOVEIT_PANEL_
+#define MOVEIT_PANEL_
+
+#include "ros/ros.h"
+#include "robot_element/abstract_robot_element.h"
+#include "robot_element/observers/panel.h"
+
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit_msgs/ApplyPlanningScene.h>
+#include <moveit/planning_scene/planning_scene.h>
+
+class Moveit_panel : public Panel{
+ protected:
+ moveit_msgs::CollisionObject marker_;
+
+ public:
+ Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size);
+ void update(tf2::Transform& tf) override;
+
+ inline moveit_msgs::CollisionObject& marker() {return marker_;}
+};
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/observers/panel.h b/include/robot_element/observers/panel.h
new file mode 100644
index 0000000000000000000000000000000000000000..5c8e3e16a9e4f89e883cb1c85eeee6c94ba9eef0
--- /dev/null
+++ b/include/robot_element/observers/panel.h
@@ -0,0 +1,23 @@
+#ifndef PANEL_
+#define PANEL_
+
+#include "ros/ros.h"
+#include "robot_element/abstract_robot_element.h"
+
+class Panel : public Abstract_robot_element{
+ public:
+ Panel(std::string name, tf2::Transform tf, tf2::Vector3 size);
+
+ inline void set_name(std::string str) {name_ = str;}
+ inline void set_set(tf2::Vector3& vec) {size_ = vec;}
+
+ void update(tf2::Transform& tf) override {this->calc_world_tf(tf);}
+
+ std::vector<tf2::Transform>& bounds() override {return bounds_;}
+ tf2::Transform& world_tf() override {return world_tf_;};
+ std::string& name() override {return name_;}
+ tf2::Vector3& size() override {return size_;}
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/robot_element/observers/rviz_panel.h b/include/robot_element/observers/rviz_panel.h
new file mode 100644
index 0000000000000000000000000000000000000000..f09a0783407fcf0a5b0dee73b18cedd28b21a345
--- /dev/null
+++ b/include/robot_element/observers/rviz_panel.h
@@ -0,0 +1,22 @@
+#ifndef RVIZ_PANEL_
+#define RVIZ_PANEL_
+
+#include "ros/ros.h"
+#include "robot_element/observers/panel.h"
+#include "visualization_msgs/MarkerArray.h"
+
+
+
+class Rviz_panel : public Panel{
+ protected:
+ visualization_msgs::Marker marker_;
+
+ public:
+ Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size);
+ void update(tf2::Transform& tf) override;
+
+ inline visualization_msgs::Marker& marker() {return marker_;}
+
+};
+
+#endif
\ No newline at end of file
diff --git a/launch/base_calculation_approach.launch b/launch/base_calculation_approach.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6f740664632d90a8ad46523f00416b55244ce9d1
--- /dev/null
+++ b/launch/base_calculation_approach.launch
@@ -0,0 +1,13 @@
+<launch>
+ <arg name="map" default="dummy.yaml" />
+ <arg name="description" default="dummy.yaml" />
+ <arg name="resource" default="dummy" />
+
+
+ <rosparam command="load" file="$(find multi_cell_builder)/maps/$(arg map)"/>
+ <rosparam command="load" file="$(find multi_cell_builder)/descriptions/$(arg description)"/>
+ <rosparam command="load" file="$(find multi_cell_builder)/resources/$(arg resource).yaml"/>
+
+ <rosparam param="resource_name" subst_value="True"> $(arg resource)</rosparam>
+ <node pkg="multi_cell_builder" type="robot_base_calculation_approach" name="robot_base_calculation_approach" output="screen" required="true"/>
+</launch>
\ No newline at end of file
diff --git a/launch/cell_routine.launch b/launch/cell_routine.launch
index 64ed8c3725cbaf8bd23dbaff4e4267a70feeb9d1..373d6c3c27d1e7d073dee7ae2295b564ad27ec17 100644
--- a/launch/cell_routine.launch
+++ b/launch/cell_routine.launch
@@ -27,9 +27,6 @@
<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" />
</include>
- <node pkg="groot" type="Groot" name="Groot" output="screen" required="true">
- </node>
-
<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true">
</node>
</launch>
diff --git a/maps/dummy.yaml b/maps/dummy.yaml
index 8755ac2136ce0457f4379bfcf1ea4ae521a9edc5..712e23ef6cd712e9c29b8371ba6ca4976fb6bd97 100644
--- a/maps/dummy.yaml
+++ b/maps/dummy.yaml
@@ -1,6870 +1,6866 @@
-description:
- system: Franka Emika 'Panda'
- resolution: 0.2
- dimension: 1.200000 1.200000 1.200000 (m)
- timestamp: 26142.007148 sec
-data:
- - -1.200000 -1.200000 0.885000 0.000000 0.707107 0.000000 0.707107
- - -1.200000 -1.200000 0.885000 0.000000 1.000000 0.000000 0.000000
- - -1.200000 -1.200000 0.885000 -0.500000 0.500000 0.500000 0.500000
- - -1.200000 -1.200000 0.885000 -0.707107 0.707107 0.000000 0.000000
- - -1.200000 -1.200000 0.885000 -0.707107 0.000000 0.707107 0.000000
- - -1.200000 -1.200000 0.885000 -1.000000 0.000000 0.000000 0.000000
- - -1.200000 -1.200000 0.885000 -0.500000 -0.500000 0.500000 -0.500000
- - -1.200000 -1.200000 0.885000 -0.707107 -0.707107 0.000000 -0.000000
- - -1.200000 -1.200000 1.085000 0.000000 0.707107 0.000000 0.707107
- - -1.200000 -1.200000 1.085000 0.000000 1.000000 0.000000 0.000000
- - -1.200000 -1.200000 1.085000 -0.500000 0.500000 0.500000 0.500000
- - -1.200000 -1.200000 1.085000 -0.707107 0.707107 0.000000 0.000000
- - -1.200000 -1.200000 1.085000 -0.707107 0.000000 0.707107 0.000000
- - -1.200000 -1.200000 1.085000 -1.000000 0.000000 0.000000 0.000000
- - -1.200000 -1.200000 1.085000 -0.500000 -0.500000 0.500000 -0.500000
- - -1.200000 -1.200000 1.085000 -0.707107 -0.707107 0.000000 -0.000000
- - -1.200000 -1.200000 1.285000 0.000000 0.707107 0.000000 0.707107
- - -1.200000 -1.200000 1.285000 0.000000 1.000000 0.000000 0.000000
- - -1.200000 -1.200000 1.285000 -0.500000 0.500000 0.500000 0.500000
- - -1.200000 -1.200000 1.285000 -0.707107 0.707107 0.000000 0.000000
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+{'pos': { 'x': 0.8, 'y': 1.2, 'z': 1.885 }, 'orientation': {'x': -1, 'y': 0, 'z': 0, 'w': 0 } },
+{'pos': { 'x': 0.8, 'y': 1.2, 'z': 1.885 }, 'orientation': {'x': -0.5, 'y': -0.5, 'z': 0.5, 'w': -0.5 } },
+{'pos': { 'x': 0.8, 'y': 1.2, 'z': 1.885 }, 'orientation': {'x': -0.707107, 'y': -0.707107, 'z': 0, 'w': -0 } }
+] }
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 4e3f59cb597edeedb4e5ad6e9c48138441c6969c..80f22b71a8119d9f7451eae5ac034c728e030c3a 100644
--- a/package.xml
+++ b/package.xml
@@ -32,8 +32,6 @@
<build_depend>moveit_task_constructor_visualization</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>moveit_task_constructor_core</build_depend>
- <build_depend>behaviortree_cpp_v3</build_depend>
-
<build_depend>moveit_task_constructor_capabilities</build_depend>
@@ -44,7 +42,7 @@
<run_depend>moveit_grasps</run_depend>
<run_depend>moveit_grasps_filter</run_depend>
- <run_depend>behaviortree_cpp_v3</run_depend>
+
<run_depend>moveit_ros_planning_interface</run_depend>
<run_depend>filesystem</run_depend>
<run_depend>pcl_ros</run_depend>
diff --git a/results/dummy/-1656836011.yaml b/results/dummy/-1849849698.yaml
similarity index 100%
rename from results/dummy/-1656836011.yaml
rename to results/dummy/-1849849698.yaml
diff --git a/results/dummy/-1671801501.yaml b/results/dummy/-1862573883.yaml
similarity index 100%
rename from results/dummy/-1671801501.yaml
rename to results/dummy/-1862573883.yaml
diff --git a/results/dummy/-1683824376.yaml b/results/dummy/-1874072867.yaml
similarity index 100%
rename from results/dummy/-1683824376.yaml
rename to results/dummy/-1874072867.yaml
diff --git a/results/dummy/-1706168228.yaml b/results/dummy/-1895357397.yaml
similarity index 100%
rename from results/dummy/-1706168228.yaml
rename to results/dummy/-1895357397.yaml
diff --git a/results/dummy/-1719483923.yaml b/results/dummy/-1907972410.yaml
similarity index 100%
rename from results/dummy/-1719483923.yaml
rename to results/dummy/-1907972410.yaml
diff --git a/results/dummy/-1731052042.yaml b/results/dummy/-1919217707.yaml
similarity index 100%
rename from results/dummy/-1731052042.yaml
rename to results/dummy/-1919217707.yaml
diff --git a/results/dummy/-1779240138.yaml b/results/dummy/-1964174656.yaml
similarity index 100%
rename from results/dummy/-1779240138.yaml
rename to results/dummy/-1964174656.yaml
diff --git a/results/dummy/-1825479086.yaml b/results/dummy/-2008935990.yaml
similarity index 100%
rename from results/dummy/-1825479086.yaml
rename to results/dummy/-2008935990.yaml
diff --git a/results/dummy/-774785188.yaml b/results/dummy/-30260870.yaml
similarity index 100%
rename from results/dummy/-774785188.yaml
rename to results/dummy/-30260870.yaml
diff --git a/results/dummy/-788555850.yaml b/results/dummy/-43834779.yaml
similarity index 100%
rename from results/dummy/-788555850.yaml
rename to results/dummy/-43834779.yaml
diff --git a/results/dummy/-562289182.yaml b/results/dummy/-562289182.yaml
index 0c4d30ebff322badd6bc12475191d9e017c46ecd..92a6d380f2ab50b7a98a558a4136483f21a290f4 100644
--- a/results/dummy/-562289182.yaml
+++ b/results/dummy/-562289182.yaml
@@ -25,4 +25,3 @@
{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.7, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # target B
{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.11, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } } # target B
]}
-
diff --git a/results/dummy/123006295.yaml b/results/dummy/100743399.yaml
similarity index 100%
rename from results/dummy/123006295.yaml
rename to results/dummy/100743399.yaml
diff --git a/results/dummy/319613316.yaml b/results/dummy/1042059347.yaml
similarity index 100%
rename from results/dummy/319613316.yaml
rename to results/dummy/1042059347.yaml
diff --git a/results/dummy/368603087.yaml b/results/dummy/1089729317.yaml
similarity index 100%
rename from results/dummy/368603087.yaml
rename to results/dummy/1089729317.yaml
diff --git a/results/dummy/-683068383.yaml b/results/dummy/110820614.yaml
similarity index 100%
rename from results/dummy/-683068383.yaml
rename to results/dummy/110820614.yaml
diff --git a/results/dummy/137600073.yaml b/results/dummy/113568260.yaml
similarity index 100%
rename from results/dummy/137600073.yaml
rename to results/dummy/113568260.yaml
diff --git a/results/dummy/-848791479.yaml b/results/dummy/12242866.yaml
similarity index 100%
rename from results/dummy/-848791479.yaml
rename to results/dummy/12242866.yaml
diff --git a/results/dummy/-671037754.yaml b/results/dummy/122897280.yaml
similarity index 100%
rename from results/dummy/-671037754.yaml
rename to results/dummy/122897280.yaml
diff --git a/results/dummy/1353640318.yaml b/results/dummy/1253908101.yaml
similarity index 100%
rename from results/dummy/1353640318.yaml
rename to results/dummy/1253908101.yaml
diff --git a/results/dummy/1365341001.yaml b/results/dummy/1265184395.yaml
similarity index 100%
rename from results/dummy/1365341001.yaml
rename to results/dummy/1265184395.yaml
diff --git a/results/dummy/551994162.yaml b/results/dummy/1265903332.yaml
similarity index 100%
rename from results/dummy/551994162.yaml
rename to results/dummy/1265903332.yaml
diff --git a/results/dummy/1378781438.yaml b/results/dummy/1277835652.yaml
similarity index 100%
rename from results/dummy/1378781438.yaml
rename to results/dummy/1277835652.yaml
diff --git a/results/dummy/1401169642.yaml b/results/dummy/1299300774.yaml
similarity index 100%
rename from results/dummy/1401169642.yaml
rename to results/dummy/1299300774.yaml
diff --git a/results/dummy/1413511427.yaml b/results/dummy/1310831107.yaml
similarity index 100%
rename from results/dummy/1413511427.yaml
rename to results/dummy/1310831107.yaml
diff --git a/results/dummy/606403650.yaml b/results/dummy/1313903620.yaml
similarity index 100%
rename from results/dummy/606403650.yaml
rename to results/dummy/1313903620.yaml
diff --git a/results/dummy/1427045874.yaml b/results/dummy/1328318299.yaml
similarity index 100%
rename from results/dummy/1427045874.yaml
rename to results/dummy/1328318299.yaml
diff --git a/results/dummy/104202925.yaml b/results/dummy/134829619.yaml
similarity index 100%
rename from results/dummy/104202925.yaml
rename to results/dummy/134829619.yaml
diff --git a/results/dummy/-657407479.yaml b/results/dummy/136577812.yaml
similarity index 100%
rename from results/dummy/-657407479.yaml
rename to results/dummy/136577812.yaml
diff --git a/results/dummy/759458158.yaml b/results/dummy/1454067317.yaml
similarity index 100%
rename from results/dummy/759458158.yaml
rename to results/dummy/1454067317.yaml
diff --git a/results/dummy/170127937.yaml b/results/dummy/146125988.yaml
similarity index 100%
rename from results/dummy/170127937.yaml
rename to results/dummy/146125988.yaml
diff --git a/results/dummy/810620021.yaml b/results/dummy/1501775840.yaml
similarity index 100%
rename from results/dummy/810620021.yaml
rename to results/dummy/1501775840.yaml
diff --git a/results/dummy/886121610.yaml b/results/dummy/1583165857.yaml
similarity index 100%
rename from results/dummy/886121610.yaml
rename to results/dummy/1583165857.yaml
diff --git a/results/dummy/182858545.yaml b/results/dummy/158934644.yaml
similarity index 100%
rename from results/dummy/182858545.yaml
rename to results/dummy/158934644.yaml
diff --git a/results/dummy/939241980.yaml b/results/dummy/1630873820.yaml
similarity index 100%
rename from results/dummy/939241980.yaml
rename to results/dummy/1630873820.yaml
diff --git a/results/dummy/-620298450.yaml b/results/dummy/173604779.yaml
similarity index 100%
rename from results/dummy/-620298450.yaml
rename to results/dummy/173604779.yaml
diff --git a/results/dummy/1961728642.yaml b/results/dummy/1819491281.yaml
similarity index 100%
rename from results/dummy/1961728642.yaml
rename to results/dummy/1819491281.yaml
diff --git a/results/dummy/1973258416.yaml b/results/dummy/1830780260.yaml
similarity index 100%
rename from results/dummy/1973258416.yaml
rename to results/dummy/1830780260.yaml
diff --git a/results/dummy/1986420314.yaml b/results/dummy/1843488272.yaml
similarity index 100%
rename from results/dummy/1986420314.yaml
rename to results/dummy/1843488272.yaml
diff --git a/results/dummy/-549849544.yaml b/results/dummy/185694474.yaml
similarity index 100%
rename from results/dummy/-549849544.yaml
rename to results/dummy/185694474.yaml
diff --git a/results/dummy/2009012393.yaml b/results/dummy/1867405077.yaml
similarity index 100%
rename from results/dummy/2009012393.yaml
rename to results/dummy/1867405077.yaml
diff --git a/results/dummy/1183733496.yaml b/results/dummy/1873416773.yaml
similarity index 100%
rename from results/dummy/1183733496.yaml
rename to results/dummy/1873416773.yaml
diff --git a/results/dummy/2020890621.yaml b/results/dummy/1878675406.yaml
similarity index 100%
rename from results/dummy/2020890621.yaml
rename to results/dummy/1878675406.yaml
diff --git a/results/dummy/2037862740.yaml b/results/dummy/1891533591.yaml
similarity index 100%
rename from results/dummy/2037862740.yaml
rename to results/dummy/1891533591.yaml
diff --git a/results/dummy/1237434762.yaml b/results/dummy/1922064994.yaml
similarity index 100%
rename from results/dummy/1237434762.yaml
rename to results/dummy/1922064994.yaml
diff --git a/results/dummy/-535885623.yaml b/results/dummy/199357895.yaml
similarity index 100%
rename from results/dummy/-535885623.yaml
rename to results/dummy/199357895.yaml
diff --git a/results/dummy/235473380.yaml b/results/dummy/203667923.yaml
similarity index 100%
rename from results/dummy/235473380.yaml
rename to results/dummy/203667923.yaml
diff --git a/results/dummy/-811317163.yaml b/results/dummy/207866.yaml
similarity index 100%
rename from results/dummy/-811317163.yaml
rename to results/dummy/207866.yaml
diff --git a/results/dummy/-2642749.yaml b/results/dummy/221618548.yaml
similarity index 62%
rename from results/dummy/-2642749.yaml
rename to results/dummy/221618548.yaml
index 89be48e96023a389f31ea575add6333744ab1807..3b44962e51121df05778c0bbe94e2dd2bdcb38fd 100644
--- a/results/dummy/-2642749.yaml
+++ b/results/dummy/221618548.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': -0.200002 , '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': -0.100002 , 'y': 0.099998 , '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 }},
@@ -16,17 +16,10 @@
{ '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': 1.104998, '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': 0.452498 , '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': -0.852502 , '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': 1.757498 , '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': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, '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': 1.104997, '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': 'blue1', 'type': 'BOX', 'pos': { 'x': .1, 'y': -.7, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # target B
- { 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': .2, 'y': .3, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # target B
- { 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': .2, 'y': -.1, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # impossible for the target B
- { 'id': 'green1', 'type': 'BOX', 'pos': { 'x': .2, 'y': -.3, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
- { 'id': 'green2', 'type': 'BOX', 'pos': { 'x': .1, 'y': 1.91, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
- { 'id': 'red1', 'type': 'BOX', 'pos': { 'x': -.3, 'y': -.6, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
- { 'id': 'red2', 'type': 'BOX', 'pos': { 'x': .3, 'y': 1.41, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': 1 } }
+{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100005, 'y': 1.404998, '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': -0.100004 , 'y': 0.752498 , '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': -0.100000 , 'y': -0.552502 , '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': -0.100007, 'y': 2.057498 , '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': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': 0.099997, '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': -0.320005, 'y': 1.404997, '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/-606671318.yaml b/results/dummy/233620018.yaml
similarity index 100%
rename from results/dummy/-606671318.yaml
rename to results/dummy/233620018.yaml
diff --git a/results/dummy/-586491524.yaml b/results/dummy/247158763.yaml
similarity index 100%
rename from results/dummy/-586491524.yaml
rename to results/dummy/247158763.yaml
diff --git a/results/dummy/283969420.yaml b/results/dummy/255070954.yaml
similarity index 100%
rename from results/dummy/283969420.yaml
rename to results/dummy/255070954.yaml
diff --git a/results/dummy/-834662166.yaml b/results/dummy/25799385.yaml
similarity index 100%
rename from results/dummy/-834662166.yaml
rename to results/dummy/25799385.yaml
diff --git a/results/dummy/439026223.yaml b/results/dummy/405558745.yaml
similarity index 100%
rename from results/dummy/439026223.yaml
rename to results/dummy/405558745.yaml
diff --git a/results/dummy/484352725.yaml b/results/dummy/450502853.yaml
similarity index 100%
rename from results/dummy/484352725.yaml
rename to results/dummy/450502853.yaml
diff --git a/results/dummy/-732517591.yaml b/results/dummy/62902763.yaml
similarity index 100%
rename from results/dummy/-732517591.yaml
rename to results/dummy/62902763.yaml
diff --git a/results/dummy/-14976433.yaml b/results/dummy/716580439.yaml
similarity index 100%
rename from results/dummy/-14976433.yaml
rename to results/dummy/716580439.yaml
diff --git a/results/dummy/48584069.yaml b/results/dummy/727969388.yaml
similarity index 100%
rename from results/dummy/48584069.yaml
rename to results/dummy/727969388.yaml
diff --git a/results/dummy/-720385548.yaml b/results/dummy/74847185.yaml
similarity index 100%
rename from results/dummy/-720385548.yaml
rename to results/dummy/74847185.yaml
diff --git a/results/dummy/36088905.yaml b/results/dummy/764138298.yaml
similarity index 100%
rename from results/dummy/36088905.yaml
rename to results/dummy/764138298.yaml
diff --git a/results/dummy/-861416902.yaml b/results/dummy/775503079.yaml
similarity index 88%
rename from results/dummy/-861416902.yaml
rename to results/dummy/775503079.yaml
index 7b7da08be213b300474e31c5b3c9c8e6984e6f6b..cb62992cd4b5c4bd51f66897923e42b77d02c4b4 100644
--- a/results/dummy/-861416902.yaml
+++ b/results/dummy/775503079.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': -0.100002 , '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': -0.200002 , '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 +16,10 @@
{ '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': -0.100005, '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': -0.100004 , '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_left_panel' , 'pos': { 'x': -0.100000 , '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': -0.100007, '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': 'arm1','type': 'ARM','pos': { 'x': -0.320002, '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': -0.320005, '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 } }
+{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005, 'y': 1.104998, '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': 0.452498 , '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': -0.852502 , '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': 1.757498 , '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': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, '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': 1.104997, '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/-706760442.yaml b/results/dummy/88521798.yaml
similarity index 100%
rename from results/dummy/-706760442.yaml
rename to results/dummy/88521798.yaml
diff --git a/results/dummy/158824668.yaml b/results/dummy/89393595.yaml
similarity index 100%
rename from results/dummy/158824668.yaml
rename to results/dummy/89393595.yaml
diff --git a/src/base_bridge/simple_base.cpp b/src/base_bridge/simple_base.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..016ccd0ceeb704438d7f47b2cee9481f495d5c2a
--- /dev/null
+++ b/src/base_bridge/simple_base.cpp
@@ -0,0 +1,103 @@
+#include "bridge/simple_base.h"
+#include "bridge/abstract_base_implementation.h"
+
+Simple_base::Simple_base(std::shared_ptr<ros::NodeHandle> const& d)
+ : Abstract_base(d)
+ , task_space_reader_(std::make_unique<Ts_reader>(d))
+ , map_reader_(std::make_unique<Map_reader>(d))
+ {
+ map_= map_reader_->map_data();
+ ROS_INFO("=> RM is known");
+
+ for (auto& s_vod:task_space_reader_->drop_off_data()){
+ std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>> vod_q;
+ for(auto& od: s_vod.second) vod_q.push_back(std::pair<object_data, std::vector<tf2::Quaternion>>(od, std::vector<tf2::Quaternion>()));
+ task_space_.insert(std::pair< const std::string, std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>>>(s_vod.first,vod_q));
+ }
+ ROS_INFO("=> TS is known");
+ }
+
+void Simple_base::base_calculation(){
+
+ implementation_->set_grasp_orientations(task_space_);
+ ROS_INFO("=> grasp rotations from implenentation object set...");
+
+
+ implementation_->inv_map_creation(map_, inv_map_, task_space_);
+ ROS_INFO("=> inverse map is set...");
+
+ implementation_->cloud_calculation(inv_map_, task_space_, target_cloud_);
+ ROS_INFO("=> clouds are formed...");
+
+
+ ROS_INFO("init voxel...");
+ std::vector<pcl::PointXYZ> voxelization = this->create_pcl_box();
+
+ std::map<const std::string, std::vector<std::vector<int>>> base_target_map;
+ for (auto& ts: task_space_){
+ base_target_map.insert(std::pair<const std::string, std::vector<std::vector<int>>>(ts.first, std::vector<std::vector<int>>(voxelization.size())));
+ }
+
+ ROS_INFO("start cloud quantization...");
+ for (auto& s_vc: target_cloud_){
+ for(long unsigned int j = 0; j < target_cloud_.at(s_vc.first).size();j++){
+ pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.2f);
+ octree.setInputCloud(target_cloud_.at(s_vc.first)[j]);
+ octree.addPointsFromInputCloud();
+ double min_x, min_y, min_z, max_x, max_y, max_z;
+ octree.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);
+ for(long unsigned int k = 0; k < voxelization.size(); k++) {
+ pcl::PointXYZ p = voxelization[k];
+ bool isInBox = (p.x >= min_x && p.x <= max_x) && (p.y >= min_y && p.y <= max_y) && (p.z >= min_z && p.z <= max_z);
+ if(isInBox && octree.isVoxelOccupiedAtPoint(p)) {
+ std::vector< int > pointIdxVec;
+ if(octree.voxelSearch(p, pointIdxVec)) if(!pointIdxVec.empty()) base_target_map.at(s_vc.first)[k].push_back(j);
+ }
+ }
+ }
+ }
+
+ for(auto& s_bv: base_target_map){
+ std::vector<pcl::PointXYZ> points_per_robot;
+ for(int j = 0; j < base_target_map.at(s_bv.first).size(); j++){
+ if (base_target_map.at(s_bv.first)[j].size() == task_space_.at(s_bv.first).size()) {
+ points_per_robot.push_back(voxelization[j]);
+ }
+ }
+ if (!points_per_robot.empty()) result_.insert(std::pair<const std::string, std::vector<pcl::PointXYZ>>(s_bv.first, points_per_robot));
+ }
+
+
+
+ for (auto& s_r: result_) {
+ ROS_INFO("%s got %li base positions to ckeck", s_r.first.c_str(), result_.at(s_r.first).size());
+ }
+}
+
+
+std::vector<pcl::PointXYZ> Simple_base::create_pcl_box(){
+ tf2::Vector3 origin(0,0,0);
+ float resolution = 0.4f;
+ float diameter = 3.0f;
+ unsigned char depth = 16;
+ std::vector<pcl::PointXYZ> box;
+ octomap::OcTree* tree = new octomap::OcTree(resolution/2);
+ for (float x = origin.getX() - diameter * 5 ; x <= origin.getX() + diameter * 5 ; x += resolution){
+ for (float y = origin.getY() - diameter * 5 ; y <= origin.getY() + diameter * 5 ; y += resolution){
+ for (float z = origin.getZ() - diameter * 1.5 ; z <= origin.getZ() + diameter * 1.5 ; z += resolution){
+ octomap::point3d point(x,y,z);
+ tree->updateNode(point, true);
+ }
+ }
+ }
+
+ for (octomap::OcTree::leaf_iterator it = tree->begin_leafs(depth), end = tree->end_leafs(); it != end; ++it){
+ pcl::PointXYZ searchPoint(it.getCoordinate().x(), it.getCoordinate().y(), it.getCoordinate().z());
+ box.push_back(searchPoint);
+ }
+
+ return box;
+}
+
+
+void Simple_base::write_task(Abstract_robot* r){}
diff --git a/src/base_bridge/simple_base_implementation.cpp b/src/base_bridge/simple_base_implementation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f99344f4a94559b558cb34bc41cb3c64929e03fb
--- /dev/null
+++ b/src/base_bridge/simple_base_implementation.cpp
@@ -0,0 +1,65 @@
+#include "bridge/simple_base_implementation.h"
+
+void Simple_base_implementation::set_grasp_orientations(std::map<const std::string, std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>>>& var){
+ tf2::Quaternion x_rot(0,0,0,1);
+ tf2::Quaternion y_rot(0,0,0.707,0.707);
+ tf2::Quaternion z_rot(0,-0.707,0,0.707);
+ std::vector<tf2::Quaternion> basic_rot{x_rot, x_rot.inverse(), y_rot, y_rot.inverse(), z_rot.inverse()};
+ ROS_INFO("=> 5 Basic grasp roatations (x, -x, y, -y, -z) ");
+ for(auto&s_od_q: var){
+ for(auto&od_q: s_od_q.second){
+ od_q.second = basic_rot;
+ }
+ }
+}
+
+void Simple_base_implementation::inv_map_creation(std::vector<tf2::Transform>& map, std::vector<tf2::Transform>& inv_map, std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space){
+ std::vector<tf2::Transform> trans;
+ for(long unsigned int i = 0; i < map.size(); i++) {
+ for(auto&s_od_q: task_space){
+ for(auto&od_q: s_od_q.second){
+ for(auto&q: od_q.second){
+ if (q.angle(map[i].getRotation()) < 0.349066f){
+ inv_map.push_back(tf2::Transform(q, map[i].getOrigin()).inverse());
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ ROS_INFO("caculated [inv_map] contains %li entrys...", inv_map.size());
+}
+
+
+void Simple_base_implementation::cloud_calculation(std::vector<tf2::Transform>& inv_map, std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& task_space, std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud){
+ ROS_INFO("initialyze thread implementations...");
+
+ for(auto& s_od_q: task_space) {
+ std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> clouds;
+ for(auto& od_q: s_od_q.second) {
+ clouds.push_back(pcl::PointCloud< pcl::PointXYZ >::Ptr(new pcl::PointCloud< pcl::PointXYZ >));
+ }
+ target_cloud.insert(std::pair<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>(s_od_q.first, clouds));
+ }
+
+ // Maybe OpenMP
+ ROS_INFO("start [cloud] calculation...");
+ // ------------------------------------------------------------
+ tf2::Transform root(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0.4425f));
+ // ------------------------------------------------------------
+ for(auto& s_c: target_cloud){
+ for(int i = 0; i < s_c.second.size();i++){
+ for(auto& itf : inv_map){
+ for(auto& r: task_space.at(s_c.first)[i].second){
+ tf2::Transform target(r, task_space.at(s_c.first)[i].first.pose_.getOrigin());
+ tf2::Transform base = target * (itf * root);
+ s_c.second[i]->push_back(pcl::PointXYZ(base.getOrigin().getX(), base.getOrigin().getY(), base.getOrigin().getZ()));
+ }
+ }
+ }
+ }
+
+ ROS_INFO("[cloud]calculation done...");
+
+}
diff --git a/src/base_routine.cpp b/src/base_routine.cpp
index f25958900d351bb1d6ca46ffae8e6e0991215629..237b1298031e9f79c40cd340acd441c98dfc9eff 100644
--- a/src/base_routine.cpp
+++ b/src/base_routine.cpp
@@ -28,6 +28,7 @@
int main(int argc, char **argv){
+ ROS_INFO("penis");
ros::init(argc, argv, "base_routine");
std::shared_ptr<ros::NodeHandle> n(new ros::NodeHandle);
@@ -54,14 +55,13 @@ int main(int argc, char **argv){
mediator->set_dirname(filename);
- std::unique_ptr<Abstract_param_reader> robot_reader(new Robot_reader(n));
- robot_reader->read();
- std::vector<object_data> rd = static_cast<Robot_reader*>(robot_reader.get())->robot_data();
+ std::unique_ptr<Robot_reader> robot_reader(new Robot_reader(n));
+ auto rd = robot_reader->robot_data();
for (int i = 0; i < rd.size() ;i++) mediator->connect_robots(new Robot(rd[i].name_, rd[i].pose_, rd[i].size_));
- std::unique_ptr<Abstract_param_reader> wing_reader(new Wing_reader(n));
- wing_reader->read();
- auto wd = static_cast<Wing_reader*>(wing_reader.get())->wing_data();
+ /*
+ std::unique_ptr<Wing_reader> wing_reader(new Wing_reader(n));
+ auto wd = wing_reader->wing_data();
for (int i = 0; i < mediator->robots().size(); i++){
for(object_data& w : wd[i].first){
@@ -69,8 +69,9 @@ int main(int argc, char **argv){
}
mediator->robots()[i]->set_observer_mask(static_cast<wing_config>(wd[i].second));
}
-
mediator->set_wings(wd);
+ */
+
mediator->mediate();
diff --git a/src/bt/execution.cpp b/src/bt/execution.cpp
deleted file mode 100644
index ad9eccec6594b295149cf52a1236ce82fff5b79e..0000000000000000000000000000000000000000
--- a/src/bt/execution.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-#include "bt/execution.h"
-
-Execution::Execution(const std::string& name, const BT::NodeConfiguration& config)
- : BT::StatefulActionNode(name, config) {}
-
-
-/*
-BT::NodeStatus Execution::tick() {
- ROS_INFO("davor");
- if (it_ != ets_.solution.sub_trajectory.end()){
- mgi_reference_->execute(it_->trajectory);
- publisher_reference_->publish(it_->scene_diff);
- it_++;
- ROS_INFO("true");
- return BT::NodeStatus::RUNNING;
- } else {
- ROS_INFO("false");
- return BT::NodeStatus::SUCCESS;
- }
-};
-*/
-
-BT::NodeStatus Execution::onStart(){
- if (it_ != ets_.solution.sub_trajectory.end()){
- std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(it_->trajectory, it_->scene_diff);
- executions_->insert_or_assign(mr_reference_->name(), pair);
- it_++;
- return BT::NodeStatus::RUNNING;
- } else {
- return BT::NodeStatus::SUCCESS;
- }
- }
-
- // If onStart() returned RUNNING, we will keep calling
- // this method until it return something different from RUNNING
-BT::NodeStatus Execution::onRunning(){
- if (it_ != ets_.solution.sub_trajectory.end()){
- std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(it_->trajectory, it_->scene_diff);
- executions_->insert_or_assign(mr_reference_->name(), pair);
- it_++;
- return BT::NodeStatus::RUNNING;
- } else {
- return BT::NodeStatus::SUCCESS;
- }
-}
-
- // callback to execute if the action was aborted by another node
-void Execution::onHalted(){}
-
-void Execution::init(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions ,ros::Publisher* publisher_reference, Moveit_robot* mr_reference, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets) {
- mr_reference_= mr_reference;
- publisher_reference_ = publisher_reference;
- ets_ = ets;
- it_ = ets_.solution.sub_trajectory.begin();
- executions_ = executions;
-}
\ No newline at end of file
diff --git a/src/bt/parallel_robot.cpp b/src/bt/parallel_robot.cpp
deleted file mode 100644
index 7e43274b63f68f322989686afc230aaca93bca1d..0000000000000000000000000000000000000000
--- a/src/bt/parallel_robot.cpp
+++ /dev/null
@@ -1,145 +0,0 @@
-#include "bt/parallel_robot.h"
-
-/* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
- * Copyright (C) 2018-2020 Davide Faconti, Eurecat - All Rights Reserved
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
-* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
-* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-
-#include <algorithm>
-#include <cstddef>
-
-#include "behaviortree_cpp_v3/controls/parallel_node.h"
-
-constexpr const char* BT::ParallelNode::THRESHOLD_FAILURE;
-constexpr const char* BT::ParallelNode::THRESHOLD_SUCCESS;
-
-Parallel_robot::Parallel_robot(const std::string& name, int success_threshold, int failure_threshold) :
- BT::ControlNode(name, {}),
- success_threshold_(success_threshold),
- failure_threshold_(failure_threshold),
- read_parameter_from_ports_(false){
- setRegistrationID("Parallel_robot");
-}
-
-Parallel_robot::Parallel_robot(const std::string& name, const BT::NodeConfiguration& config) :
- BT::ControlNode(name, config),
- success_threshold_(1),
- failure_threshold_(1),
- read_parameter_from_ports_(true)
-{}
-
-BT::NodeStatus Parallel_robot::tick(){
- if (read_parameter_from_ports_){
- if (!getInput(THRESHOLD_SUCCESS, success_threshold_)){
- throw BT::RuntimeError("Missing parameter [", THRESHOLD_SUCCESS, "] in ParallelNode");
- }
-
- if (!getInput(THRESHOLD_FAILURE, failure_threshold_)){
- throw BT::RuntimeError("Missing parameter [", THRESHOLD_FAILURE, "] in ParallelNode");
- }
- }
-
- size_t success_childred_num = 0;
- size_t failure_childred_num = 0;
-
- const size_t children_count = children_nodes_.size();
-
- if (children_count < successThreshold()){
- throw BT::LogicError("Number of children is less than threshold. Can never succeed.");
- }
-
- if (children_count < failureThreshold()){
- throw BT::LogicError("Number of children is less than threshold. Can never fail.");
- }
-
- // Routing the tree according to the sequence node's logic:
- for (unsigned int i = 0; i < children_count; i++){
- TreeNode* child_node = children_nodes_[i];
-
- bool in_skip_list = (skip_list_.count(i) != 0);
-
- BT::NodeStatus child_status;
- if (in_skip_list){
- child_status = child_node->status();
- }
- else{
- child_status = child_node->executeTick();
- }
-
- switch (child_status){
- case BT::NodeStatus::SUCCESS: {
- if (!in_skip_list){
- skip_list_.insert(i);
- }
- success_childred_num++;
-
- if (success_childred_num == successThreshold()){
- skip_list_.clear();
- BT::ControlNode::ControlNode::
- resetChildren();
- return BT::NodeStatus::SUCCESS;
- }
- }
- break;
-
- case BT::NodeStatus::FAILURE: {
-
- // It fails if it is not possible to succeed anymore or if
- // number of failures are equal to failure_threshold_
- if ((failure_childred_num > children_count - successThreshold()) ||
- (failure_childred_num == failureThreshold())){
- skip_list_.clear();
- resetChildren();
- return BT::NodeStatus::FAILURE;
- }
- }
- break;
-
- case BT::NodeStatus::RUNNING: {
- return BT::NodeStatus::RUNNING;
- }
- break;
-
- default: {
- throw BT::LogicError("A child node must never return IDLE");
- }
- }
- }
-
- return BT::NodeStatus::RUNNING;
-}
-
-void Parallel_robot::halt()
-{
- skip_list_.clear();
- ControlNode::halt();
-}
-
-size_t Parallel_robot::successThreshold() const
-{
- return success_threshold_ < 0 ?
- std::max(children_nodes_.size() + success_threshold_ + 1, size_t(0)) :
- success_threshold_;
-}
-
-size_t Parallel_robot::failureThreshold() const{
- return failure_threshold_ < 0 ?
- std::max(children_nodes_.size() + failure_threshold_ + 1, size_t(0)) :
- failure_threshold_;
-}
-
-void Parallel_robot::setSuccessThreshold(int threshold_M){
- success_threshold_ = threshold_M;
-}
-
-void Parallel_robot::setFailureThreshold(int threshold_M){
- failure_threshold_ = threshold_M;
-}
diff --git a/src/bt/planning_scene.cpp b/src/bt/planning_scene.cpp
deleted file mode 100644
index b67f11b6e29bfdd9fcfaeabcde512cde75063d5a..0000000000000000000000000000000000000000
--- a/src/bt/planning_scene.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-#include "bt/planning_scene.h"
-
-Planning_scene::Planning_scene(const std::string& name, const BT::NodeConfiguration& config)
- : BT::AsyncActionNode(name, config) {}
-
-
-BT::NodeStatus Planning_scene::tick() {
- try{
- publisher_reference_->publish(planning_scene_);
- } catch (ros::Exception& re) {
- return BT::NodeStatus::FAILURE;
- }
- return BT::NodeStatus::SUCCESS;
-};
-
-void Planning_scene::init(ros::Publisher* publisher_reference, moveit_msgs::PlanningScene& planning_scene) {
- publisher_reference_ = publisher_reference;
- planning_scene_ = planning_scene;
-}
\ No newline at end of file
diff --git a/src/bt/position_condition.cpp b/src/bt/position_condition.cpp
deleted file mode 100644
index ec6467bd19aa2b98d458af90914eff893b084690..0000000000000000000000000000000000000000
--- a/src/bt/position_condition.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "bt/position_condition.h"
-
-Position_condition::Position_condition(const std::string& name, const BT::NodeConfiguration& config)
- : BT::ConditionNode(name, config){}
-
-void Position_condition::init(const std::string& obj_name, tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi){
- obj_name_ = obj_name;
- psi_ = psi;
- start_pos_ = start_pos;
-}
-
-BT::NodeStatus Position_condition::tick(){
- try {
- auto ref_pose = psi_->getObjects().at(obj_name_);
- if(tf2::tf2Distance2(start_pos_, tf2::Vector3(ref_pose.pose.position.x, ref_pose.pose.position.y, ref_pose.pose.position.z )) == 0){
- return BT::NodeStatus::SUCCESS;
- } else {
- return BT::NodeStatus::FAILURE;
- }
- } catch(std::out_of_range& oor) {
- ROS_INFO("Position to check not found");
- return BT::NodeStatus::FAILURE;
- }
-}
diff --git a/src/bt/trajetory.cpp b/src/bt/trajetory.cpp
deleted file mode 100644
index 6462090a103ec4ecd558d279201bca3dfdfaa370..0000000000000000000000000000000000000000
--- a/src/bt/trajetory.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "bt/trajetory.h"
-
-Trajetory::Trajetory(const std::string& name, const BT::NodeConfiguration& config)
- : BT::AsyncActionNode(name, config){}
-
-BT::NodeStatus Trajetory::tick() {
- if (mgi_reference_->execute(trajetory_)) return BT::NodeStatus::SUCCESS;
- return BT::NodeStatus::FAILURE;
-};
-
-void Trajetory::init(moveit::planning_interface::MoveGroupInterface* mgi_reference, moveit_msgs::RobotTrajectory& trajetory){
- mgi_reference_ = mgi_reference;
- trajetory_ = trajetory;
-}
\ No newline at end of file
diff --git a/src/cell_routine.cpp b/src/cell_routine.cpp
index ea4be5c4476160dfb556129061137e95b1c61776..f11c39abc72274c22da9d246826cb051025616f9 100644
--- a/src/cell_routine.cpp
+++ b/src/cell_routine.cpp
@@ -42,35 +42,38 @@ int main(int argc, char **argv){
Abstract_mediator* mediator = new Moveit_mediator(map_loader->task_grasps(), pub, nh);
Moveit_mediator* moveit_mediator = dynamic_cast<Moveit_mediator*>(mediator);
- std::unique_ptr<Abstract_param_reader> robot_reader(new Robot_reader(nh));
- auto rd = static_cast<Robot_reader*>(robot_reader.get())->robot_data();
+ std::unique_ptr<Robot_reader> robot_reader = std::make_unique<Robot_reader>(nh);
+ auto rd = robot_reader->robot_data();
for (int i = 0; i < rd.size() ;i++) mediator->connect_robots(new Moveit_robot(rd[i].name_, rd[i].pose_, rd[i].size_));
- std::unique_ptr<Abstract_param_reader> wing_reader(new Wing_reader(nh));
+ std::unique_ptr<Wing_reader> wing_reader(new Wing_reader(nh));
auto wd = static_cast<Wing_reader*>(wing_reader.get())->wing_data();
- std::unique_ptr<Abstract_param_reader> cuboid_reader(new Cuboid_reader(nh));
- auto cbd = static_cast<Cuboid_reader*>(cuboid_reader.get())->cuboid_bin();
- auto cod = static_cast<Cuboid_reader*>(cuboid_reader.get())->cuboid_obstacle();
-
+ std::unique_ptr<Cuboid_reader> cuboid_reader = std::make_unique<Cuboid_reader>(nh);
+ auto cbd = cuboid_reader->cuboid_bin();
+ auto cod = cuboid_reader->cuboid_obstacle();
+ /*
for (int i = 0; i < mediator->robots().size(); i++){
for(object_data& w : wd[i].first){
w.pose_ = mediator->robots()[i]->tf().inverse() * w.pose_;
}
mediator->robots()[i]->set_observer_mask(static_cast<wing_config>(wd[i].second));
}
+ moveit_mediator->set_wings(wd);
+ */
- moveit_mediator->set_wings(wd);
Moveit_robot* ceti1 = dynamic_cast<Moveit_robot*>(mediator->robots()[0]);
Moveit_robot* ceti2 = dynamic_cast<Moveit_robot*>(mediator->robots()[1]);
+ /*
for (int i = 0; i < mediator->robots().size(); i++){
std::bitset<3> bs = wd[i].second;
moveit_mediator->build_wings(bs, i);
}
+ */
//moveit::planning_interface::PlanningSceneInterface::applyCollisionObject()
diff --git a/src/impl/base_by_rotation.cpp b/src/impl/base_by_rotation.cpp
index df8d314214db66442b4aab6240d672a5867b410e..2552cd2c9399cce9ed0d138ad16f9c2c20a038f6 100644
--- a/src/impl/base_by_rotation.cpp
+++ b/src/impl/base_by_rotation.cpp
@@ -2,7 +2,7 @@
void Base_by_rotation::inv_map_creation(Abstract_map_loader* var) {
- ROS_INFO("starting base calculation strategy...");
+ ROS_INFO("starting base calculation implementation...");
ROS_INFO("condition based [inv_map] calculation...");
std::vector<tf2::Transform> trans;
for(long unsigned int i = 0; i < var->map().size(); i++) {
diff --git a/src/impl/map_loader.cpp b/src/impl/map_loader.cpp
index d07bae27701ef2783d051a817da99042bb53f574..cee96cf4866685e6702fcf6d2236e785131aa81d 100644
--- a/src/impl/map_loader.cpp
+++ b/src/impl/map_loader.cpp
@@ -87,7 +87,6 @@ std::vector<std::vector<pcl::PointXYZ>> Map_loader::base_calculation(){
std::vector< int > pointIdxVec;
if(octree.voxelSearch(p, pointIdxVec)) if(!pointIdxVec.empty()) base_target_map[i][k].push_back(j);
}
-
}
}
}
diff --git a/src/impl/mediator.cpp b/src/impl/mediator.cpp
index 2a52f367398aec5a58c2c45882ab4ef263a7992a..d6751a5c3217aab780e91ff637519fcabf38a761 100644
--- a/src/impl/mediator.cpp
+++ b/src/impl/mediator.cpp
@@ -281,6 +281,7 @@ void Mediator::approximation(Robot* robot){
if (robot->check_robot_collision(ceti1)) continue;
if (check_collision(r1)) {
+ ROS_INFO("penis");
write_file(robot, ceti1);
} else {
continue;
diff --git a/src/impl/moveit_grasp_mediator.cpp b/src/impl/moveit_grasp_mediator.cpp
index c5decb4b21bf88cbf9b8274eae8978b8d7833b9c..d2d760a865cb692f50044b7b6ed031101e60880a 100644
--- a/src/impl/moveit_grasp_mediator.cpp
+++ b/src/impl/moveit_grasp_mediator.cpp
@@ -504,8 +504,8 @@ void Moveit_grasp_mediator::scene_setup(){
auto cbd = static_cast<Cuboid_reader*>(cuboid_reader_.get())->cuboid_bin();
auto cod = static_cast<Cuboid_reader*>(cuboid_reader_.get())->cuboid_obstacle();
- ROS_INFO("%i die cuboids", cbd.size());
- ROS_INFO("%i cuboids", cod.size());
+ ROS_INFO("%li die cuboids", cbd.size());
+ ROS_INFO("%li cuboids", cod.size());
for(auto&o:cod){
o.publishCOwait(visual_tools_,planning_scene_monitor_,rviz_visual_tools::GREY);
@@ -553,7 +553,7 @@ Moveit_grasp_mediator::Moveit_grasp_mediator(std::vector<std::vector<tf2::Transf
auto rd = robot_reader_->robot_data();
for (int i = 0; i < rd.size() ;i++) connect_robots(new Moveit_robot(rd[i].name_, rd[i].pose_, rd[i].size_));
-
+ /*
auto wd = static_cast<Wing_reader*>(wing_reader_.get())->wing_data();
for (int i = 0; i < robots_.size(); i++){
for(object_data& w : wd[i].first){
@@ -568,6 +568,7 @@ Moveit_grasp_mediator::Moveit_grasp_mediator(std::vector<std::vector<tf2::Transf
std::bitset<3> bs = wd[i].second;
build_wings(bs, i);
}
+ */
for (auto* r : robots_)r->notify();
diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp
index 613251e5ef655fb62b644c7e5b35a368bb5afec3..136c3ca39dbc12015e7940a18b2c7ae7dd8ae88f 100644
--- a/src/impl/moveit_mediator.cpp
+++ b/src/impl/moveit_mediator.cpp
@@ -5,20 +5,6 @@
#include <gb_grasp/MapGenerator.h>
#include <regex>
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/tree_node.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"
-#include "bt/planning_scene.h"
-#include "bt/trajetory.h"
-#include "bt/execution.h"
-#include "bt/position_condition.h"
-#include "bt/parallel_robot.h"
-#include <actionlib_msgs/GoalStatusArray.h>
-
-
-
-
thread_local moveit::task_constructor::Task task__;
thread_local moveit_task_constructor_msgs::ExecuteTaskSolutionGoal etsg_;
@@ -555,140 +541,155 @@ void Moveit_mediator::setup_task(){
}
*/
-}
-
-void Moveit_mediator::manipulate_acm(Moveit_robot* mr, moveit_msgs::PlanningScene& ps){
- // First find ID from panda to start with
- std::regex rx_panda("panda_arm([0-9]+)");
- std::smatch match;
- std::regex_match(mr->name(), match, rx_panda);
-
- // build panda link regex
- std::stringstream ss;
- ss << "panda_" << match[1] << "_.*";
- std::regex rx_panda_links(ss.str());
- std::regex rx_box("box.*");
- std::regex rx_table("table.*");
-
- // Iterate task collsion matrix
- for(int j = 0; j < ps.allowed_collision_matrix.entry_names.size(); j++ ){
- if( mr->map().at("base") == ps.allowed_collision_matrix.entry_names[j]){
- //In case an entry matches an robot spezific link
- ROS_INFO("entry matches link %s at index %i", mr->map().at("base").c_str(), j);
-
- for(int k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){
- // For that specific entry, loop over values
- int distance = std::distance(acm_.begin(),acm_.find(ps.allowed_collision_matrix.entry_names[k]));
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
- ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){
- ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){
- ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
- if (mr->map().at("base")== ps.allowed_collision_matrix.entry_names[k]){
- ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
+ std::regex item("box_([0-9]+)");
+ std::smatch match;
+ ROS_INFO("tasks %li", tasks_.size());
+
+ while(!tasks_.empty()){
+ ROS_INFO("in tasks");
+ std::vector<std::pair<std::string, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> q_ets;
+ for (auto*r:robots_){
+ ROS_INFO("robot iteration");
+ auto itlow = tasks_.lower_bound (r->name()); // itlow points to b
+ auto itup = tasks_.upper_bound (r->name());
+ for (auto it=itlow; it!=itup; ++it){
+ tf2::Vector3 b_start_position = (*it).second.first;
+ for(auto& s_co : psi_->getObjects()){
+ if(!std::regex_match(s_co.first, match, item)) continue;
+ if(tf2::tf2Distance2(b_start_position, tf2::Vector3(s_co.second.pose.position.x, s_co.second.pose.position.y,s_co.second.pose.position.z)) == 0) {
+ q_ets.push_back(std::pair<std::string, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>(r->name(), (*it).second.second));
+ tasks_.erase(it);
+ break;
+ }
}
}
}
- if(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_panda_links)){
- //In case an entry matches an robot spezific link
- ROS_INFO("entry matches link %s at index %i", ps.allowed_collision_matrix.entry_names[j].c_str(), j);
- for(int k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){
- //For that specific entry, loop over values
- int distance = std::distance(acm_.begin(),acm_.find(ps.allowed_collision_matrix.entry_names[k]));
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
- ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
+ ROS_INFO("tasks %li", tasks_.size());
+ ROS_INFO("jobs %li", q_ets.size());
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){
- ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){
- ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
+ // now execution should be possible, but with bocking
+ std::vector<std::thread> th;
- if (mr->map().at("base")== ps.allowed_collision_matrix.entry_names[k]){
- ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
+ while(!q_ets.empty()){
+ moveit_msgs::PlanningScene ps_m;
+ ps_m.is_diff = 0;
+ for (auto*r:robots_){
+ for (auto& s_qets : q_ets){
+ if(s_qets.first == r->name()){
+ if(!s_qets.second.front().solution.sub_trajectory.empty()){
+ moveit_msgs::RobotTrajectory* rt = (!s_qets.second.front().solution.sub_trajectory.empty()) ? &s_qets.second.front().solution.sub_trajectory.front().trajectory : nullptr;
+ moveit_msgs::PlanningScene* ps = (!s_qets.second.front().solution.sub_trajectory.empty()) ? &s_qets.second.front().solution.sub_trajectory.front().scene_diff : nullptr;
+
+ if (rt){
+ Moveit_robot* mr = dynamic_cast<Moveit_robot*>(r);
+ // mr->mgi()->execute(*rt);
+ th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), *rt, *ps));
+
+ // First find ID from panda to start with
+ std::regex rx_panda("panda_arm([0-9]+)");
+ std::smatch match;
+ std::regex_match(mr->name(), match, rx_panda);
+
+ // build panda link regex
+ std::stringstream ss;
+ ss << "panda_" << match[1] << "_.*";
+ std::regex rx_panda_links(ss.str());
+ std::regex rx_box("box.*");
+ std::regex rx_table("table.*");
+
+ if(ps){
+ for(int j = 0; j < ps->allowed_collision_matrix.entry_names.size(); j++ ){
+ if( mr->map().at("base") == ps->allowed_collision_matrix.entry_names[j]){
+ for(int k = 0; k < ps->allowed_collision_matrix.entry_values[j].enabled.size(); k++){
+ int distance = std::distance(acm_.begin(),acm_.find(ps->allowed_collision_matrix.entry_names[k]));
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_box)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (mr->map().at("base")== ps->allowed_collision_matrix.entry_names[k]){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ }
+ }
+
+ if(std::regex_match(ps->allowed_collision_matrix.entry_names[j], match, rx_panda_links)){
+ for(int k = 0; k < ps->allowed_collision_matrix.entry_values[j].enabled.size(); k++){
+ int distance = std::distance(acm_.begin(),acm_.find(ps->allowed_collision_matrix.entry_names[k]));
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_box)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (mr->map().at("base")== ps->allowed_collision_matrix.entry_names[k]){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ }
+ }
+
+ if(std::regex_match(ps->allowed_collision_matrix.entry_names[j], match, rx_box)){
+ for(int k = 0; k < ps->allowed_collision_matrix.entry_values[j].enabled.size(); k++){
+ int distance = std::distance(acm_.begin(),acm_.find(ps->allowed_collision_matrix.entry_names[k]));
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_box)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (mr->map().at("base")== ps->allowed_collision_matrix.entry_names[k]){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ }
+ }
+
+ if(std::regex_match(ps->allowed_collision_matrix.entry_names[j], match, rx_table)){
+ for(int k = 0; k < ps->allowed_collision_matrix.entry_values[j].enabled.size(); k++){
+ int distance = std::distance(acm_.begin(),acm_.find(ps->allowed_collision_matrix.entry_names[k]));
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_box)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (std::regex_match(ps->allowed_collision_matrix.entry_names[k], match, rx_table)){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ if (mr->map().at("base")== ps->allowed_collision_matrix.entry_names[k]){
+ acm_.at(ps->allowed_collision_matrix.entry_names[k])[distance] = ps->allowed_collision_matrix.entry_values[j].enabled[k];
+ }
+ }
+ }
+ }
+ merge_ps(ps_m, ps, mr);
+ }
+ s_qets.second.front().solution.sub_trajectory.erase(s_qets.second.front().solution.sub_trajectory.begin());
+ }
+ } else {s_qets.second.pop();};
+ }
}
}
- }
-
- if(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_box)){
- //In case an entry matches an robot spezific link
- ROS_INFO("entry matches link %s at index %i", ps.allowed_collision_matrix.entry_names[j].c_str(), j);
- for(int k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){
- //For that specific entry, loop over values
- int distance = std::distance(acm_.begin(),acm_.find(ps.allowed_collision_matrix.entry_names[k]));
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
- ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){
- ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){
- ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (mr->map().at("base")== ps.allowed_collision_matrix.entry_names[k]){
- ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
+ for(int i = 0; i < th.size(); i++){
+ if(th[i].joinable()) th[i].join();
}
+ merge_acm(ps_m);
+ if(ps_m.is_diff) planning_scene_diff_publisher_->publish(ps_m);
}
- if(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_table)){
- //In case an entry matches an robot spezific link
- ROS_INFO("entry matches link %s at index %i", ps.allowed_collision_matrix.entry_names[j], j);
- for(int k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){
- //For that specific entry, loop over values
- int distance = std::distance(acm_.begin(),acm_.find(ps.allowed_collision_matrix.entry_names[k]));
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){
- ROS_INFO("Entry in row corresponds to link_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){
- ROS_INFO("Entry in row corresponds to box_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){
- ROS_INFO("Entry in row corresponds to table_pattern %s", match[0].str().c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
-
- if (mr->map().at("base")== ps.allowed_collision_matrix.entry_names[k]){
- ROS_INFO("Entry in row corresponds to base %s", mr->map().at("base").c_str());
- acm_.at(ps.allowed_collision_matrix.entry_names[k])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];
- }
- }
- }
}
+
}
@@ -732,36 +733,20 @@ void Moveit_mediator::task_planner(){
// Could also safe id's somewhere
}
-
- // Setup shared ACM
- for(auto& a: acm_) a.second.resize(acm_.size(), 0);
std::regex item("box_([0-9]+)");
std::smatch match;
- // ----------------------------------
- // GROOT Strategie => erst FROM TEXT
- // ----------------------------------
-
- BT::BehaviorTreeFactory factory;
- factory.registerNodeType<Planning_scene>("PS");
- factory.registerNodeType<Trajetory>("Trajetory");
- factory.registerNodeType<Execution>("Execution");
- factory.registerNodeType<Position_condition>("Position_condition");
- factory.registerNodeType<Parallel_robot>("Parallel_robot");
-
- std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;
-
+ // circular buffer is job-q
while(!jq.empty()){
for(auto& s_co : psi_->getObjects()){
if(!std::regex_match(s_co.first, match, item)) continue;
-
std::pair<std::string, job_data> temp = jq.front();
ROS_INFO("1. job entry %f %f %f", temp.second.jobs_.front().getOrigin().getX(), temp.second.jobs_.front().getOrigin().getY(), temp.second.jobs_.front().getOrigin().getZ());
ROS_INFO("object position %f %f %f", s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z);
if(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) {
- std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> bt_list;
-
+ std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> tasks_per_robot;
+ // get rob by name
Moveit_robot* mr;
for(auto* r: robots_) if (r->name() == temp.first) mr = dynamic_cast<Moveit_robot*>(r);
@@ -771,7 +756,7 @@ void Moveit_mediator::task_planner(){
if(mgt.plan(1)) {
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;
mgt.solutions().front()->fillMessage(e.solution, &mgt.introspection());
- bt_list.push_back(e);
+ tasks_per_robot.push(e);
moveit_msgs::CollisionObject temp_co = psi_->getObjects().at(s_co.first);
temp_co.operation = temp_co.MOVE;
@@ -785,134 +770,13 @@ void Moveit_mediator::task_planner(){
psi_->applyCollisionObject(temp_co);
}
}
-
- /*
- 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;}
-
- for(auto& ets : bt_list)
- 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;}
- */
-
- for (int i = 0; i < cd.size(); i ++){
- std::stringstream ss;
- ss << "box_" << i;
-
- moveit_msgs::CollisionObject item;
- item.id = ss.str();
- item.header.frame_id = "world";
- item.header.stamp = ros::Time::now();
- item.primitives.resize(1);
- item.primitives[0].type = item.primitives[0].BOX;
- item.primitives[0].dimensions.resize(3);
- item.primitives[0].dimensions[0] = cd[i].x_depth;
- item.primitives[0].dimensions[1] = cd[i].y_width;
- item.primitives[0].dimensions[2] = cd[i].z_heigth;
-
- item.pose.position.x = cd[i].Pose.position.x;
- item.pose.position.y = cd[i].Pose.position.y;
- item.pose.position.z = cd[i].Pose.position.z;
- item.pose.orientation.x = cd[i].Pose.orientation.x;
- item.pose.orientation.y = cd[i].Pose.orientation.y;
- item.pose.orientation.z = cd[i].Pose.orientation.z;
- item.pose.orientation.w = cd[i].Pose.orientation.w;
- item.operation = item.MOVE;
-
- psi_->applyCollisionObject(item);
- // Could also safe id's somewhere
- }
-
-
- try{
- task_but_different.at(mr->name()).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));
- } catch(std::out_of_range &oor) {
- 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);
- task_but_different.insert(std::pair<std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>>(mr->name(),{tuple}));
- }
+ std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>> pair(temp.second.jobs_.front().getOrigin(), tasks_per_robot);
+ tasks_.insert(std::pair<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>(mr->name(), pair));
jq.pop_front();
} else {jq.push_back(temp);}
}
}
- std::stringstream ss;
- ss << "<root main_tree_to_execute = \"MainTree\">\n";
- ss << "<BehaviorTree ID=\"MainTree\">\n";
- ss << "<Control ID=\"Parallel\" name=\"Agents\" success_threshold=\""<< robots_.size() << "\" failure_threshold=\""<< robots_.size() << "\">\n";
-
- for(int i =0; i < robots_.size();i++){
- try{
- ss << "<Control ID=\"Parallel_robot\" name=\""<< robots_[i]->name() << "\" success_threshold=\""<< task_but_different.at(robots_[i]->name()).size() << "\" failure_threshold=\""<< task_but_different.at(robots_[i]->name()).size() << "\">\n";
- for (auto& p_obj: task_but_different.at(robots_[i]->name())){
- ss << "<SequenceStar name=\"root_sequence\">\n";
- ss << "<Condition ID=\"Position_condition\" name=\"Position_condition\"/>\n";
- for(int j = 0; j < std::get<2>(p_obj).size(); j++){
- ss << "<Action ID=\"Execution\" name=\"Execution\"/>\n";
- }
- ss << "</SequenceStar>\n";
- }
- ss << "</Control>\n";
- } catch(std::out_of_range& oor){}
- }
- ss << "</Control>\n";
- ss << "</BehaviorTree>\n";
- ss << "</root>\n";
-
- std::cout << ss.str();
- auto tree = factory.createTreeFromText(ss.str());
- auto node_it = tree.nodes.begin();
-
-
-
- for(int i =0; i < robots_.size();i++){
- try{
- for (auto& p_obj: task_but_different.at(robots_[i]->name())){
- while (node_it->get()->type() == BT::NodeType::CONTROL) ++node_it;
- if(node_it->get()->type() == BT::NodeType::ACTION) ROS_INFO("Action");
- if(node_it->get()->type() == BT::NodeType::CONDITION) ROS_INFO("Condition");
- if(node_it->get()->type() == BT::NodeType::CONTROL) ROS_INFO("Control");
- if(node_it->get()->type() == BT::NodeType::DECORATOR) ROS_INFO("Decorator");
-
- if(auto condition = dynamic_cast<Position_condition*>(node_it->get())) {ROS_INFO("init Condition");condition->init(std::get<0>(p_obj), std::get<1>(p_obj), psi_.get());++node_it;}
- for(int j = 0; j < std::get<2>(p_obj).size(); j++){
- auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
- if(auto execution = dynamic_cast<Execution*>(node_it->get())) {ROS_INFO("init Action");execution->init(&executions_, planning_scene_diff_publisher_.get(), mr, std::get<2>(p_obj)[j]);++node_it;}
- }
- ss << "</SequenceStar>\n";
- }
- ss << "</Control>\n";
- } catch(std::out_of_range& oor){}
- }
-
-
- BT::PublisherZMQ zmq(tree);
- ros::Duration sleep(1);
- BT::NodeStatus status = BT::NodeStatus::RUNNING;
- while( status == BT::NodeStatus::RUNNING){
- status = tree.tickRoot();
-
- std::vector<std::thread> th;
- moveit_msgs::PlanningScene ps_m;
-
- for(auto& exec : executions_){
- for (int i = 0; i < robots_.size(); i++){
- if (exec.first == robots_[i]->name()){
- auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
- th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*mr), exec.second.first));
- //mr->mgi()->execute(exec.second.first);
- manipulate_acm(mr, exec.second.second);
- merge_ps(ps_m, exec.second.second, mr);
- }
- }
- }
-
-
- for(auto& t : th){
- if(t.joinable()) t.join();
- merge_acm(ps_m);
- planning_scene_diff_publisher_->publish(ps_m);
- }
- }
-
-
// clean up
for (int i = 0; i < cd.size(); i ++){
std::stringstream ss;
@@ -957,15 +821,11 @@ void Moveit_mediator::merge_acm(moveit_msgs::PlanningScene& ps_m){
}
ps_m.allowed_collision_matrix = acmt;
-}
+ ROS_INFO("broken after merge");
-void Moveit_mediator::status_callback(const actionlib_msgs::GoalStatusArray::ConstPtr& status){
- if (!status->status_list.empty()){
- ROS_INFO("%i", status->status_list.size());
- }
}
-void Moveit_mediator::merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, Moveit_robot* mr){
+void Moveit_mediator::merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene* in, Moveit_robot* mr){
// get full mr link list
std::vector<std::string> links;
for (auto link : mr->mgi()->getLinkNames())links.push_back(link);
@@ -975,47 +835,45 @@ void Moveit_mediator::merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::Pla
links.push_back(mr->map()["base"]);
- for (auto ao : in.robot_state.attached_collision_objects) out.robot_state.attached_collision_objects.push_back(ao);
- if (in.robot_state.is_diff) out.robot_state.is_diff = in.robot_state.is_diff;
- if (in.is_diff) out.is_diff = in.is_diff;
- out.robot_state.joint_state.header = in.robot_state.joint_state.header;
+ for (auto ao : in->robot_state.attached_collision_objects) out.robot_state.attached_collision_objects.push_back(ao);
+ if (in->robot_state.is_diff) out.robot_state.is_diff = in->robot_state.is_diff;
+ if (in->is_diff) out.is_diff = in->is_diff;
+ out.robot_state.joint_state.header = in->robot_state.joint_state.header;
out.robot_model_name = "panda";
for (auto link : links) {
- for(int i = 0; i < in.robot_state.joint_state.name.size(); i++){
- if(link.c_str() == in.robot_state.joint_state.name[i].c_str()){
- out.robot_state.joint_state.effort.push_back(in.robot_state.joint_state.effort[i]);
- out.robot_state.joint_state.position.push_back(in.robot_state.joint_state.position[i]);
- out.robot_state.joint_state.velocity.push_back(in.robot_state.joint_state.velocity[i]);
+ for(int i = 0; i < in->robot_state.joint_state.name.size(); i++){
+ if(link.c_str() == in->robot_state.joint_state.name[i].c_str()){
+ out.robot_state.joint_state.effort.push_back(in->robot_state.joint_state.effort[i]);
+ out.robot_state.joint_state.position.push_back(in->robot_state.joint_state.position[i]);
+ out.robot_state.joint_state.velocity.push_back(in->robot_state.joint_state.velocity[i]);
ROS_INFO("check");
}
}
- for(int i = 0; i < in.link_padding.size(); i++){
- if(link.c_str() == in.link_padding[i].link_name.c_str()){
- out.link_padding.push_back(in.link_padding[i]);
+ for(int i = 0; i < in->link_padding.size(); i++){
+ if(link.c_str() == in->link_padding[i].link_name.c_str()){
+ out.link_padding.push_back(in->link_padding[i]);
}
}
- for(int i = 0; i < in.link_scale.size(); i++){
- if(link.c_str() == in.link_scale[i].link_name.c_str()){
- out.link_scale.push_back(in.link_scale[i]);
+ for(int i = 0; i < in->link_scale.size(); i++){
+ if(link.c_str() == in->link_scale[i].link_name.c_str()){
+ out.link_scale.push_back(in->link_scale[i]);
}
}
}
}
-
-
-void Moveit_mediator::parallel_exec(Moveit_robot& mr, moveit_msgs::RobotTrajectory rt){
+
+void Moveit_mediator::parallel_exec(Moveit_robot& mr, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps){
mr.mgi()->execute(rt);
}
-
moveit::task_constructor::Task Moveit_mediator::create_Task(Moveit_robot* mr, moveit_msgs::CollisionObject& source, tf2::Transform& target){
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));
std::string support_surface1 = "nichts";
@@ -1285,14 +1143,6 @@ moveit::task_constructor::Task Moveit_mediator::create_Task(Moveit_robot* mr, mo
place->insert(std::move(stage));
}
- {
- auto stage = std::make_unique<moveit::task_constructor::stages::MoveTo>("close hand", sampling_planner_);
- stage->setGroup(mr->map()["eef_name"]);
- stage->setGoal("close");
- place->insert(std::move(stage));
- }
-
-
// Add place container to task
task_.add(std::move(place));
}
@@ -1309,6 +1159,106 @@ moveit::task_constructor::Task Moveit_mediator::create_Task(Moveit_robot* mr, mo
}
+void Moveit_mediator::rewrite_task_template(Abstract_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target){
+ 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));
+ // unique ids cartesian, samplimg, interpolation, ready, hand_open, pick_up
+
+ std::string support_surface1 = "nichts";
+ std::string support_surface2 = "nichts";
+
+ XmlRpc::XmlRpcValue task;
+ nh_->getParam("task/stages", task);
+
+
+
+ for (Abstract_robot* ar : robots_){
+ std::string str;
+ if(ar->check_single_object_collision(t, str)) support_surface1 = str;
+ if(ar->check_single_object_collision(target, str)) support_surface2= str;
+ }
+
+ Moveit_robot* mr = dynamic_cast<Moveit_robot*>(r);
+
+ ROS_INFO("%f %f %f source", t.getOrigin().getX(), t.getOrigin().getY(), t.getOrigin().getZ());
+
+ ROS_INFO("surface1 %s", support_surface1.c_str());
+ ROS_INFO("surface2 %s", support_surface2.c_str());
+
+
+ nh_->setParam("/task/properties/group", r->name());
+ nh_->setParam("/task/properties/eef", mr->map()["eef"]);
+ nh_->setParam("/task/properties/hand_grasping_frame", mr->map()["hand_grasping_frame"]);
+ nh_->setParam("/task/properties/ik_frame", mr->map()["ik_frame"]);
+ nh_->setParam("/task/properties/hand", mr->map()["hand"]);
+
+ XmlRpc::XmlRpcValue a, b, c, d, e, h;
+ a["group"] = mr->map()["hand"];
+ e["joint_model_group_name"] = mr->map()["hand"];
+
+ b = task[4]["stages"];
+ b[1]["stage"]["properties"]["object"] = source.id;
+ b[3]["properties"] = a;
+ b[2]["set"]["allow_collisions"]["first"] = source.id;
+ b[2]["set"]["allow_collisions"]["second"] = e;
+
+ c = task[6]["stages"];
+
+ c[0]["set"]["allow_collisions"]["first"] = source.id;
+ c[0]["set"]["allow_collisions"]["second"] = support_surface2;
+ c[3]["properties"] = a;
+ c[6]["properties"] = a;
+ c[4]["set"]["allow_collisions"]["first"] = source.id;
+ c[4]["set"]["allow_collisions"]["second"] = e;
+
+ c[2]["stage"]["set"]["pose"]["point"]["x"]= static_cast<double>(target.getOrigin().getX());
+ c[2]["stage"]["set"]["pose"]["point"]["y"]= static_cast<double>(target.getOrigin().getY());
+ c[2]["stage"]["set"]["pose"]["point"]["z"]= static_cast<double>(target.getOrigin().getZ());
+
+
+ task[2]["properties"] = a;
+
+ XmlRpc::XmlRpcValue connect, f, g;
+ f[r->name()] = "sampling";
+ g["source"] = "PARENT";
+ connect["type"] = "Connect";
+ connect["group_planner_vector"] = f;
+ connect["propertiesConfigureInitFrom"] = g;
+ task[5] = connect;
+ task[3] = connect;
+
+ a.clear();
+ e.clear();
+ a["link"] = mr->map()["ik_frame"];
+ a["min_distance"] = 0.07;
+ a["max_distance"] = 0.2;
+ c[5]["properties"] = a;
+ b[0]["properties"] = a;
+ a["min_distance"] = 0.1;
+ a["max_distance"] = 0.2;
+ c[1]["properties"] = a;
+
+ e["object"] = "bottle";
+ e["link"] = mr->map()["ik_frame"];
+ b[4]["set"]["attach_object"] = e;
+ c[4]["set"]["detach_object"] = e;
+ c[2]["set"]["ik_frame"]["link"] = mr->map()["ik_frame"];
+ c[5]["set"]["direction"]["vector"]["header"]["frame_id"] = mr->map()["ik_frame"];
+ b[1]["set"]["ik_frame"]["link"] = mr->map()["ik_frame"];
+ b[6]["set"]["ik_frame"]["link"] = mr->map()["ik_frame"];
+ b[0]["set"]["direction"]["vector"]["header"]["frame_id"] = mr->map()["ik_frame"];
+
+ b[5]["set"]["allow_collisions"]["first"] = source.id;
+ b[5]["set"]["allow_collisions"]["second"] = support_surface1;
+ b[7]["set"]["allow_collisions"]["first"] = source.id;
+ b[7]["set"]["allow_collisions"]["second"] = support_surface1;
+
+ task[6]["stages"] = c;
+ task[4]["stages"] = b;
+
+ nh_->setParam("task/stages", task);
+
+}
+
Moveit_mediator::Moveit_mediator(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub, std::shared_ptr<ros::NodeHandle> const& nh)
: Abstract_mediator(objects, pub), nh_(nh)
, sampling_planner_(std::make_unique<moveit::task_constructor::solvers::PipelinePlanner>())
@@ -1320,6 +1270,7 @@ Moveit_mediator::Moveit_mediator(std::vector<std::vector<tf2::Transform>> object
, job_reader_(std::make_unique<Job_reader>(nh_))
, cuboid_reader_(std::make_unique<Cuboid_reader>(nh)) {
+
if (planning_scene_monitor_->getPlanningScene()){
planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
"planning_scene");
diff --git a/src/mediator/abstract_mediator.cpp b/src/mediator/abstract_mediator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8d08e911548f407636e49ed23eabc0810cee8773
--- /dev/null
+++ b/src/mediator/abstract_mediator.cpp
@@ -0,0 +1,14 @@
+#include "mediator/abstract_mediator.h"
+
+Abstract_mediator::Abstract_mediator(std::shared_ptr<ros::NodeHandle> const& d)
+ : nh_(d)
+ , task_space_reader_(std::make_unique<Ts_reader>(d))
+ {}
+
+pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud(std::vector<pcl::PointXYZ>& vector){
+ pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(new pcl::PointCloud< pcl::PointXYZ >);
+ for(pcl::PointXYZ& point : vector)
+ task_voxel->push_back(point);
+
+ return task_voxel;
+}
diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4162b3c8c04c17e9e949f302fc74724dfa4a1231
--- /dev/null
+++ b/src/mediator/base_calculation_mediator.cpp
@@ -0,0 +1,550 @@
+#include "mediator/base_calculation_mediator.h"
+
+Base_calculation_mediator::Base_calculation_mediator(std::shared_ptr<ros::NodeHandle> const& nh)
+ : Abstract_mediator(nh)
+ , wing_reader_(std::make_unique<Wing_reader>(nh))
+ , robot_reader_(std::make_unique<Robot_reader>(nh))
+ , pub_(std::make_unique<ros::Publisher>(nh->advertise< visualization_msgs::MarkerArray >("visualization_marker_array", 1))){};
+
+void Base_calculation_mediator::generate_grounds(const tf2::Vector3 origin, const float diameter, float resolution){
+ for(int i = 0; i < robots_.size();i++){
+ std::vector<pcl::PointXYZ> ground_plane;
+ for (float x = origin.getX() - diameter * 1.5; x <= origin.getX() + diameter * 1.5; x += resolution){
+ for (float y = origin.getY() - diameter * 1.5; y <= origin.getY() + diameter * 1.5; y += resolution){
+ ground_plane.push_back(pcl::PointXYZ(x,y, robots_[i]->tf().getOrigin().getZ() - 0.0025f));
+ }
+ }
+ grounds_.insert(std::pair<const std::string, std::vector<pcl::PointXYZ>>(robots_[i]->name(), ground_plane));
+ }
+}
+
+void Base_calculation_mediator::connect_robots(std::unique_ptr<Abstract_robot_decorator> robot) {
+ robots_.push_back(std::move(robot));
+ ROS_INFO("%s connected...", robots_.back()->name().c_str());
+}
+
+void Base_calculation_mediator::set_panel(){
+ auto wd = wing_reader_->wing_data();
+
+ for (int i = 0; i < robots_.size(); i++){
+ try{
+ auto ceti_bot = dynamic_cast<Ceti_robot*>(robots_[i]->next());
+ ceti_bot->set_observer_mask(static_cast<wing_config>(wd.at(robots_[i]->name()).second));
+ } catch(const std::out_of_range& oor) {
+ ROS_INFO("No mask data for %s", robots_[i]->name().c_str());
+ }
+ }
+
+ for (int i = 0; i < robots_.size(); i++){
+ auto ceti_bot = dynamic_cast<Ceti_robot*>(robots_[i]->next());
+ std::vector<std::unique_ptr<Abstract_robot_element_decorator>> panels(3);
+
+ for (std::size_t j = 0; j < ceti_bot->observer_mask().size(); j++){
+ if (ceti_bot->observer_mask()[j]){
+ try{
+ tf2::Transform relative_tf = ceti_bot->tf().inverse() * wd.at(ceti_bot->name()).first[j].pose_;
+
+ std::unique_ptr<Abstract_robot_element> panel = std::make_unique<Rviz_panel>(wd.at(robots_[i]->name()).first[j].name_, relative_tf, wd.at(robots_[i]->name()).first[j].size_);
+ std::unique_ptr<Abstract_robot_element_decorator> log = std::make_unique<Log_decorator>(std::move(panel));
+ panels[j] = std::move(log);
+ } catch (std::out_of_range &oor){
+ ROS_INFO("OOR in set_panel");
+ }
+ }
+ }
+ ceti_bot->set_observers(panels);
+ }
+}
+
+bool Base_calculation_mediator::check_collision(const std::string& robot, std::bitset<3>& panel_mask, bool& workload){
+
+ // Visualization workspace definition
+ std::string str;
+ std::stringstream ns;
+ ns << "Targets " << robot;
+
+ // Get Robot reference by name (which is ugly)
+ Ceti_robot* ceti1;
+ for(int i =0; i < robots_.size();i++){
+ if(robots_[i]->name() == robot) {
+ ceti1 = dynamic_cast<Ceti_robot*>(robots_[i]->next());
+ }
+ }
+
+ // prepare map for workload check
+ std::map<std::string, int> workload_map = {{"base_1", 0}};
+ for (std::size_t i = 0; i < panel_mask.size(); i++){
+ if(panel_mask[i] & ceti1->observer_mask()[i]){
+ workload_map.insert(std::pair<std::string, int>(ceti1->observers()[i]->name(), 0));
+ }
+ }
+
+ auto ts = task_space_reader_->drop_off_data();
+ bool succ = true;
+
+ visualization_msgs::MarkerArray ma;
+ try{
+ for(int i = 0; i < ts.at(robot).size(); i++){
+ visualization_msgs::Marker marker;
+ marker.header.frame_id = "map";
+ marker.header.stamp = ros::Time();
+ marker.ns = ns.str();
+ marker.id = i;
+ marker.type = visualization_msgs::Marker::CUBE;
+ marker.action = visualization_msgs::Marker::ADD;
+ marker.pose.position.x = ts.at(robot)[i].pose_.getOrigin().getX();
+ marker.pose.position.y = ts.at(robot)[i].pose_.getOrigin().getY();
+ marker.pose.position.z = ts.at(robot)[i].pose_.getOrigin().getZ();
+ marker.pose.orientation.x = ts.at(robot)[i].pose_.getRotation().getX();
+ marker.pose.orientation.y = ts.at(robot)[i].pose_.getRotation().getY();
+ marker.pose.orientation.z = ts.at(robot)[i].pose_.getRotation().getZ();
+ marker.pose.orientation.w = ts.at(robot)[i].pose_.getRotation().getW();
+ marker.scale.x = ts.at(robot)[i].size_.getX();
+ marker.scale.y = ts.at(robot)[i].size_.getY();
+ marker.scale.z = ts.at(robot)[i].size_.getZ();
+ if(ceti1->check_single_object_collision(ts.at(robot)[i].pose_, str, panel_mask)){
+ try {
+ workload_map.at(str)++;
+ } catch (std::out_of_range& oor) {
+ ROS_INFO("Support surface not in map");
+ workload_map.insert(std::pair<std::string,int>(str,1));
+ }
+ marker.color.r = 0;
+ marker.color.g = 1.0;
+ marker.color.b = 0;
+ marker.color.a = 1;
+ } else {
+ marker.color.r = 1;
+ marker.color.g = 0;
+ marker.color.b = 0;
+ marker.color.a = 1.0;
+ succ = false;
+ }
+ ma.markers.push_back(marker);
+ }
+ } catch(std::out_of_range& oor){
+ ROS_INFO("Collision checking went wrong");
+ }
+ pub_->publish(ma);
+
+ workload = true;
+ for (auto& s_i: workload_map) {
+ if (s_i.second == 0) {
+ workload = false;
+ break;
+ }
+ }
+ return succ;
+}
+
+
+void Base_calculation_mediator::mediate(){
+ generate_grounds(tf2::Vector3(0,0,0), 3.0f, 0.1f);
+
+ // estimate workcells
+ auto ts = task_space_reader_->drop_off_data();
+ std::vector<std::vector<std::string>> wcs;
+ /*
+ for (auto it = ts.begin(); it != ts.end(); it++){
+ std::vector<std::string> wc = {it->first};
+
+ auto itt = std::next(it);
+ for(auto& v1: it->second){
+ ROS_INFO("penis");
+ for (; itt != ts.end(); itt++){
+ for(auto& v2: itt->second){
+ if(tf2::tf2Distance2(v1.pose_.getOrigin(), v2.pose_.getOrigin())){
+ wc.push_back(itt->first);
+ break;
+ }
+ }
+ }
+ }
+ if(wc.size()>1) wcs.push_back(wc);
+ }
+ */
+
+ wcs.push_back(std::vector<std::string>{"panda_arm1", "panda_arm2"}); //assume we have some algorithm
+ std::vector<std::map<const std::string, std::vector<tf2::Transform>>> workcells_with_bases;
+
+
+ for(auto& workcell: wcs){
+ std::map<const std::string, std::vector<tf2::Transform>> ground_projection;
+ for (auto& robot: workcell){
+ std::vector<tf2::Transform> ground_per_robot;
+ pcl::octree::OctreePointCloudSearch< pcl::PointXYZ >cloud(0.4f);
+ try{
+ cloud.setInputCloud(Abstract_mediator::vector_to_cloud(result_vector_.at(robot)));
+ cloud.addPointsFromInputCloud();
+
+ for(pcl::PointXYZ& p : grounds_.at(robot)){
+ double min_x, min_y, min_z, max_x, max_y, max_z;
+ cloud.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);
+ bool isInBox = (p.x >= min_x && p.x <= max_x) && (p.y >= min_y && p.y <= max_y) && (p.z >= min_z && p.z <= max_z);
+ if (isInBox && cloud.isVoxelOccupiedAtPoint(p)) {
+ std::vector< int > pointIdxVec;
+ if (cloud.voxelSearch(p, pointIdxVec)) ground_per_robot.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(p.x, p.y, p.z)));
+ }
+ }
+ } catch (std::out_of_range& oor) {
+ ROS_INFO("No result for robot");
+ ros::shutdown();
+ }
+ ground_projection.insert(std::pair<const std::string, std::vector<tf2::Transform>>(robot,ground_per_robot));
+ }
+ workcells_with_bases.push_back(ground_projection);
+ }
+
+ ROS_INFO("assigne result to first robot...");
+ for(auto& wc: workcells_with_bases){
+ calculate(wc);
+ }
+
+ /* filter task space to fit setting (shared space), fix that */
+ /*
+ for( int i = 0; i < task_space_reader_->drop_off_data().at(robot).size(); i++){
+ if(i+1 < task_space_reader_->drop_off_data().at(robot).size()){
+
+ }
+ }
+ }
+ }
+ */
+}
+
+void Base_calculation_mediator::calculate(std::map<const std::string, std::vector<tf2::Transform>>& workcell){
+ std::stringstream protobuf; //!< string representing the
+
+
+ visualization_msgs::MarkerArray ma;
+ for (auto& s_pos : workcell){
+ Ceti_robot* ceti1;
+ for(int i =0; i < robots_.size();i++){
+ if(robots_[i]->name() == s_pos.first) {
+ ceti1 = dynamic_cast<Ceti_robot*>(robots_[i]->next());
+ }
+ }
+
+ visualization_msgs::Marker m;
+ m.header.frame_id = "map";
+ m.header.stamp = ros::Time();
+ ROS_INFO("pimmel0");
+ m.ns = ceti1->name();
+ m.id = 1;
+ m.type = visualization_msgs::Marker::CUBE;
+ m.action = visualization_msgs::Marker::ADD;
+ m.pose.position.x = ceti1->tf().getOrigin().getX();
+ m.pose.position.y = ceti1->tf().getOrigin().getY();
+ m.pose.position.z = ceti1->tf().getOrigin().getZ();
+ m.pose.orientation.x = ceti1->tf().getRotation().getX();
+ m.pose.orientation.y = ceti1->tf().getRotation().getY();
+ m.pose.orientation.z = ceti1->tf().getRotation().getZ();
+ m.pose.orientation.w = ceti1->tf().getRotation().getW();
+
+ m.scale.x = ceti1->size().getX();
+ m.scale.y = ceti1->size().getY();
+ m.scale.z = ceti1->tf().getOrigin().getZ()*2;
+ m.color.r = 1.0;
+ m.color.g = 1.0;
+ m.color.b = 1.0;
+ m.color.a = 1.0;
+
+ for (std::size_t k = 0; k < ceti1->observer_mask().size(); k++){
+ if(ceti1->observer_mask()[k]){
+ auto wrd = dynamic_cast<Rviz_panel*>(ceti1->observers()[k]->next());
+ ma.markers.push_back(wrd->marker());
+ }
+ }
+
+
+ ma.markers.push_back(m);
+ pub_->publish(ma);
+ ma.markers.clear();
+
+ for(int j = 0; j <= 7; j++){
+ std::bitset<3> wing_config(j);
+ for (long unsigned int i = 0; i < s_pos.second.size(); i++){
+ ceti1->set_tf(s_pos.second[i]);
+ for ( float p = 0; p < 2*M_PI; p += 0.0872665f){
+ ceti1->rotate(0.0872665f);
+ ceti1->notify();
+ m.action = visualization_msgs::Marker::MODIFY;
+ m.pose.position.x = ceti1->tf().getOrigin().getX();
+ m.pose.position.y = ceti1->tf().getOrigin().getY();
+ m.pose.position.z = ceti1->tf().getOrigin().getZ();
+ m.pose.orientation.x = ceti1->tf().getRotation().getX();
+ m.pose.orientation.y = ceti1->tf().getRotation().getY();
+ m.pose.orientation.z = ceti1->tf().getRotation().getZ();
+ m.pose.orientation.w = ceti1->tf().getRotation().getW();
+ ma.markers.push_back(m);
+
+ for (std::size_t k = 0; k < ceti1->observer_mask().size(); k++){
+ if(ceti1->observer_mask()[k] & wing_config[k]){
+ auto wrd = dynamic_cast<Rviz_panel*>(ceti1->observers()[k]->next());
+ ma.markers.push_back(wrd->marker());
+ }
+ }
+ pub_->publish(ma);
+ ma.markers.clear();
+
+ bool workload;
+ bool target_collisions = check_collision(s_pos.first, wing_config, workload);
+ }
+ }
+ }
+ m.action = visualization_msgs::Marker::DELETEALL;
+ ma.markers.push_back(m);
+ pub_->publish(ma);
+ ma.markers.clear();
+ }
+
+}
+
+void Base_calculation_mediator::approximation(Ceti_robot* robot){
+ auto ceti1 = dynamic_cast<Ceti_robot*>(robots_[1].get());
+ int r1 = 1;
+
+ visualization_msgs::MarkerArray ma;
+
+ for (int i = 0; i <= 7; i++){
+ std::bitset<3> wing_config(i);
+ build_wings(wing_config, r1);
+
+ visualization_msgs::Marker m;
+ m.header.frame_id = "map";
+ m.header.stamp = ros::Time();
+ m.ns = ceti1->name();
+ m.id = 1;
+ m.type = visualization_msgs::Marker::CUBE;
+ m.action = visualization_msgs::Marker::ADD;
+ m.pose.position.x = ceti1->tf().getOrigin().getX();
+ m.pose.position.y = ceti1->tf().getOrigin().getY();
+ m.pose.position.z = ceti1->tf().getOrigin().getZ();
+ m.pose.orientation.x = ceti1->tf().getRotation().getX();
+ m.pose.orientation.y = ceti1->tf().getRotation().getY();
+ m.pose.orientation.z = ceti1->tf().getRotation().getZ();
+ m.pose.orientation.w = ceti1->tf().getRotation().getW();
+ m.scale.x = ceti1->size().getX();
+ m.scale.y = ceti1->size().getY();
+ m.scale.z = ceti1->tf().getOrigin().getZ()*2;
+ m.color.r = 1.0;
+ m.color.g = 1.0;
+ m.color.b = 1.0;
+ m.color.a = 1.0;
+ ma.markers.push_back(m);
+ pub_->publish(ma);
+ ma.markers.clear();
+
+ for (int i = 0 ; i < robot->access_fields().size(); i++) {
+ ceti1->set_tf(robot->access_fields()[i]->world_tf());
+ //ROS_INFO("field size %i", robot->access_fields().size());
+ for ( float p = 0; p < 2*M_PI; p += M_PI/2){
+ ceti1->rotate(M_PI/2);
+ ceti1->notify();
+
+ m.action = visualization_msgs::Marker::MODIFY;
+ m.pose.position.x = ceti1->tf().getOrigin().getX();
+ m.pose.position.y = ceti1->tf().getOrigin().getY();
+ m.pose.position.z = ceti1->tf().getOrigin().getZ();
+ m.pose.orientation.x = ceti1->tf().getRotation().getX();
+ m.pose.orientation.y = ceti1->tf().getRotation().getY();
+ m.pose.orientation.z = ceti1->tf().getRotation().getZ();
+ m.pose.orientation.w = ceti1->tf().getRotation().getW();
+ ma.markers.push_back(m);
+
+ for(int j = 0; j < ceti1->observers().size(); j++){
+ auto wrd = dynamic_cast<Rviz_panel*>(ceti1->observers()[j].get());
+ ma.markers.push_back(wrd->marker());
+ }
+
+ pub_->publish(ma);
+ ma.markers.clear();
+ if (robot->in_collision(ceti1)) continue;
+
+
+
+ }
+
+ //relative_ground.push_back(pcl::PointXYZ(fields->world_tf().getOrigin().getX(), fields->world_tf().getOrigin().getY(), fields->world_tf().getOrigin().getZ()));
+ }
+ ceti1->reset();
+ m.action = visualization_msgs::Marker::DELETEALL;
+ ma.markers.push_back(m);
+ pub_->publish(ma);
+ ma.markers.clear();
+ }
+}
+
+
+void Base_calculation_mediator::write_file(Ceti_robot* A, Ceti_robot* B){
+ std::ofstream o(ros::package::getPath("multi_cell_builder") + "/results/" + dirname_ + "/" + std::to_string(static_cast<int>(ros::Time::now().toNSec())) + ".yaml");
+ double r,p,y;
+ tf2::Matrix3x3 m(A->tf().getRotation());
+ m.getRPY(r,p,y);
+
+
+ float size_x = A->size().getX();
+ float size_y = A->size().getY();
+ float size_z = A->size().getZ();
+
+ float pos_x = A->tf().getOrigin().getX();
+ float pos_y = A->tf().getOrigin().getY();
+ float pos_z = A->tf().getOrigin().getZ() *2 ;
+ float rot_x = A->tf().getRotation().getX();
+ float rot_y = A->tf().getRotation().getY();
+ float rot_z = A->tf().getRotation().getZ();
+ float rot_w = A->tf().getRotation().getW();
+
+
+
+
+
+ std::stringstream ss;
+ ss << "{ 'objects' : [ \n";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_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";
+ ss << "{ 'id' : 'table" << A->name().back() << "_table_top', 'pos': { 'x': " << std::to_string(pos_x) << " , 'y': "<< std::to_string(pos_y) << " , 'z': "<< std::to_string(pos_z) << " },'size': { 'length': "<< std::to_string(size_x) << " ,'width': "<< std::to_string(size_y) << " ,'height': "<< std::to_string(size_z) << " },'orientation': { 'x': " << std::to_string(rot_x) << " , 'y': " << std::to_string(rot_y) << " , 'z': " << std::to_string(rot_z) << " , 'w': " << std::to_string(rot_w) << " },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': " << std::to_string(r) << " , 'p': " << std::to_string(p) << " , 'y': " << std::to_string(y) << " } },\n";
+
+ m.setRotation(B->tf().getRotation());
+ m.getRPY(r,p,y);
+
+ size_x = B->size().getX();
+ size_y = B->size().getY();
+ size_z = B->size().getZ();
+
+ pos_x = B->tf().getOrigin().getX();
+ pos_y = B->tf().getOrigin().getY();
+ pos_z = B->tf().getOrigin().getZ() *2 ;
+ rot_x = B->tf().getRotation().getX();
+ rot_y = B->tf().getRotation().getY();
+ rot_z = B->tf().getRotation().getZ();
+ rot_w = B->tf().getRotation().getW();
+
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_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";
+ ss << "{ 'id' : 'table" << B->name().back() << "_table_top', 'pos': { 'x': " << std::to_string(pos_x) << ", 'y': "<< std::to_string(pos_y) << ", 'z': "<< std::to_string(pos_z) << " },'size': { 'length': "<< std::to_string(size_x) << " ,'width': "<< std::to_string(size_y) << " ,'height': "<< std::to_string(size_z) << " },'orientation': { 'x': " << std::to_string(rot_x) << " , 'y': " << std::to_string(rot_y) << " , 'z': " << std::to_string(rot_z) << " , 'w': " << std::to_string(rot_w) << " },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': " << std::to_string(r) << ", 'p': " << std::to_string(p) << ", 'y': " << std::to_string(y) << "}},\n";
+
+
+ for (int i = 0; i < A->observers().size(); i++){
+ float x = A->observers()[i]->world_tf().getOrigin().getX();
+ float y = A->observers()[i]->world_tf().getOrigin().getY();
+ float z = A->observers()[i]->world_tf().getOrigin().getZ();
+ float qx = A->observers()[i]->world_tf().getRotation().getX();
+ float qy = A->observers()[i]->world_tf().getRotation().getY();
+ float qz = A->observers()[i]->world_tf().getRotation().getZ();
+ float qw = A->observers()[i]->world_tf().getRotation().getW();
+
+ float length = A->observers()[i]->size().getX();
+ float width = A->observers()[i]->size().getY();
+ float height = A->observers()[i]->size().getZ();
+
+ ss << "{ 'id': '" << A->observers()[i]->name() << "' , 'pos': { 'x': "<< std::to_string(x) << " , 'y': "<< std::to_string(y) << " , 'z': "<< std::to_string(z - 0.25*height) << " } , 'size': { 'length': "<< std::to_string(length) << " , 'width': "<< std::to_string(width) << " , 'height': "<< std::to_string(height) << " } , 'orientation': { 'x': "<< std::to_string(qx) << " , 'y': "<< std::to_string(qy) << " , 'z': "<< std::to_string(qz) << " , 'w': "<< std::to_string(qw) << " } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, \n";
+ }
+
+
+ for (int i = 0; i < B->observers().size(); i++){
+ float x = B->observers()[i]->world_tf().getOrigin().getX();
+ float y = B->observers()[i]->world_tf().getOrigin().getY();
+ float z = B->observers()[i]->world_tf().getOrigin().getZ();
+ float qx = B->observers()[i]->world_tf().getRotation().getX();
+ float qy = B->observers()[i]->world_tf().getRotation().getY();
+ float qz = B->observers()[i]->world_tf().getRotation().getZ();
+ float qw = B->observers()[i]->world_tf().getRotation().getW();
+
+ float length = B->observers()[i]->size().getX();
+ float width = B->observers()[i]->size().getY();
+ float height = B->observers()[i]->size().getZ();
+
+
+ ss << "{ 'id': '" << B->observers()[i]->name() << "', 'pos': { 'x': "<< std::to_string(x) << ", 'y': "<< std::to_string(y) << " , 'z': "<< std::to_string(z - 0.25*height) << " },'size': { 'length': "<< std::to_string(length) << ",'width': "<< std::to_string(width) << ",'height': "<< std::to_string(height) << " },'orientation': { 'x': "<< std::to_string(qx) << ", 'y': "<< std::to_string(qy) << ", 'z': "<< std::to_string(qz) << ", 'w': "<< std::to_string(qw) << " },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } }, \n";
+ }
+ tf2::Transform tf_arm = A->tf() * A->root_tf();
+ float arm_x = tf_arm.getOrigin().getX();
+ float arm_y = tf_arm.getOrigin().getY();
+ float arm_z = tf_arm.getOrigin().getZ();
+ float arm_qx = tf_arm.getRotation().getX();
+ float arm_qy = tf_arm.getRotation().getY();
+ float arm_qz = tf_arm.getRotation().getZ();
+ float arm_qw = tf_arm.getRotation().getW();
+
+ ss << "{ 'id': 'arm" << A->name().back() << "','type': 'ARM','pos': { 'x': " << std::to_string(arm_x) << ", 'y': " << std::to_string(arm_y) << ", 'z': 0.89 },'size': { },'orientation': { 'x': " << std::to_string(arm_qx) <<", 'y': " << std::to_string(arm_qy) << ", 'z': " << std::to_string(arm_qz) << ", 'w': " << std::to_string(arm_qw) << " },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, \n";
+
+ tf_arm = B->tf() * B->root_tf();
+ arm_x = tf_arm.getOrigin().getX();
+ arm_y = tf_arm.getOrigin().getY();
+ arm_z = tf_arm.getOrigin().getZ();
+ arm_qx = tf_arm.getRotation().getX();
+ arm_qy = tf_arm.getRotation().getY();
+ arm_qz = tf_arm.getRotation().getZ();
+ arm_qw = tf_arm.getRotation().getW();
+
+ ss << "{ 'id': 'arm" << B->name().back() << "','type': 'ARM','pos': { 'x': " << std::to_string(arm_x) << ", 'y': " << std::to_string(arm_y) << ", 'z': 0.89 },'size': { },'orientation': { 'x': " << std::to_string(arm_qx) <<", 'y': " << std::to_string(arm_qy) << ", 'z': " << std::to_string(arm_qz) << ", 'w': " << std::to_string(arm_qw) << " },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } \n";
+
+ ss << "]}";
+
+ o << ss.str();
+ o.close();
+
+}
+
+void Base_calculation_mediator::build_wings(std::bitset<3>& wing, int& robot){
+ auto ceti = dynamic_cast<Ceti_robot*>(robots_[robot].get());
+ std::bitset<3> result = ceti->observer_mask() & wing;
+
+ for (std::size_t i = 0; i < result.size(); i++){
+ if (result[i]){
+ ceti->register_observers(std::move(wings_[robot][i]));
+ }
+ }
+
+ visualization_msgs::MarkerArray ma;
+ for (int i = 0; i < ceti->observers().size(); i++){
+ auto wrd = dynamic_cast<Rviz_panel*>(ceti->observers()[i].get());
+ wrd->marker().action = visualization_msgs::Marker::ADD;
+ ma.markers.push_back(wrd->marker());
+ }
+ pub_->publish(ma);
+}
+
+void Base_calculation_mediator::publish(Ceti_robot* ar){
+ visualization_msgs::MarkerArray ma;
+ visualization_msgs::Marker marker;
+ marker.header.frame_id = "map";
+ marker.header.stamp = ros::Time();
+ marker.ns = ar->name();
+ marker.id = 1;
+ marker.type = visualization_msgs::Marker::CUBE;
+ marker.action = visualization_msgs::Marker::MODIFY;
+ marker.pose.position.x = ar->tf().getOrigin().getX();
+ marker.pose.position.y = ar->tf().getOrigin().getY();
+ marker.pose.position.z = ar->tf().getOrigin().getZ();
+ marker.pose.orientation.x = ar->tf().getRotation().getX();
+ marker.pose.orientation.y = ar->tf().getRotation().getY();
+ marker.pose.orientation.z = ar->tf().getRotation().getZ();
+ marker.pose.orientation.w = ar->tf().getRotation().getW();
+ marker.scale.x = ar->size().getX();
+ marker.scale.y = ar->size().getY();
+ marker.scale.z = ar->size().getZ();
+ marker.color.r = 1.0;
+ marker.color.g = 1.0;
+ marker.color.b = 1.0;
+ marker.color.a = 1.0;
+ for (int i = 0; i < ar->observers().size(); i++){
+ auto wrd = dynamic_cast<Rviz_panel*>(ar->observers()[i].get());
+ ma.markers.push_back(wrd->marker());
+ }
+
+ //pub_->publish(ma);
+}
diff --git a/src/reader/map_reader.cpp b/src/reader/map_reader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0fedf2819b0cc470a50b07ad899be49b5cda57d9
--- /dev/null
+++ b/src/reader/map_reader.cpp
@@ -0,0 +1,26 @@
+#include "reader/map_reader.h"
+
+void Map_reader::read(){
+ XmlRpc::XmlRpcValue resources;
+ nh_->getParam("/data", resources);
+
+ std::vector<tf2::Transform> map_data;
+ ROS_INFO("--- MAP_READER ---");
+
+
+ for(int i = 0; i < resources.size(); i++){
+ tf2::Vector3 pos;
+ tf2::Quaternion rot;
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"])) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
+ map_data.push_back(tf2::Transform(rot, pos));
+ }
+
+ set_map_data(map_data);
+}
diff --git a/src/reader/ts_reader.cpp b/src/reader/ts_reader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a827566a3c838141efeccbc7d895e4bcd1df53c5
--- /dev/null
+++ b/src/reader/ts_reader.cpp
@@ -0,0 +1,74 @@
+#include "reader/ts_reader.h"
+
+void Ts_reader::read(){
+ std::string filename = "dummy.yaml";
+ //nh_->getParam("/resource_name", filename);
+
+ XmlRpc::XmlRpcValue resources;
+ nh_->getParam("/objects", resources);
+
+ std::vector<object_data> robot_middle;
+ std::vector<object_data>* robot_pointer = nullptr;
+
+
+ std::regex rx("table([0-9]+)_table_top");
+ std::smatch match;
+
+ ROS_INFO("--- TASK_SPACE_READER ---");
+ std::map<const std::string, std::vector<object_data>> map;
+
+ for(int i = 0; i < resources.size(); i++){
+ std::string str = resources[i]["id"];
+ if (std::regex_match(str, match, rx)){
+ std::stringstream ss;
+ ss << "panda_arm" << match[1].str().c_str();
+ map.insert(std::make_pair<const std::string, std::vector<object_data>>(ss.str().c_str(), std::vector<object_data>()));
+ }
+ }
+
+ for (int i = 0; i < resources.size(); i++){
+ if (resources[i]["type"] == "DROP_OFF_LOCATION"){
+ std::string str = resources[i]["id"];
+ if(str[0] == 'A') robot_pointer = &map.at("panda_arm1");
+ if(str[0] == 'B') robot_pointer = &map.at("panda_arm1");
+ if(str[0] == 'C') robot_pointer = &map.at("panda_arm1");
+ if(str[0] == 'D') robot_pointer = &map.at("panda_arm1");
+ if(str[0] == 'E') robot_pointer = &robot_middle;
+ if(str[0] == 'F') robot_pointer = &robot_middle;
+ if(str[0] == 'G') robot_pointer = &map.at("panda_arm2");
+ if(str[0] == 'H') robot_pointer = &map.at("panda_arm2");
+ if(str[0] == 'I') robot_pointer = &map.at("panda_arm2");
+ if(str[0] == 'J') robot_pointer = &map.at("panda_arm2");
+
+ if (robot_pointer){
+ tf2::Vector3 pos(0,0,0);
+ tf2::Quaternion rot(0,0,0,1);
+ tf2::Vector3 size(0,0,0);
+
+ (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"])) :pos.setZ(0);
+
+ (resources[i]["orientation"].hasMember("x")) ? pos.setZ(float_of(resources[i]["orientation"]["x"])) :pos.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? pos.setZ(float_of(resources[i]["orientation"]["y"])) :pos.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? pos.setZ(float_of(resources[i]["orientation"]["z"])) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? pos.setZ(float_of(resources[i]["orientation"]["w"])) :pos.setW(0);
+
+ robot_pointer->push_back({"", tf2::Transform(rot, pos), size});
+ }
+ }
+ robot_pointer = nullptr;
+ }
+
+ for(auto& robot: map){
+ for(object_data& tf : robot_middle){
+ robot.second.push_back(tf);
+ }
+ }
+
+ set_drop_off_data(map);
+}
\ No newline at end of file
diff --git a/src/reader/wing_reader.cpp b/src/reader/wing_reader.cpp
index 0af4e425971000a8c8b77b799f2896cc4930ed92..d88a9b9d213d1f55184bf456afab14e49904e2c5 100644
--- a/src/reader/wing_reader.cpp
+++ b/src/reader/wing_reader.cpp
@@ -7,127 +7,165 @@ void Wing_reader::read(){
std::regex rx("table([0-9]+)_table_top");
std::smatch match;
+ std::map<const std::string, std::pair<std::vector<object_data>, int>> map;
+
ROS_INFO("--- WING_READER ---");
- for(int i = 0; i < resources.size(); i++){
- std::string str = resources[i]["id"];
- if(std::regex_match(str, match, rx)){
- std::vector<object_data> wd;
- wd.push_back({"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});
- wd.push_back({"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});
- wd.push_back({"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});
- std::pair<std::vector<object_data>, int> pair;
- pair.first = wd;
- pair.second = 0;
- wing_data_.push_back(pair);
- }
+ try{
+ for(int i = 0; i < resources.size(); i++){
+ std::string str = resources[i]["id"];
+ if(std::regex_match(str, match, rx)){
+ std::stringstream ss;
+ ss << "panda_arm" << match[1].str().c_str();
+ std::vector<object_data> wd;
+ wd.push_back({"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});
+ wd.push_back({"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});
+ wd.push_back({"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0)), tf2::Vector3(0,0,0)});
+ map.insert(std::pair<const std::string, std::pair<std::vector<object_data>, int>>(ss.str(), {wd, 0}));
+ }
+ }
+ } catch (const XmlRpc::XmlRpcException& xre) {
+ ROS_INFO("Iteration error in Blueprint initialization");
+ ros::shutdown();
}
rx.assign("table([0-9]+)_right_panel");
- for(int i = 0; i < resources.size(); i++){
- std::string str = resources[i]["id"];
- if (std::regex_match(str, match, rx)){
- ROS_INFO("=> WING: description found, loading...");
- tf2::Vector3 pos;
- tf2::Vector3 size;
- tf2::Quaternion rot;
-
-
- (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
- (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
- (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
-
- (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
- (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
- (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
- (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
- (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
- (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
- (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
-
- ROS_INFO("--- Wing %s ---", str.c_str());
- ROS_INFO("=> WING: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
- ROS_INFO("=> WING: orientation('%f', '%f', '%f', '%f')", rot.getX(), rot.getY(), rot.getZ(), rot.getW());
- ROS_INFO("=> WING: size('%f', '%f', '%f')", size.getX(), size.getY(), size.getZ());
-
-
- wing_data_[std::atoi(match[1].str().c_str())-1].first[0].name_ = str.c_str();
- wing_data_[std::atoi(match[1].str().c_str())-1].first[0].pose_ = tf2::Transform(rot.normalized(), pos); // mediator->robots()[0]->tf().inverse() *
- wing_data_[std::atoi(match[1].str().c_str())-1].first[0].size_ = size;
- wing_data_[std::atoi(match[1].str().c_str())-1].second += std::pow(2, 0);
+ try{
+ for(int i = 0; i < resources.size(); i++){
+ std::string str = resources[i]["id"];
+ if (std::regex_match(str, match, rx)){
+ std::stringstream ss;
+ ss << "panda_arm" << match[1].str().c_str();
+
+ ROS_INFO("=> WING: description found, loading...");
+ tf2::Vector3 pos;
+ tf2::Vector3 size;
+ tf2::Quaternion rot;
+
+ (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
+
+ ROS_INFO("--- Wing %s ---", str.c_str());
+ ROS_INFO("=> WING: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
+ ROS_INFO("=> WING: orientation('%f', '%f', '%f', '%f')", rot.getX(), rot.getY(), rot.getZ(), rot.getW());
+ ROS_INFO("=> WING: size('%f', '%f', '%f')", size.getX(), size.getY(), size.getZ());
+
+ try {
+ map.at(ss.str()).first[0].name_ = str.c_str();
+ map.at(ss.str()).first[0].pose_ = tf2::Transform(rot.normalized(), pos);
+ map.at(ss.str()).first[0].size_ = size;
+ map.at(ss.str()).second += std::pow(2, 0);
+ } catch (const std::out_of_range& oor) {
+ ROS_INFO("Found panel for unknown robot");
+ }
+ }
}
+ } catch (const XmlRpc::XmlRpcException& xre){
+ ROS_INFO("Iteration error in right panel search");
+ ros::shutdown();
}
- rx.assign("table([0-9]+)_front_panel");
- for(int i = 0; i < resources.size(); i++){
- std::string str = resources[i]["id"];
- if (std::regex_match(str, match, rx)){
- ROS_INFO("=> WING: description found, loading...");
- tf2::Vector3 pos;
- tf2::Vector3 size;
- tf2::Quaternion rot;
-
-
- (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
- (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
- (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
-
- (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
- (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
- (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
- (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
- (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
- (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
- (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
-
- ROS_INFO("--- Wing %s ---", str.c_str());
- ROS_INFO("=> WING: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
- ROS_INFO("=> WING: orientation('%f', '%f', '%f', '%f')", rot.getX(), rot.getY(), rot.getZ(), rot.getW());
- ROS_INFO("=> WING: size('%f', '%f', '%f')", size.getX(), size.getY(), size.getZ());
-
-
- wing_data_[std::atoi(match[1].str().c_str())-1].first[1].name_ = str.c_str();
- wing_data_[std::atoi(match[1].str().c_str())-1].first[1].pose_ = tf2::Transform(rot.normalized(), pos); // mediator->robots()[0]->tf().inverse() *
- wing_data_[std::atoi(match[1].str().c_str())-1].first[1].size_ = size;
- wing_data_[std::atoi(match[1].str().c_str())-1].second += std::pow(2, 1);
-
+ rx.assign("table([0-9]+)_front_panel");
+ try {
+ for(int i = 0; i < resources.size(); i++){
+ std::string str = resources[i]["id"];
+ if (std::regex_match(str, match, rx)){
+ std::stringstream ss;
+ ss << "panda_arm" << match[1].str().c_str();
+
+ ROS_INFO("=> WING: description found, loading...");
+ tf2::Vector3 pos;
+ tf2::Vector3 size;
+ tf2::Quaternion rot;
+
+
+ (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
+
+ ROS_INFO("--- Wing %s ---", str.c_str());
+ ROS_INFO("=> WING: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
+ ROS_INFO("=> WING: orientation('%f', '%f', '%f', '%f')", rot.getX(), rot.getY(), rot.getZ(), rot.getW());
+ ROS_INFO("=> WING: size('%f', '%f', '%f')", size.getX(), size.getY(), size.getZ());
+
+ try {
+ map.at(ss.str()).first[1].name_ = str.c_str();
+ map.at(ss.str()).first[1].pose_ = tf2::Transform(rot.normalized(), pos);
+ map.at(ss.str()).first[1].size_ = size;
+ map.at(ss.str()).second += std::pow(2, 1);
+ } catch (const std::out_of_range& oor) {
+ ROS_INFO("Found panel for unknown robot");
+ }
+ }
}
+ } catch(const XmlRpc::XmlRpcException& xre){
+ ROS_INFO("Iteration error in front panel search");
+ ros::shutdown();
}
- rx.assign("table([0-9]+)_left_panel");
- for(int i = 0; i < resources.size(); i++){
- std::string str = resources[i]["id"];
- if (std::regex_match(str, match, rx)){
- ROS_INFO("=> WING: description found, loading...");
- tf2::Vector3 pos;
- tf2::Vector3 size;
- tf2::Quaternion rot;
-
-
- (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
- (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
- (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
-
- (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
- (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
- (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
- (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
- (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
- (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
- (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
-
- ROS_INFO("--- Wing %s ---", str.c_str());
- ROS_INFO("=> WING: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
- ROS_INFO("=> WING: orientation('%f', '%f', '%f', '%f')", rot.getX(), rot.getY(), rot.getZ(), rot.getW());
- ROS_INFO("=> WING: size('%f', '%f', '%f')", size.getX(), size.getY(), size.getZ());
-
-
- wing_data_[std::atoi(match[1].str().c_str())-1].first[2].name_ = str.c_str();
- wing_data_[std::atoi(match[1].str().c_str())-1].first[2].pose_ = tf2::Transform(rot.normalized(), pos); // mediator->robots()[0]->tf().inverse() *
- wing_data_[std::atoi(match[1].str().c_str())-1].first[2].size_ = size;
- wing_data_[std::atoi(match[1].str().c_str())-1].second += std::pow(2, 2);
+ rx.assign("table([0-9]+)_left_panel");
+ try{
+ for(int i = 0; i < resources.size(); i++){
+ std::string str = resources[i]["id"];
+ if (std::regex_match(str, match, rx)){
+ std::stringstream ss;
+ ss << "panda_arm" << match[1].str().c_str();
+
+ ROS_INFO("=> WING: description found, loading...");
+ tf2::Vector3 pos;
+ tf2::Vector3 size;
+ tf2::Quaternion rot;
+
+
+ (resources[i]["size"].hasMember("length")) ? size.setX(float_of(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(float_of(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(float_of(resources[i]["size"]["height"])) :size.setZ(0);
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(float_of(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(float_of(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(float_of(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(float_of(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(float_of(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(float_of(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(float_of(resources[i]["orientation"]["w"])) :rot.setW(0);
+
+ ROS_INFO("--- Wing %s ---", str.c_str());
+ ROS_INFO("=> WING: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
+ ROS_INFO("=> WING: orientation('%f', '%f', '%f', '%f')", rot.getX(), rot.getY(), rot.getZ(), rot.getW());
+ ROS_INFO("=> WING: size('%f', '%f', '%f')", size.getX(), size.getY(), size.getZ());
+
+ try {
+ map.at(ss.str()).first[2].name_ = str.c_str();
+ map.at(ss.str()).first[2].pose_ = tf2::Transform(rot.normalized(), pos);
+ map.at(ss.str()).first[2].size_ = size;
+ map.at(ss.str()).second += std::pow(2, 2);
+ } catch (const std::out_of_range& oor) {
+ ROS_INFO("Found panel for unknown robot");
+ }
+ }
}
+ } catch(const XmlRpc::XmlRpcException& xre){
+ ROS_INFO("Iteration error in left panel search");
+ ros::shutdown();
}
+ set_wing_data(map);
}
diff --git a/src/robot/abstract_robot.cpp b/src/robot/abstract_robot.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3a36b22341c820de68f0936dcf4bbf5d55d2aabd
--- /dev/null
+++ b/src/robot/abstract_robot.cpp
@@ -0,0 +1,27 @@
+#include "robot/abstract_robot.h"
+
+
+Abstract_robot::Abstract_robot(std::string name, tf2::Transform tf, tf2::Vector3 size)
+: name_(name)
+, tf_(tf)
+, size_(size){
+ root_tf_= tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.22f, 0, tf.getOrigin().getZ()));
+
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( size.getX(), size.getY(), tf.getOrigin().getZ()))); // ++
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-size.getX(), size.getY(), tf.getOrigin().getZ()))); // +-
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-size.getX(), -size.getY(), tf.getOrigin().getZ()))); //-+
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( size.getX(), -size.getY(), tf.getOrigin().getZ()))); // --
+
+ // root
+ robot_root_bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, 0.095f, 0))); // ++
+ robot_root_bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, 0.095f, 0))); // +-
+ robot_root_bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));
+ robot_root_bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 0)));
+}
+
+float Abstract_robot::area_calculation(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C){
+ return std::abs(
+ (B.getOrigin().getX() * A.getOrigin().getY()) - (A.getOrigin().getX() * B.getOrigin().getY()) +
+ (C.getOrigin().getX() * B.getOrigin().getY()) - (B.getOrigin().getX() * C.getOrigin().getY()) +
+ (A.getOrigin().getX() * C.getOrigin().getY()) - (C.getOrigin().getX() * A.getOrigin().getY()))*0.5f;
+}
\ No newline at end of file
diff --git a/src/robot/ceti_robot.cpp b/src/robot/ceti_robot.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..25231c5da9dc76541e8c2a83d7851910ba98ad32
--- /dev/null
+++ b/src/robot/ceti_robot.cpp
@@ -0,0 +1,181 @@
+#include "robot/ceti_robot.h"
+#include <regex>
+
+Ceti_robot::Ceti_robot(std::string& name, tf2::Transform tf, tf2::Vector3 size)
+: Abstract_robot(name, tf, size)
+, observer_mask_(std::bitset<3>(0))
+{
+ generate_access_fields();
+}
+
+
+
+void Ceti_robot::generate_access_fields(){
+ for (int i = 0; i <= 2; i++){
+ for (int j = 0; j <= 2; j++){
+ if(i == 0 && j == 0) {continue;}
+ if(i == 2 && j == 2) {continue;}
+ if(i == 0) {
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,size_.getY()*j,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-size_.getY()*j,0))));
+ } else if (j == 0){
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()*i,0,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-size_.getX()*i,0,0))));
+ } else {
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()*i,size_.getY()*j,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-size_.getX()*i,size_.getY()*j,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()*i,-size_.getY()*j,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-size_.getX()*i,-size_.getY()*j,0))));
+ }
+
+ };
+ };
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1.305f,0,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-1.305f,0,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,1.305f,0))));
+ access_fields_.push_back(std::make_unique<Field>(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-1.305f,0))));
+}
+
+bool Ceti_robot::check_single_object_collision(tf2::Transform& obj, std::string& str, std::bitset<3>& panel_mask){
+
+ // 1. Root joint check
+ tf2::Transform A = tf_ * root_tf_ * robot_root_bounds_[0];
+ tf2::Transform B = tf_ * root_tf_ * robot_root_bounds_[1];
+ tf2::Transform C = tf_ * root_tf_ * robot_root_bounds_[2];
+ tf2::Transform D = tf_ * root_tf_ * robot_root_bounds_[3];
+
+ float full_area = area_calculation(A,B,C) + area_calculation(A,D,C);
+ float sum = area_calculation(A,obj,D) + area_calculation(D,obj,C) + area_calculation(C,obj,B) + area_calculation(obj, B, A);
+ if ((std::floor(sum*100)/100.f) <= full_area) {return false; }
+
+ // 2. table_top check
+ std::stringstream ss;
+ std::regex rx("panda_arm([0-9]+)");
+ std::smatch match;
+ std::regex_match(str, match, rx);
+
+ ss << "base_" << match[1];
+ A = tf_ * bounds_[0];
+ B = tf_ * bounds_[1];
+ C = tf_ * bounds_[2];
+ D = tf_ * bounds_[3];
+
+ full_area = area_calculation(A,B,C) + area_calculation(A,D,C);
+ sum = area_calculation(A,obj,D) + area_calculation(D,obj,C) + area_calculation(C,obj,B) + area_calculation(obj, B, A);
+ if ((std::floor(sum*100)/100.f) <= full_area){
+ str = ss.str();
+ return true;
+ }
+
+ // 3. panel collsision check
+ for(std::size_t i = 0; i < panel_mask.size(); i++){
+ if(observer_mask_[i] & panel_mask[i]){
+ tf2::Transform A = observers_[i]->world_tf() * observers_[i]->bounds()[0];
+ tf2::Transform B = observers_[i]->world_tf() * observers_[i]->bounds()[1];
+ tf2::Transform C = observers_[i]->world_tf() * observers_[i]->bounds()[2];
+ tf2::Transform D = observers_[i]->world_tf() * observers_[i]->bounds()[3];
+
+ full_area = area_calculation(A,B,C) + area_calculation(A,D,C);
+ sum = area_calculation(A,obj,D) + area_calculation(D,obj,C) + area_calculation(C,obj,B) + area_calculation(obj, B, A);
+ if ((std::floor(sum*100)/100.f) <= full_area) {
+ str = observers_[i]->name();
+ return true;
+ }
+ }
+ }
+ return false;
+}
+
+void Ceti_robot::reset(){
+ observers_.clear();
+ access_fields_.clear();
+ generate_access_fields();
+ tf_ = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0, tf().getOrigin().getZ()));
+}
+
+void Ceti_robot::notify(){
+ for(int i = 0; i < observers_.size(); i++) observers_[i]->update(tf_);
+ for(int i = 0; i < access_fields_.size(); i++) access_fields_[i]->update(tf_);
+}
+
+bool Ceti_robot::in_collision(Ceti_robot* rob){
+ tf2::Transform A = tf_ * bounds_[0];
+ tf2::Transform B = tf_ * bounds_[1];
+ tf2::Transform C = tf_ * bounds_[2];
+ tf2::Transform D = tf_ * bounds_[3];
+
+ float full_area = area_calculation(A,B,C) + area_calculation(A,D,C);
+ float sum = area_calculation(A,rob->tf(),D) + area_calculation(D,rob->tf(),C) + area_calculation(C,rob->tf(),B) + area_calculation(rob->tf(), B, A);
+ if ((std::floor(sum*100)/100.f) <= full_area) return true;
+
+ for(int i = 0; i < rob->observers().size(); i++) {
+ tf2::Transform WA = rob->observers()[i]->world_tf() * rob->observers()[i]->bounds()[0];
+ tf2::Transform WB = rob->observers()[i]->world_tf() * rob->observers()[i]->bounds()[1];
+ tf2::Transform WC = rob->observers()[i]->world_tf() * rob->observers()[i]->bounds()[2];
+ tf2::Transform WD = rob->observers()[i]->world_tf() * rob->observers()[i]->bounds()[3];
+ sum = area_calculation(A,WA,D) + area_calculation(D,WA,C) + area_calculation(C,WA,B) + area_calculation(WA, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = area_calculation(A,WB,D) + area_calculation(D,WB,C) + area_calculation(C,WB,B) + area_calculation(WB, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = area_calculation(A,WC,D) + area_calculation(D,WC,C) + area_calculation(C,WC,B) + area_calculation(WC, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = area_calculation(A,WD,D) + area_calculation(D,WD,C) + area_calculation(C,WD,B) + area_calculation(WD, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ }
+
+ for (int i = 0; i < observers_.size(); i++){
+ tf2::Transform WA = observers_[i]->world_tf() * observers_[i]->bounds()[0];
+ tf2::Transform WB = observers_[i]->world_tf() * observers_[i]->bounds()[1];
+ tf2::Transform WC = observers_[i]->world_tf() * observers_[i]->bounds()[2];
+ tf2::Transform WD = observers_[i]->world_tf() * observers_[i]->bounds()[3];
+
+ full_area = area_calculation(WA,WB,WC) + area_calculation(WA,WD,WC);
+ for(int j = 0; j < rob->observers().size(); j++) {
+ tf2::Transform WA2 = rob->observers()[j]->world_tf() * observers_[j]->bounds()[0];
+ tf2::Transform WB2 = rob->observers()[j]->world_tf() * observers_[j]->bounds()[1];
+ tf2::Transform WC2 = rob->observers()[j]->world_tf() * observers_[j]->bounds()[2];
+ tf2::Transform WD2 = rob->observers()[j]->world_tf() * observers_[j]->bounds()[3];
+ sum = area_calculation(WA,WA2,WD) + area_calculation(WD,WA2,WC) + area_calculation(WC,WA2,WB) + area_calculation(WA2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = area_calculation(WA,WB2,WD) + area_calculation(WD,WB2,WC) + area_calculation(WC,WB2,WB) + area_calculation(WB2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = area_calculation(WA,WC2,WD) + area_calculation(WD,WC2,WC) + area_calculation(WC,WC2,WB) + area_calculation(WC2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = area_calculation(WA,WD2,WD) + area_calculation(WD,WD2,WC) + area_calculation(WC,WD2,WB) + area_calculation(WD2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ }
+ }
+ return false;
+}
+
+
+
+void Ceti_robot::register_observers(std::unique_ptr<Abstract_robot_element> wd){
+ /*
+ auto deco = dynamic_cast<Abstract_robot_element_decorator*>(wd.get());
+ bool found = false;
+ int index = 0;
+
+ if (deco->wing()->relative_tf().getOrigin().getY()>0){
+ for(long unsigned int i = 0; i < access_fields_.size(); i++){
+ if ((access_fields_[i]->relative_tf().getOrigin().getY() > 0) && (access_fields_[i]->relative_tf().getOrigin().getX() == 0)){
+ found = true;
+ index = i;
+ break;
+ }
+ }
+ if(found) {access_fields_.erase(access_fields_.begin() + index); return;}
+ } else if (deco->wing()->relative_tf().getOrigin().getY()<0) {
+ for(long unsigned int i = 0; i < access_fields_.size(); i++){
+ if ((access_fields_[i]->relative_tf().getOrigin().getY() < 0) && (access_fields_[i]->relative_tf().getOrigin().getX() == 0)){
+ found = true;
+ index = i;
+ break;
+ }
+ }
+ if(found) {access_fields_.erase(access_fields_.begin() + index); return;}
+ } else {
+ for(long unsigned int i = 0; i < access_fields_.size(); i++){
+ if (access_fields_[i]->relative_tf().getOrigin().getX() > 0){
+ found = true;
+ index = i;
+ break;
+ }
+ }
+ if(found) {access_fields_.erase(access_fields_.begin() + index); return;}
+ }
+ observers_.push_back(std::move(wd));
+ */
+};
diff --git a/src/robot/decorators/panda_decorator.cpp b/src/robot/decorators/panda_decorator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1f7d039b2bd3449436e468599d5240a8bff90c86
--- /dev/null
+++ b/src/robot/decorators/panda_decorator.cpp
@@ -0,0 +1,46 @@
+#include "robot/decorators/panda_decorator.h"
+#include <regex>
+
+Panda_decorator::Panda_decorator(std::unique_ptr<Abstract_robot> next)
+ : Abstract_robot_decorator(std::move(next))
+ {
+ spezifie_root_bounds();
+ ROS_INFO("penis1");
+ // spezifie_robot_groups();
+
+
+ }
+
+void Panda_decorator::spezifie_root_bounds(){
+ // root
+ next_->robot_root_bounds().clear();
+ next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, 0.095f, 0))); // ++
+ next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, 0.095f, 0))); // +-
+ next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));
+ next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 0)));
+}
+
+void Panda_decorator::spezifie_robot_groups(){
+ std::stringstream hand_n, ik_frame_n, name_n, base_n;
+
+ std::regex panda_id("panda_arm([0-9]+)"), left_finger("left_finger"), right_finger("right_finger"), hand_link("hand_link");
+ std::smatch match;
+ std::regex_match(next_->name(), match, panda_id);
+
+ hand_n << "hand_" << match[1];
+ ik_frame_n << "panda_" << match[1] << "_link8";
+ base_n << "base_" << match[1];
+
+ for (auto& link : mgi_hand_->getLinkNames()){
+ if (std::regex_match(link, match, left_finger)) map_.insert(std::pair<std::string, std::string>("left_finger", link));
+ if (std::regex_match(link, match, right_finger)) map_.insert(std::pair<std::string, std::string>("right_finger", link));
+ if (std::regex_match(link, match, hand_link)) map_.insert(std::pair<std::string, std::string>("hand_link", link));
+ }
+
+ mgi_hand_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(hand_n.str());
+
+ map_.insert(std::make_pair<std::string, std::string>("eef_name", hand_n.str()));
+ map_.insert(std::make_pair<std::string, std::string>("hand_frame", ik_frame_n.str()));
+ map_.insert(std::make_pair<std::string, std::string>("hand_group_name", hand_n.str()));
+ map_.insert(std::make_pair<std::string, std::string>("base", base_n.str()));
+}
diff --git a/src/robot_base_calculation_approach.cpp b/src/robot_base_calculation_approach.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4a773099d70a7f69fa2ca47fd9b5e0721b813e54
--- /dev/null
+++ b/src/robot_base_calculation_approach.cpp
@@ -0,0 +1,76 @@
+
+#include <xmlrpcpp/XmlRpc.h>
+#include <filesystem>
+
+
+#include "reader/abstract_param_reader.h"
+#include "reader/robot_reader.h"
+#include "reader/wing_reader.h"
+
+#include "bridge/abstract_base.h"
+#include "bridge/abstract_base_implementation.h"
+#include "bridge/simple_base.h"
+#include "bridge/simple_base_implementation.h"
+
+#include "robot/abstract_robot.h"
+#include "robot/ceti_robot.h"
+#include "robot/decorators/abstract_robot_decorator.h"
+#include "robot/decorators/panda_decorator.h"
+
+
+#include "robot_element/abstract_robot_element.h"
+#include "robot_element/decorators/abstract_robot_element_decorator.h"
+#include "robot_element/decorators/log_decorator.h"
+
+#include "robot_element/observers/panel.h"
+#include "robot_element/observers/rviz_panel.h"
+
+#include "mediator/abstract_mediator.h"
+#include "mediator/base_calculation_mediator.h"
+
+
+int main(int argc, char **argv){
+ ros::init(argc, argv, "robot_base_calculation_apprioach");
+ std::shared_ptr<ros::NodeHandle> n(new ros::NodeHandle);
+
+ std::shared_ptr<Abstract_base> simple_base = std::make_shared<Simple_base>(n);
+ std::shared_ptr<Abstract_base_implementation> simple_base_implementation = std::make_shared<Simple_base_implementation>();
+ std::shared_ptr<Base_calculation_mediator> mediator = std::make_shared<Base_calculation_mediator>(n);
+
+ simple_base->set_implementation(simple_base_implementation);
+
+ simple_base->base_calculation();
+
+ auto rd = mediator->robot_reader()->robot_data();
+ for (int i = 0; i < rd.size() ;i++){
+ std::unique_ptr<Abstract_robot> ceti = std::make_unique<Ceti_robot>(rd[i].name_, rd[i].pose_, rd[i].size_);
+ std::unique_ptr<Panda_decorator> ceti_panda = std::make_unique<Panda_decorator>(std::move(ceti));
+ mediator->connect_robots(std::move(ceti_panda));
+ }
+
+ mediator->set_result_vector(simple_base->result());
+ //mediator->set_dirname(filename);
+
+ mediator->set_panel();
+
+ mediator->mediate();
+
+
+
+ /*
+ //map_loader->write_task(robo);
+
+ //free(rviz_right);
+ //free(rviz_mid);
+ //free(rviz_left);
+
+
+ free(map_loader);
+ free(strategy);
+
+ //free(robo);
+
+ //free(robo2);
+ */
+ return 0;
+}
\ No newline at end of file
diff --git a/src/robot_element/decorators/abstract_robot_element_decorator.cpp b/src/robot_element/decorators/abstract_robot_element_decorator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/robot_element/decorators/log_decorator.cpp b/src/robot_element/decorators/log_decorator.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..946c37dd57aa186683b36530cfa0a542b042e2f1
--- /dev/null
+++ b/src/robot_element/decorators/log_decorator.cpp
@@ -0,0 +1,26 @@
+#include "robot_element/decorators/log_decorator.h"
+
+Log_decorator::Log_decorator(std::unique_ptr<Abstract_robot_element> next)
+: Abstract_robot_element_decorator(std::move(next))
+{
+ ROS_INFO("LOG Decorator: %s", next_->name().c_str());
+}
+
+void Log_decorator::input_filter() {
+ ROS_INFO("--- Debug: %s --- State: PRE UPDATE", next_->name().c_str());
+ ROS_INFO("=> Debug: pos('%f', '%f', '%f')", world_tf().getOrigin().getX(), world_tf().getOrigin().getY(), world_tf().getOrigin().getZ());
+ ROS_INFO("=> Debug: orientation('%f', '%f', '%f', '%f')", world_tf().getRotation().getX(), world_tf().getRotation().getY(), world_tf().getRotation().getZ(), world_tf().getRotation().getW());
+}
+
+void Log_decorator::update(tf2::Transform& tf) {
+ input_filter();
+ Abstract_robot_element_decorator::update(tf);
+ output_filter();
+}
+
+void Log_decorator::output_filter() {
+ ROS_INFO("--- Debug: %s --- State: POST UPDATE", next_->name().c_str());
+ ROS_INFO("=> Debug: pos('%f', '%f', '%f')", world_tf().getOrigin().getX(), world_tf().getOrigin().getY(), world_tf().getOrigin().getZ());
+ ROS_INFO("=> Debug: orientation('%f', '%f', '%f', '%f')", world_tf().getRotation().getX(), world_tf().getRotation().getY(), world_tf().getRotation().getZ(), world_tf().getRotation().getW());
+}
+
diff --git a/src/robot_element/observers/field.cpp b/src/robot_element/observers/field.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3937bbba0efdea924044a850a5df9b3d1cd533f5
--- /dev/null
+++ b/src/robot_element/observers/field.cpp
@@ -0,0 +1,4 @@
+#include "robot_element/observers/field.h"
+
+Field::Field(tf2::Transform tf)
+: Abstract_robot_element(tf, "", tf2::Vector3(0,0,0)){}
\ No newline at end of file
diff --git a/src/robot_element/observers/moveit_panel.cpp b/src/robot_element/observers/moveit_panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c54f839f9a630a2da5b5f93373976c0338dc9cb1
--- /dev/null
+++ b/src/robot_element/observers/moveit_panel.cpp
@@ -0,0 +1,67 @@
+#include "robot_element/observers/moveit_panel.h"
+
+
+Moveit_panel::Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
+: Panel(name, tf, size)
+{
+ /*
+ marker_.id = name_;
+ marker_.header.frame_id = "world";
+
+ marker_.primitives.resize(1);
+ marker_.primitives[0].type = marker_.primitives[0].BOX;
+ marker_.primitives[0].dimensions.resize(3);
+ marker_.primitives[0].dimensions[0] = size_.getX();
+ marker_.primitives[0].dimensions[1] = size_.getY();
+ marker_.primitives[0].dimensions[2] = size_.getZ();
+
+
+ marker_.primitive_poses.resize(1);
+ marker_.primitive_poses[0].position.x = world_tf_.getOrigin().getX();
+ marker_.primitive_poses[0].position.y = world_tf_.getOrigin().getY();
+ marker_.primitive_poses[0].position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;
+ marker_.primitive_poses[0].orientation.x = world_tf_.getRotation().getX();
+ marker_.primitive_poses[0].orientation.y = world_tf_.getRotation().getY();
+ marker_.primitive_poses[0].orientation.z = world_tf_.getRotation().getZ();
+ marker_.primitive_poses[0].orientation.w = world_tf_.getRotation().getW();
+
+ marker_.operation = marker_.ADD;
+ */
+};
+
+void Moveit_panel::update(tf2::Transform& tf){
+ Panel::update(tf);
+
+ marker_.id = name_;
+ marker_.header.frame_id = "world";
+
+ /*
+ marker_.pose.position.x = world_tf_.getOrigin().getX();
+ marker_.pose.position.y = world_tf_.getOrigin().getY();
+ marker_.pose.position.x = world_tf_.getOrigin().getZ() - size_.getZ()/2;;
+
+ marker_.pose.orientation.x = world_tf_.getRotation().getX();
+ marker_.pose.orientation.x = world_tf_.getRotation().getY();
+ marker_.pose.orientation.x = world_tf_.getRotation().getZ();
+ marker_.pose.orientation.x = world_tf_.getRotation().getW();
+ */
+
+ marker_.primitives.resize(1);
+ marker_.primitives[0].type = marker_.primitives[0].BOX;
+ marker_.primitives[0].dimensions.resize(3);
+ marker_.primitives[0].dimensions[0] = size_.getX();
+ marker_.primitives[0].dimensions[1] = size_.getY();
+ marker_.primitives[0].dimensions[2] = size_.getZ();
+
+ marker_.primitive_poses.resize(1);
+ marker_.primitive_poses[0].position.x = world_tf_.getOrigin().getX();
+ marker_.primitive_poses[0].position.y = world_tf_.getOrigin().getY();
+ marker_.primitive_poses[0].position.z = world_tf_.getOrigin().getZ() - size_.getZ()/2;
+ marker_.primitive_poses[0].orientation.x = world_tf_.getRotation().getX();
+ marker_.primitive_poses[0].orientation.y = world_tf_.getRotation().getY();
+ marker_.primitive_poses[0].orientation.z = world_tf_.getRotation().getZ();
+ marker_.primitive_poses[0].orientation.w = world_tf_.getRotation().getW();
+
+ marker_.operation = marker_.ADD;
+}
+
diff --git a/src/robot_element/observers/panel.cpp b/src/robot_element/observers/panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2f8b8f447a2ad54914d3cf2200bb6e227de558b5
--- /dev/null
+++ b/src/robot_element/observers/panel.cpp
@@ -0,0 +1,10 @@
+#include "robot_element/observers/panel.h"
+
+Panel::Panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
+: Abstract_robot_element(tf, name, size)
+{
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/2.f,0))); //++
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/-2.f,0))); //+-
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/-2.f,0))); //--
+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/2.f,0))); //-+
+}
\ No newline at end of file
diff --git a/src/robot_element/observers/rviz_panel.cpp b/src/robot_element/observers/rviz_panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..58afd831e982b67e8d0c33a09655295e7ee7d255
--- /dev/null
+++ b/src/robot_element/observers/rviz_panel.cpp
@@ -0,0 +1,52 @@
+#include "robot_element/observers/rviz_panel.h"
+
+
+Rviz_panel::Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
+: Panel(name, tf, size)
+{
+ marker_.header.frame_id = "map";
+ marker_.header.stamp = ros::Time();
+ marker_.ns = name_;
+ marker_.id = 1;
+ marker_.type = visualization_msgs::Marker::CUBE;
+ marker_.action = visualization_msgs::Marker::ADD;
+ marker_.pose.position.x = 0;
+ marker_.pose.position.y = 0;
+ marker_.pose.position.z = 0;
+ marker_.pose.orientation.x = 0;
+ marker_.pose.orientation.y = 0;
+ marker_.pose.orientation.z = 0;
+ marker_.pose.orientation.w = 1;
+ marker_.scale.x = size_.getX();
+ marker_.scale.y = size_.getY();
+ marker_.scale.z = size_.getZ();
+ marker_.color.r = 1.0;
+ marker_.color.g = 1.0;
+ marker_.color.b = 1.0;
+ marker_.color.a = 1.0;
+};
+
+void Rviz_panel::update(tf2::Transform& tf){
+ Panel::update(tf);
+
+ marker_.header.frame_id = "map";
+ marker_.header.stamp = ros::Time();
+ marker_.ns = name_;
+ marker_.id = 1;
+ marker_.type = visualization_msgs::Marker::CUBE;
+ marker_.action = visualization_msgs::Marker::MODIFY;
+ marker_.pose.position.x = world_tf_.getOrigin().getX();
+ marker_.pose.position.y = world_tf_.getOrigin().getY();
+ marker_.pose.position.z = world_tf_.getOrigin().getZ();
+ marker_.pose.orientation.x = world_tf_.getRotation().getX();
+ marker_.pose.orientation.y = world_tf_.getRotation().getY();
+ marker_.pose.orientation.z = world_tf_.getRotation().getZ();
+ marker_.pose.orientation.w = world_tf_.getRotation().getW();
+ marker_.scale.x = size_.getX();
+ marker_.scale.y = size_.getY();
+ marker_.scale.z = size_.getZ();
+ marker_.color.r = 1.0;
+ marker_.color.g = 1.0;
+ marker_.color.b = 1.0;
+ marker_.color.a = 1.0;
+}
\ No newline at end of file